CN105785992A - Use method of multifunctional unmanned electric vehicle - Google Patents
Use method of multifunctional unmanned electric vehicle Download PDFInfo
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- CN105785992A CN105785992A CN201610125348.2A CN201610125348A CN105785992A CN 105785992 A CN105785992 A CN 105785992A CN 201610125348 A CN201610125348 A CN 201610125348A CN 105785992 A CN105785992 A CN 105785992A
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- electric automobile
- charging
- photoelectric detection
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- gps location
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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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention relates to a multifunctional unmanned electric vehicle which comprises the components of GPS transceiver equipment, a Freescale MC9S12 chip and a directional motor controller. The GPS transceiver equipment is used for receiving the current GPS position of the electric vehicle and the GPS position of each charging station at the periphery of the current GPS position of the electric vehicle. The directional motor controller is used for controlling the driving direction of the electric vehicle. The Freescale MC9S12 chip is connected with the GPS transceiver equipment and the directional motor controller and is used for determining a control strategy on the directional motor controller based on output of the GPS transceiver equipment. The use method of the multidirectional unmanned electric vehicle can increase the auxiliary functions of the electric vehicle and makes the electric vehicle automatically go to a nearby charging station for charging.
Description
Technical field
The present invention relates to electric automobile field, particularly relate to the using method of a kind of multi-functional driverless electric automobile.
Background technology
Electric automobile, relative fuel-engined vehicle, main difference is that four big parts: drive motor, speed setting controller, electrokinetic cell, onboard charger.For gas station, he has public charging station.The quality discrepancy of electric automobile depends on this four big parts, and it is worth height and also depends on the quality of these four big parts.The purposes of electric automobile is also directly related at the selection and deployment of four big parts.
Currently, the R&D direction of driverless electric automobile manufacturer essentially consists in the realization of some automatic functions when electric automobile normally travels, but owing to development time is limited, these automatic functions itself are perfect not, the situation of off-track is such as still there will be in the process of moving based on the driverless electric automobile of guide tracks, cannot in the face of complicated road environment, and structure remains a need for improving.
Additionally, concern is just more lacked for some scenes specifically applied, such as, when electric automobile electric power deficiency needs to charge, prior art provides some basic navigation Service only with satellite navigation, including position and the relevant routes of each charging station neighbouring, but most suitable charging station cannot be selected to be charged for electric automobile, also cannot find nearest charging pile in charging station as target charging pile, more cannot realize automatic charging function.
Therefore, need a kind of novel driverless electric automobile, in order to provide the automaticity of electric automobile, the bottleneck that charging station navigation, charging pile identification and three links of automatic charging solve the unmanned charging of electric automobile can be passed through, simultaneously, the driving control structure of the driverless electric automobile based on guide tracks can be optimized, improve control accuracy to tackle the road environment of various complexity.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of multi-functional driverless electric automobile, the existing structure of driverless electric automobile is transformed, increase GPS transceiver and radio receiver realizes the comparison to neighbouring charging station and selection, increase multiple image processing equipment and realize the identification to charging pile nearest in charging station, introduce mechanization charger and electric automobile is carried out automatic charging, finally, by the transformation to vehicle drive comprising, improve the unpiloted running efficiency of electric automobile.
According to an aspect of the present invention, provide a kind of multi-functional driverless electric automobile, described electric automobile includes GPS transceiver, Freescale MC9S12 chip and direction electric machine controller, GPS transceiver is for the GPS location of each charging station near the current GPS location of the current GPS location and electric automobile that receive electric automobile, direction electric machine controller is for controlling the direction that electric automobile is advanced, Freescale MC9S12 chip is connected respectively with GPS transceiver and direction electric machine controller, for determining the control strategy to direction electric machine controller based on the output of GPS transceiver.
More specifically, in described multi-functional driverless electric automobile, including: radio receiver, it is arranged on the outside of electric automobile, for taking percentage ratio based on the current GPS location of electric automobile from what the charging station of far-end managed that server receives each charging station near the current GPS location of electric automobile；GPS transceiver, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile, is additionally operable to receive in GPS electronic chart, the GPS location of each charging station near the current GPS location of electric automobile；Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator；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；Image recognition apparatus, for electric automobile front scene shoots to obtain forward image, and carries 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 forward image；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, is used for going to based on relative distance driving mechanical hand in the charging socket that the charging socket of charging pile, mechanical hand are used for being inserted by charging head charging pile after arriving at the charging socket of charging pile；Freescale MC9S12 chip, it is connected respectively with radio receiver, electric power detection equipment, traveling controller, GPS transceiver, image recognition 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；Light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated；Photoelectric sensor, it is arranged on the chassis of electric automobile, being made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different；Signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond；Operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage；8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence；Direction electric machine controller, is arranged in the front end instrumental panel of electric automobile, is connected with Freescale MC9S12 chip, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile or driving direction；Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with direction electric machine controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile；Turn to drive motor, be arranged on above the driving wheel of electric automobile, be connected respectively with the driving wheel of steer motor driver and electric automobile, for controlling to drive the steering angle of wheel based on drive and control of electric machine signal；Rack and pinion steering gear, is arranged on above the driving wheel of electric automobile, for drive motor being turned to be connected with the driving wheel of electric automobile；Freescale MC9S12 chip, it is arranged in the front end instrumental panel of electric automobile, it is connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile；nullFreescale MC9S12 chip is in self-navigation pattern，Start radio receiver、GPS transceiver and image recognition apparatus，The GPS location of current GPS location and each charging station neighbouring is received from GPS transceiver，Current GPS location is sent to radio receiver with near obtaining each charging station take percentage ratio，GPS location based on current GPS location and each charging station neighbouring determines that current GPS location arrives each charging station GPS distance of the GPS location of each charging station neighbouring，Percentage ratio is taken based on each charging station neighbouring、Take percentage weight、The GPS 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，GPS 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 MC9S12 chip is additionally based upon the GPS location of current GPS location 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 image recognition 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 MC9S12 chip exits self-navigation pattern；Wherein, the lateral deviation of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks.
More specifically, in described multi-functional driverless electric automobile: Freescale MC9S12 chip 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.
More specifically, in described multi-functional driverless electric automobile: second presets power threshold presets power threshold more than first.
More specifically, in described multi-functional driverless electric automobile: take percentage weight and distance weighting for presetting fixed numbers.
More specifically, in described multi-functional driverless electric automobile, also include: MMC storage card, it is used for prestoring and takies 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 multi-functional driverless electric automobile illustrated according to an embodiment of the present invention.
Accompanying drawing labelling: 1GPS transceiver；2 Freescale MC9S12 chips；3 direction electric machine controllers
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the multi-functional driverless electric automobile of the present invention is described in detail.
At present, owing to driverless electric automobile development time is shorter, some problems under steam are in the prior art still without obtaining adequate solution, even also needing to manually participate in: (1) is not high based on the driverless electric automobile control accuracy of guide tracks, the situation of deviation guide tracks happens occasionally；(2) navigation feature is complete not, for instance when electricity deficiency, it is impossible to determine near most suitable charging station as target charging station to go to charging；(3) when electric automobile arrives at target charging station, it is impossible to identify that nearest charging pile is as target charging pile；(4) effective automatic charging equipment is lacked.
In order to overcome above-mentioned deficiency, the present invention has built a kind of multi-functional driverless electric automobile, first, according to the Big Dipper navigation information each charging station position near determining, the charging station selecting most convenient provides charging service for driverless electric automobile, secondly, image recognition technology is adopted to identify neighbouring charging pile, again, adopt mechanized equipment that electric automobile is carried out automatic charging, more crucially, it is possible to set up the new electric automobile based on guide tracks and drive control structure, improve unpiloted guidance accuracy.
Fig. 1 is the block diagram of the multi-functional driverless electric automobile illustrated according to an embodiment of the present invention, described electric automobile includes GPS transceiver, Freescale MC9S12 chip and direction electric machine controller, GPS transceiver is for the GPS location of each charging station near the current GPS location of the current GPS location and electric automobile that receive electric automobile, direction electric machine controller is for controlling the direction that electric automobile is advanced, Freescale MC9S12 chip is connected respectively with GPS transceiver and direction electric machine controller, for determining the control strategy to direction electric machine controller based on the output of GPS transceiver.
Then, continue the concrete structure of the multi-functional driverless electric automobile of the present invention is further detailed.
Described electric automobile includes: radio receiver, is arranged on the outside of electric automobile, for taking percentage ratio based on the current GPS location of electric automobile from what the charging station of far-end managed that server receives each charging station near the current GPS location of electric automobile.
Described electric automobile includes: GPS transceiver, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile, is additionally operable to receive in GPS electronic chart, the GPS location of each charging station near the current GPS location 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；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.
Described electric automobile includes: image recognition apparatus, for shooting to obtain forward image to electric automobile front scene, and forward image is carried out image recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or be absent from charging pile signal；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 MC9S12 chip, it is connected respectively with radio receiver, electric power detection equipment, traveling controller, GPS transceiver, image recognition 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.
Described electric automobile includes: light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated.
Described electric automobile includes: photoelectric sensor, it is arranged on the chassis of electric automobile, it is made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different；Signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond.
Described electric automobile includes: operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage；8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence.
Described electric automobile includes: direction electric machine controller, is arranged in the front end instrumental panel of electric automobile, is connected with Freescale MC9S12 chip, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile or driving direction；Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with direction electric machine controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile.
Described electric automobile includes: turn to drive motor, is arranged on above the driving wheel of electric automobile, is connected respectively with the driving wheel of steer motor driver and electric automobile, for controlling to drive the steering angle of wheel based on drive and control of electric machine signal；Rack and pinion steering gear, is arranged on above the driving wheel of electric automobile, for drive motor being turned to be connected with the driving wheel of electric automobile.
Described electric automobile includes: Freescale MC9S12 chip, it is arranged in the front end instrumental panel of electric automobile, it is connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile.
nullWherein，Freescale MC9S12 chip is in self-navigation pattern，Start radio receiver、GPS transceiver and image recognition apparatus，The GPS location of current GPS location and each charging station neighbouring is received from GPS transceiver，Current GPS location is sent to radio receiver with near obtaining each charging station take percentage ratio，GPS location based on current GPS location and each charging station neighbouring determines that current GPS location arrives each charging station GPS distance of the GPS location of each charging station neighbouring，Percentage ratio is taken based on each charging station neighbouring、Take percentage weight、The GPS 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，GPS 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 MC9S12 chip is additionally based upon the GPS location of current GPS location 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 image recognition 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 MC9S12 chip exits self-navigation pattern.
Wherein, the lateral deviation of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks.
Alternatively, in described electric automobile: Freescale MC9S12 chip presets power threshold at real-time dump energy be more than or equal to second, control the mechanical hand of automatic charging equipment charging head to be pulled away the charging socket of charging pile；Second presets power threshold presets power threshold more than first；Take percentage weight and distance weighting for presetting fixed numbers；Described electric automobile can also include: MMC storage card, is used for prestoring and takies percentage weight and distance weighting.
It addition, operational amplifier (being called for short " amplifier ") is the circuit unit with significantly high amplification.In side circuit, generally collectively constitute certain functional module in conjunction with feedback network.He is a kind of amplifier with special Coupling circuit and feedback.Its output signal can be that input signal adds, subtracts or the result of the mathematical operation such as differential, integration.Owing to early stage is applied in analogue computer, in order to realize mathematical operation, therefore gain the name " operational amplifier ".
Amplifier is a circuit unit named from the angle of function, it is possible to realized by discrete device, it is also possible to realize in the middle of semiconductor chip.Along with the development of semiconductor technology, most amplifier is to exist with the form of single-chip.Amplifier of a great variety, is widely used in the middle of electron trade.
Adopt the multi-functional driverless electric automobile of the present invention, the technical problem that charging is full-automatic and running efficiency is not high cannot be completed for prior art driverless electric automobile, on the one hand, quote the driving that high-precision photoelectric sensor is electric automobile to control to provide guidance information accurately, on the other hand, refer to high accuracy navigator, identification equipment and mechanized equipment and realize the full-automatic charging of driverless 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 (6)
1. a using method for multi-functional driverless electric automobile, the method includes:
1) a kind of multi-functional driverless electric automobile is provided, described electric automobile includes GPS transceiver, Freescale MC9S12 chip and direction electric machine controller, GPS transceiver is for the GPS location of each charging station near the current GPS location of the current GPS location and electric automobile that receive electric automobile, direction electric machine controller is for controlling the direction that electric automobile is advanced, Freescale MC9S12 chip is connected respectively with GPS transceiver and direction electric machine controller, determines the control strategy to direction electric machine controller for the output based on GPS transceiver；
2) described electric automobile is used.
2. the method for claim 1, it is characterised in that described electric automobile includes:
Radio receiver, is arranged on the outside of electric automobile, for taking percentage ratio based on the current GPS location of electric automobile from what the charging station of far-end managed that server receives each charging station near the current GPS location of electric automobile；
GPS transceiver, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile, is additionally operable to receive in GPS electronic chart, the GPS location of each charging station near the current GPS location of electric automobile；
Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator；
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；
Image recognition apparatus, for electric automobile front scene shoots to obtain forward image, and carries 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 forward image；
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, is used for going to based on relative distance driving mechanical hand in the charging socket that the charging socket of charging pile, mechanical hand are used for being inserted by charging head charging pile after arriving at the charging socket of charging pile；
Freescale MC9S12 chip, it is connected respectively with radio receiver, electric power detection equipment, traveling controller, GPS transceiver, image recognition 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；
Light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated；
Photoelectric sensor, it is arranged on the chassis of electric automobile, being made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different；
Signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond；
Operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage；
8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence；
Direction electric machine controller, is arranged in the front end instrumental panel of electric automobile, is connected with Freescale MC9S12 chip, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile or driving direction；
Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with direction electric machine controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile；
Turn to drive motor, be arranged on above the driving wheel of electric automobile, be connected respectively with the driving wheel of steer motor driver and electric automobile, for controlling to drive the steering angle of wheel based on drive and control of electric machine signal；
Rack and pinion steering gear, is arranged on above the driving wheel of electric automobile, for drive motor being turned to be connected with the driving wheel of electric automobile；
Freescale MC9S12 chip, it is arranged in the front end instrumental panel of electric automobile, it is connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile；
nullFreescale MC9S12 chip is in self-navigation pattern，Start radio receiver、GPS transceiver and image recognition apparatus，The GPS location of current GPS location and each charging station neighbouring is received from GPS transceiver，Current GPS location is sent to radio receiver with near obtaining each charging station take percentage ratio，GPS location based on current GPS location and each charging station neighbouring determines that current GPS location arrives each charging station GPS distance of the GPS location of each charging station neighbouring，Percentage ratio is taken based on each charging station neighbouring、Take percentage weight、The GPS 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，GPS 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 MC9S12 chip is additionally based upon the GPS location of current GPS location 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 image recognition 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 MC9S12 chip exits self-navigation pattern；
Wherein, the lateral deviation of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks.
3. method as claimed in claim 2, it is characterised in that:
Freescale MC9S12 chip 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.
4. method as claimed in claim 2, it is characterised in that:
Second presets power threshold presets power threshold more than first.
5. method as claimed in claim 2, it is characterised in that:
Take percentage weight and distance weighting for presetting fixed numbers.
6. method as claimed in claim 2, it is characterised in that also include:
MMC storage card, is used for prestoring and takies percentage weight and distance weighting.
Priority Applications (1)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406310A (en) * | 2016-10-10 | 2017-02-15 | 杭州锣卜科技有限公司 | Driverless low-speed electric car |
| CN106684992A (en) * | 2016-12-30 | 2017-05-17 | 易瓦特科技股份公司 | Method and device for intelligently charging unmanned aerial vehicles |
| CN110989611A (en) * | 2019-12-17 | 2020-04-10 | 陕西瑞特测控技术有限公司 | Navigation positioning method for avoiding obstacles of green belt pruning vehicle |
| CN113400962A (en) * | 2020-03-17 | 2021-09-17 | 丰田自动车北美公司 | Wirelessly informing a vehicle of providing a portion of energy |
-
2016
- 2016-03-06 CN CN201610125348.2A patent/CN105785992A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406310A (en) * | 2016-10-10 | 2017-02-15 | 杭州锣卜科技有限公司 | Driverless low-speed electric car |
| CN106684992A (en) * | 2016-12-30 | 2017-05-17 | 易瓦特科技股份公司 | Method and device for intelligently charging unmanned aerial vehicles |
| CN110989611A (en) * | 2019-12-17 | 2020-04-10 | 陕西瑞特测控技术有限公司 | Navigation positioning method for avoiding obstacles of green belt pruning vehicle |
| CN113400962A (en) * | 2020-03-17 | 2021-09-17 | 丰田自动车北美公司 | Wirelessly informing a vehicle of providing a portion of energy |
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