CN105989729B - Navigation system and working method, navigation automobile based on speech recognition - Google Patents
Navigation system and working method, navigation automobile based on speech recognition Download PDFInfo
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- CN105989729B CN105989729B CN201510046917.XA CN201510046917A CN105989729B CN 105989729 B CN105989729 B CN 105989729B CN 201510046917 A CN201510046917 A CN 201510046917A CN 105989729 B CN105989729 B CN 105989729B
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Abstract
The invention discloses a kind of navigation system based on speech recognition and working method, navigation automobile, this navigation system includes：Monitoring device, the passage video and/or image for shooting the crossing vehicle positioned at each crossing, and the current video and/or image are sent by wireless sending module；And on-vehicle navigation apparatus, advance travel route planning, when the vehicle configured with the on-vehicle navigation apparatus is n-th of crossing of the traffic path that will travel to planning, the current video and/or image at (n+1)th crossing in the traffic path are received, so that driver checks；Speech recognition subsystem is equipped in the on-vehicle navigation apparatus；The navigation system of invention is suitable for basis and intuitively judges the traffic capacity of road, and realizing route planning has real-time good, the more intuitive advantage of traffic.
Description
Technical field
The present invention relates to navigation field more particularly to a kind of navigation system based on speech recognition.
Background technology
With the development of the city, vehicle also becomes the essential vehicles；But since automobile quantity substantially increases
Add, road traffic pressure also increases therewith.
Therefore, people can usually plan traffic route, select nearest route in advance in trip；But nearest
Route may congestion, so nearest route is for traffic efficiency, not necessarily optimal path.
The companies such as Baidu add traffic information for tour reference in Baidu map to solve the above-mentioned problems, also,
But since above-mentioned traffic information is that the crossing at each crossing, road is uploaded to service centre, then to being shown on map
Show, has the following problems：
Problem one, real-time are inadequate, and often update in 1-2 hours is primary for real-time road, can not react road traffic feelings in time
Condition.
Problem two, traffic information are not accurate enough, although the congestion of some crossing parts, there may also be current leeway.
Therefore, it is necessary to design a kind of new navigation system, to solve the above technical problems.
Invention content
The object of the present invention is to provide a kind of navigation system and its working method, using the navigation automobile of the navigation system,
Navigation system based on speech recognition and working method carry out the traffic capacity of road according to intuitive video and/or image
Judge, provides reference to driver again planning path, and also realize the instruction of voice input control.
In order to solve the above technical problem, the present invention provides a kind of navigation system, including：Monitoring device is located at each road
The passage video and/or figure for shooting the crossing vehicle of mouth (crossing is crossroad or T junction or Y junction)
Picture, and the current video and/or image are sent by wireless sending module；And on-vehicle navigation apparatus, it cooks up in advance
Walking along the street line, when the vehicle configured with the on-vehicle navigation apparatus will (such as：From this n-th crossing 30-150 meters, preferably 60 or 50
Rice) or driven to n-th of crossing of traffic path of planning (crossing is crossroad or T junction or Y words road
Mouthful) when, the current video and/or image at (n+1)th crossing in the traffic path are received, so that driver checks.
It is equipped with speech recognition subsystem in the on-vehicle navigation apparatus, vehicle-mounted is led to described according to the speech recognition subsystem
The device that navigates inputs phonetic order.
Further, the monitoring device includes：Image information collecting unit, to be connected with the image information collecting unit
One processor module, the output end of the processor module are connected with the wireless sending module；The on-vehicle navigation apparatus includes
Second processor module and GPS positioning module, wireless receiving module, the memory module being connected with the second processor module
And human-computer interaction interface；The second processor module is suitable for according to the cartographic information in GPS positioning module and memory module
Travel route planning, when vehicle travels n-th of crossing with the traffic path, the wireless receiving module receives the trip
The current video and/or image at (n+1)th crossing, are shown by human-computer interaction interface in route.
Further, in order to realize in a noisy environment, the accurate input for realizing phonetic order, the speech recognition subsystem
System, the speech recognition subsystem include：Voice acquisition module is suitable for acquiring voice data to be identified；Sample memory module is fitted
In storage sample voice data；The speech processing module being connected with the voice acquisition module and sample memory module, the voice
Processing module is suitable for mixing sample, voice data to be identified to reconstruct the voice data suitable for identification；At the voice
Reason module is suitable for the voice data after identification being sent to second processor module.
Another aspect, the present invention also provides a kind of navigation automobiles being equipped with the navigation system.
Wherein, the navigation automobile is electric vehicle；It is equipped with braking electric energy in the electric vehicle and recycles subsystem, it is described
Braking electric energy recycling subsystem is connected with on-vehicle navigation apparatus, and the on-vehicle navigation apparatus is further adapted for working as the traffic path again
After planning, the passage rate of planning path is calculated again, the residue to obtain accumulator in braking electric energy recycling subsystem can
Travel milimeter number.
Further, in order to realize the recycling to braking energy, the braking electric energy recycles subsystem, including hydraulic brake
Structure, and with the matched brake coordination component of the hydraulic brake mechanism；When braking, the brake coordination component is suitable for generating
With the direction of motion opposite effect power of piston in hydraulic brake mechanism, while by wheel drive motors braking generate electric energy lead to
A boost module is crossed to charge to accumulator；Or by wheel drive motors braking generate electric energy by after a boost module again
It charges to accumulator through quick-charging circuit.
When preferably, in order to be further implemented in brake, start brake coordination component；The braking electric energy recycles subsystem
Further include：Brake assemblies, the brake assemblies are interior to be equipped with travel switch K；When braking, travel switch K is triggered, described in generation
Active force；The hydraulic brake mechanism includes the interior master cylinder for setting the piston, and the piston passes through piston rod and brake group
Part is connected.
Preferably, in order to preferably make brake assemblies coordinate brake coordination component operation；The brake assemblies include：It is two-sided
Rack slide；The brake coordination component includes：Single-side rack sliding block；The lower face of the two-sided rack sliding block passes through driving cog
Wheel assembly coordinates with brake pedal, engages a brake coordination gear between end face and the lower face of single-side rack sliding block thereon, should
Brake coordination gear is connected with the end of the piston rod；When brake, brake pedal controls double cog by driving gear component
Sliding block drives the rotation of brake coordination gear, and the brake coordination gear is suitable for through piston rod drive hydraulic brake mechanism to vehicle
Wheel hub generates braking；And the brake coordination component acts power by single-side rack sliding block to brake coordination gear；It is logical
It crosses simple, reliable circuit structure and generates the active force；The brake coordination component further includes electromagnetic induction device, the electricity
Magnetic-inductive device is controlled by the auxiliary switch in the travel switch K；The electromagnetic induction device is suitable for when travel switch K triggerings
Afterwards, auxiliary switch control electromagnetic induction device obtains electric, to generate the active force；The electromagnetic induction device includes：Electromagnetic wire
Circle, the electromagnetic coil are suitable for obtaining electric pull-core；The iron core is connected with single-side rack sliding block, is suitable for obtaining in electromagnetic coil electric
When, drive single-side rack sliding block to generate the active force to brake coordination gear；The iron core sleeve is set in a hollow shell, institute
Electromagnetic coil is stated to be set around on the hollow shell periphery；One end of the iron core is connected by connecting rod with single-side rack sliding block,
The other end passes through the inner wall of end resilient engagement of compressed spring and the hollow shell in the hollow shell；The iron core band
Have a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil obtain it is electric after, make iron core to compressed spring direction move.
Preferably, the brake coordination component further includes charging circuit, which is suitable for, in brake, wheel being driven
The electric energy that dynamic motor braking generates charges to accumulator；In order to avoid after auxiliary switch disconnects, accumulator drives wheel
Dynamic motor also keeps driving effect；The charging circuit includes diode；One end of the anode and electromagnetic coil of the accumulator
It is connected, the other end of the battery coil is connected with the cathode of the diode, the output of the anode and boost module of the diode
End is connected, and the input terminal of the boost module is connected with wheel drive motors one end, and cathode and the wheel of the accumulator drive
The other end of motor is connected；The auxiliary switch is normally closed switch, and the both ends of the normally closed switch are connected to boost module
The anode of input terminal, accumulator.
Preferably, in order to realize quick charge, waste of energy is reduced, the charging circuit includes：First, second diode
And charging capacitor；The auxiliary switch is the first, second normally closed switch and a normal open switch；The anode and first of the accumulator
The first end of normally closed switch is connected, the cathode that the second end of first normal open switch passes through the electromagnetic coil and the first diode
It is connected, the anode of first diode is connected with the output end of boost module, the input terminal of the boost module and accumulator
Cathode is separately connected the both ends with wheel drive motors；The second end of first normally closed switch also with the second normally closed switch one
End is connected, and the other end of second normally closed switch is connected with the input terminal of boost module；Second diode anode and charging
Capacitance one end, which is connected, constitutes the quick-charging circuit, which is parallel to accumulator both ends and described second
Diode anode is also connected by the normal open switch with the second end of the first normally closed switch.
The third aspect, the present invention also provides a kind of working method of navigation system, by speech recognition subsystem and/or
Interpersonal interactive interface carries out control instruction input.
Intuitively the traffic capacity of road is judged the invention has the advantages that (1) present invention is suitable for basis, it is real
Existing path planning, has real-time good, the more intuitive advantage of traffic；(2) the braking electric energy recycles subsystem, Neng Gou
In the case of ensureing that the braking resultant force of the two meets automobile brake requirement, the rate of recovery of braking energy in braking process can be improved
The loss of conventional brake friction plate can be reduced again；(3) the braking electric energy recycles subsystem, and motor is realized using mechanical structure
Brake force and hydraulic braking force in a certain range continuously, carry out cooperation adjusting in real time, mechanical structure is relatively easy,
Cost is greatly reduced and functional reliability significantly improves；(4) present invention can effectively improve wheel driving by boost module
Charge efficiency of the motor to accumulator；(5) present invention is by being reconstructed voice data, to improve the recognition effect of voice,
Effectively avoid the interference that interior noise drives into voice.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 shows the functional block diagram of the navigation system of the present invention；
Fig. 2 shows the functional block diagrams of the speech recognition subsystem of the present invention；
Fig. 3 shows the structural schematic diagram of the braking electric energy recycling subsystem of the present invention；
Fig. 4 shows the structural schematic diagram of second of embodiment of the braking electric energy recycling subsystem of the present invention；
Fig. 5 shows the circuit diagram of second of charging circuit of the present invention.
In figure：
Wheel hub 1；
Hydraulic brake mechanism 2, brake block 21, wheel cylinder 22, master cylinder 23, piston 24；
Brake assemblies 3, brake pedal 31, the first transfer gear 32, the second transfer gear 33, brake coordination gear 34, the
One fixes guide rail 35, the two-sided rack sliding block 36, travel switch K；
Brake coordination component 4, second fixes guide rail 41, single-side rack sliding block 42, connecting rod 43, iron core 44, hollow shell
45, electromagnetic coil 46, compressed spring 47；
Wheel drive motors M, accumulator E, diode VD；
First diode VD1, the second diode VD2, charging capacitor C.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
Fig. 1 shows the functional block diagram of the navigation system of the present invention.
As shown in Figure 1, the navigation system of the present invention, including：
Monitoring device, the passage video and/or image for shooting the crossing vehicle positioned at each crossing, and pass through nothing
Line sending module sends the current video and/or image.
On-vehicle navigation apparatus, advance travel route planning, when the vehicle configured with the on-vehicle navigation apparatus will travel to
The traffic path of planning n-th of crossing (such as：From this n-th crossing 30-150 meters, preferably 60 or 50 meters) when, receive this and go out
The current video and/or image at (n+1)th crossing in walking along the street line, so that driver checks, and then by driver according to preceding
Fang Lukuang determines whether to get around (n+1)th crossing.
Preferable scheme is that will only reach in the vehicle (such as：From this n-th crossing 30-150 meters, preferably 60 or
50 meters) n-th of crossing or in traffic lights such as n-th of crossings, described in the on-vehicle navigation apparatus is just shown
The passage video and/or image at (n+1)th crossing, avoid driver from taking sb's mind off sth when driving, to improve driving
Safety.
It is equipped with speech recognition subsystem in the on-vehicle navigation apparatus, vehicle-mounted is led to described according to the speech recognition subsystem
The device that navigates inputs phonetic order.
Further, the monitoring device includes：Image information collecting unit, to be connected with the image information collecting unit
One processor module, the output end of the processor module are connected with the wireless sending module；The on-vehicle navigation apparatus includes
Second processor module and GPS positioning module, wireless receiving module, the memory module being connected with the second processor module
And human-computer interaction interface；The second processor module is suitable for according to the cartographic information in GPS positioning module and memory module
Travel route planning, when vehicle travels n-th of crossing with the traffic path, the wireless receiving module receives the trip
The current video and/or image at (n+1)th crossing, are shown by human-computer interaction interface in route.
Wherein, first, second processor module such as, but not limited to uses microcontroller, the processing such as embedded chip
Device.Touch screen may be used in human-computer interaction interface.The positive integer of n >=1 in n-th of crossing.Described image information acquisition unit can
Using wide-angle, high-definition camera, to be installed at crossing.WiFi module may be used in wireless sending module and wireless receiving module
It realizes.
Fig. 2 shows the functional block diagrams of the speech recognition subsystem of the present invention.
As shown in Fig. 2, the speech recognition subsystem includes：Voice acquisition module is suitable for acquiring voice data to be identified；
Sample memory module is suitable for storage sample voice data；The voice being connected with the voice acquisition module and sample memory module
Processing module, the speech processing module are suitable for mixing sample, voice data to be identified to reconstruct the voice suitable for identification
Data；The speech processing module is suitable for the voice data after identification being sent to second processor module.
The operation principle of the speech recognition subsystem is the non-standard mandarin for inputting voice and phase in sample data
The pronunciation for closing vocabulary carries out combined training, to reconstruct a kind of voice data for being suitable for identifying, and effectively car can be avoided to make an uproar
Interference of the sound to speech recognition.
Further, the speech processing module includes：
Training unit, suitable for being trained after sample, voice data to be identified are carried out characteristic parameter extraction respectively；Conversion
Synthesis unit, then the characteristic parameter of sample is converted with training result, and synthesize and obtain the voice data.
The training unit includes：
Speech decomposition module carries out speech decomposition respectively to sample, voice data to be identified；Parameter preprocessing module, will
Sample, speech decomposition to be identified result carry out characteristic parameter extraction after be aligned；And characteristic parameter training module, by each feature
Parameter carries out mixed Gaussian random process training.
Wherein, the speech decomposition module is suitable for speech decomposition into voiced sound, Unvoiced signal.
Specifically, voice signal is fixed the framing of duration.In a frame voice, the auto-correlation letter of the voice is solved
Number, using the first side lobe peak of auto-correlation function come approximate evaluation pitch period, the inverse of pitch period is fundamental frequency.
According to obtained fundamental frequency value (voiceless sound 0, voiced sound are non-zero), determine that the frame voice is voiceless sound or voiced sound.If
A maximum voiced sound frequency component then is arranged for it, for dividing the main energy area of harmonic components and random element in voiced sound.
Maximum voiced sound frequency frequency range below, models signal --- using the superposition of several sine waves come fitted signal.Profit
With least-squares algorithm come the discrete amplitude values and phase value of constraint solving sine wave.
The parameter preprocessing module includes：Characteristic parameter extraction submodule is suitable for extraction and is believed by the voiced sound, voiceless sound
Number characteristic parameter, to obtain the characteristic parameter of the sample or voice data to be identified；Characteristic parameter is aligned submodule, right
In sample and characteristic parameter to be identified, Corresponding matching is realized using time map, that is, utilize dynamic time warping algorithm by its
In a characteristic parameter time shaft it is nonlinear be mapped on the time shaft of another feature parameter, realize one-to-one matching.
It is suitable for extraction in characteristic parameter extraction submodule and passes through the voiced sound, the method packet of the characteristic parameter of Unvoiced signal
It includes：
The method for extracting the voiced sound characteristic parameter includes：The amplitude of the discrete sine wave is sought square, the numerical value
It is discrete power spectral function to be approximately considered.
According to the one-to-one relationship of power spectral density function and auto-correlation function, numerical value inverse transformation is composed to discrete power,
Approximate auto-correlation function can be obtained, according to Linear prediction analysis method, can solve to obtain using auto-correlation function linear pre-
Survey coefficient；The dual function that linear predictor coefficient is constituted, the root on Z frequency domains, as linear spectral coefficient of frequency, the coefficient are
For voiced sound characteristic parameter；The method for extracting the voiceless sound characteristic parameter includes：If frame signal is in voiceless sound, classical line is utilized
Property predictive analysis analyze it, establish an all-pole modeling, and utilize least square method constraint solving model system
Number, to obtain linear predictor coefficient, as voiceless sound characteristic parameter.
The characteristic parameter training module by each characteristic parameter carry out mixed Gaussian random process training method include：
Structure includes the Gaussian random process model of mixed structure, then in given input and output vector set, (collection is combined into
The characteristic parameter of the sample of extraction) under the premise of, output vector sequence is approximately equal to the weighted array of multiple Gaussian random processes.
Wherein, the input of Gaussian random process is given input vector sequence.All weight coefficients and each gaussian random mistake
The mean value and variance parameter of journey are unknown parameter to be estimated；It is weighed come approximate evaluation with Markov chain Monte-Carlo method
The joint posterior probability density function of coefficient and model parameter (mean value and variance of Gaussian process), that is, assume initially that weight coefficient and
Meet mutual indepedent characteristic between model parameter, the probability density function of the two is then gradually estimated by way of iteration, often
In secondary iterative process, first fix a kind of known variables, then another known variables are sampled, with a large amount of sampled datas come
Weight coefficient, is finally multiplied with the probability-distribution function of model parameter, can obtain joint posterior probability letter by its approximate probability distribution
Number；Marginalisation is carried out to joint probability density function, respectively obtains the probability point of the probability distribution and model parameter to weight coefficient
The estimation of cloth, so far, mixed Gaussian random process model structure are determined.
The conversion synthesis unit includes：
Conversion module is used to carry out the extraction characteristic parameter of training result and sample by mixed Gaussian random process
Transfer reconstruction；Specific method includes：It is random according to trained mixed Gaussian under conditions of given input observation vector set
The structural parameters of process, seek the membership function value of current speech frame, and so-called membership function refers to normalization posteriority power
The ratio of coefficient；According to angle value is subordinate to, differentiate which Gauss subconstiuent is current speech belong to, then in the son of each sub-clustering
In space, according to the definition of Gaussian random process, corresponding output is generated；The output result of all compositions is superimposed
Come, weight coefficient is exactly the value of membership function, finally obtains the speech characteristic parameter after mapping.Wherein, the speech characteristic parameter
For sample, the characteristic parameter of the voiced sound of voice data to be identified, voiceless sound；The conversion synthesis unit further includes：Phonetic synthesis
Module is reconstructed for the Voiced signal in the characteristic parameter of converted Restructuring Module to be overlapped with Unvoiced signal
The voice data；Specifically, the voice synthetic module is suitable for the discrete harmonic amplitude of Voiced signal and phase value is used as just
After the range value and phase value of string signal are overlapped, Unvoiced signal is overlapped with by an all-pole filter, is obtained
To the voice data.
Speech recognition subsystem in the present invention can effectively improve speech recognition capabilities, ignore interior noise and know to voice
Other influence.
Embodiment 2
On the basis of embodiment 1, the present invention also provides a kind of navigation automobiles using the navigation system.
Wherein, the vehicle is electric vehicle；It is equipped with braking electric energy in the electric vehicle and recycles subsystem, the braking
Electric energy recycling subsystem is connected with on-vehicle navigation apparatus, and the on-vehicle navigation apparatus is further adapted for planning again when the traffic path
Afterwards, the passage rate for calculating again planning path, to obtain the remaining wheeled of accumulator in braking electric energy recycling subsystem
Milimeter number.
Fig. 3 shows the structural schematic diagram of the braking electric energy recycling subsystem of the present invention.
As shown in figure 3, the braking electric energy recycles subsystem, including hydraulic brake mechanism 2, and with the hydraulic brake
2 matched brake coordination component 4 of structure；When braking, the brake coordination component 4 is suitable in generation and hydraulic brake mechanism 2
The direction of motion opposite effect power of piston 24, while the electric energy that wheel drive motors M brakings generate is passed through into a boost module
It charges to accumulator；Or the electric energy of wheel drive motors braking generation is passed through after a boost module again through quick charge electricity
It charges to accumulator on road.
Wherein, boost chip may be used to realize in the boost module, such as, but not limited to mc34063, ICL7660；
The DC source boost module disclosed in such as patent document CN203933389U can also be used.
Specifically, the braking electric energy recycling subsystem further includes：Brake assemblies 3, the brake assemblies 3 are interior to be equipped with stroke
Switch K；When braking, travel switch K is triggered, to generate the active force.
The hydraulic brake mechanism 2 includes the interior master cylinder 23 for setting the piston 24, and the piston 24 passes through piston rod
It is connected with brake assemblies 3.
As a kind of optional embodiment of this hydraulic brake mechanism, the hydraulic brake mechanism 2 further includes：It sets respectively
In brake block 21 and wheel cylinder 22 on each wheel hub 1；The piston 24 generates hydraulic pressure (brake fluid pressure in master cylinder 23
Power), the hydraulic conduction to wheel cylinder 22 generates corresponding hydraulic braking force and acts on wheel hub 1 by brake block 21, to realize
Brake.
The brake assemblies 3 include：The two-sided rack sliding block 36；The brake coordination component 4 includes：Single-side rack sliding block
42；The lower face of the two-sided rack sliding block 36 is coordinated by driving gear component and brake pedal 31, thereon end face and single side
A brake coordination gear 34, the end of the brake coordination gear 34 and the piston rod are engaged between the lower face of rack slide 42
It is connected.Specifically, the two-sided rack sliding block 36 is mounted on the first fixation guide rail 35 and the first fixation guide rail 35 can be relied on to slide；With
And single-side rack sliding block 42 is movably disposed on the second fixation guide rail 41, suitable for being slided on the second fixation guide rail 41.
When braking, brake pedal 31 controls the two-sided rack sliding block 36 by driving gear component and drives brake coordination gear
34 rotations, and the brake coordination gear 34 is suitable for driving hydraulic brake mechanism 2 to generate braking to wheel hub 1 by piston rod；With
And the brake coordination component 4 generates the active force by single-side rack sliding block 42 to brake coordination gear 34.
Wherein driving gear component includes：First, second transfer gear 33, first transfer gear 32 and brake pedal
31 are connected, and the braking instruction of brake pedal 31 passes sequentially through the first transfer gear 32, the second transfer gear 33, the two-sided rack sliding block
36 pass to brake coordination gear 34, and then are moved with piston 24, so as to generate hydraulic pressure in master cylinder 23, complete brake system
It is dynamic.At the same time, since travel switch K is triggered, the active force acting in opposition that brake coordination component 4 generates is in brake coordination
Gear 34 forces the hydraulic pressure value in master cylinder suitably to reduce, and reduction is driven by the consumed kinetic energy that brakes, and by the kinetic energy by wheel
Dynamic motor M brakings are converted into electric energy to store.
The brake coordination component 4 further includes electromagnetic induction device, and the electromagnetic induction device is by the travel switch K
Auxiliary switch control；The electromagnetic induction device is suitable for after travel switch K is triggered, and auxiliary switch controls electromagnetic induction device
Must be electric, to generate the active force.
The specific embodiment of the electromagnetic induction device includes：Electromagnetic coil 46, the electromagnetic coil 46 are suitable for obtaining electric suction
Close iron core 44；The iron core 44 is connected with single-side rack sliding block 42, is suitable for, when electromagnetic coil 46 obtains electric, driving single-side rack
Sliding block 42 generates the active force to brake coordination gear 34.
As a kind of optional embodiment of electromagnetic induction device, the iron core 44 is sheathed in a hollow shell 45, institute
Electromagnetic coil 46 is stated to be set around on 45 periphery of hollow shell；It is slided by connecting rod 43 and single-side rack one end of the iron core 44
Block 42 is connected, and the other end passes through the inner wall of end of compressed spring 47 and the hollow shell 45 elasticity in the hollow shell 45
Cooperation；The iron core 44 carries a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil 46 it is electric after, make iron core 44 to compressed spring
47 directions are moved, at the same act in brake coordination gear 34 the active force (opposition, i.e., with step on brake and step on
After plate 31, the active force that brake coordination gear 34 is passed to by the two-sided rack sliding block 36 is opposite).
As another optional embodiment of electromagnetic induction device, the iron core 44 is sheathed in a hollow shell 45,
And positioned at the side of electromagnetic coil 46.
The brake coordination component 4 further includes charging circuit, which is suitable in brake, by wheel drive motors
The electric energy that M brakings generate charges to accumulator E.
Specific embodiment：The charging circuit includes diode VD；Anode and the electromagnetic coil 46 of the accumulator E
One end be connected, the other end of the battery coil is connected with the cathode of the diode VD, the anode of diode VD and boosting
The output end of module is connected, and the input terminal of the boost module is connected with the one end wheel drive motors M, and the accumulator E's is negative
Pole is connected with the other end of wheel drive motors M；The auxiliary switch is normally closed switch, and the both ends of the normally closed switch are separately connected
In the input terminal of boost module, the anode of accumulator E.
The characteristics of by the one-way of diode VD, can effectively avoid accumulator E after normally closed switch opening, continue to lead to
Electromagnetic coil 46 is crossed to discharge to wheel drive motors M；And by the boost module, it can effectively improve charging effect
Rate.
The present invention braking electric energy recycle subsystem operation principle be：
During electric automobile during traveling, when driver does not touch on the brake pedal 31, auxiliary switch (normally closed switch) is closed,
It will be short-circuited by electromagnetic coil 46, accumulator E is to wheel drive motors M for electric drive running car；Iron core 44 is pressed at this time
47 bullet of contracting spring is to the side of hollow shell 45；
When driver steps on brake pedal 31, the braking instruction of brake pedal 31 pass sequentially through the first transfer gear 32,
Second transfer gear 33, the two-sided rack sliding block 36 pass to brake coordination gear 34, and then are moved with piston 24, so that braking
Hydraulic pressure is generated in master cylinder 23, completes skidding；Meanwhile auxiliary switch is opened, wheel drive motors M generates brake force and passes through
Charging circuit charges to accumulator E, and charging current generates magnetic field when passing through electromagnetic coil 46 so that iron core 44 overcomes compressed spring
47 elastic force moves right, and iron core 44 drives single-side rack sliding block 42 to move right by connecting rod 43 so that brake coordination tooth
Wheel 34 rotates backward, and 34 counter-rotating belts piston 24 of brake coordination gear moves right, to reduce in master cylinder 23
Hydraulic pressure (brake fluid pressure).
When driver steps on brake pedal 31, the brake force of vehicle is consequently exerted at brake force (the hydraulic pressure system on wheel hub 1
The hydraulic braking force that motivation structure 2 generates) and wheel drive motors M generation brake force resultant force；When speed is faster, then wheel drives
The stalling current generated in dynamic motor M is bigger, and motor braking power is bigger, and the suction that electromagnetic coil 46 generates is bigger, iron
The displacement that core 44 moves is bigger, and for the oil pressure in master cylinder 23 with regard to smaller, hydraulic braking force is smaller, to work as automobile high-speed
When braking, increase motor braking power, reduce the conventional friction brake force by hydraulic braking, rubs to reduce in conventional brake
The abrasion of piece, while improving the rate of recovery of the wheel drive motors M to braking energy.
Optionally, in electric automobile during traveling, if brake coordination component 4 breaks down or accumulator E is in full power state
When, wheel drive motors M is without normal direction accumulator E chargings and/or generates brake force, and electric vehicle is by hydraulic brake mechanism 2 at this time
It is braked using conventional hydraulic mode of braking, ensures traffic safety.
Following table be conventional hydraulic mode of braking and the present invention braking electric energy recycle brake of the subsystem under each speed away from
From test result.
From the table it is found that the braking effect that the braking electric energy recycling subsystem of the present invention is generated with conventional hydraulic mode of braking
Essentially identical, therefore, the present invention is realized in the case where ensureing that the braking resultant force of the two meets automobile brake requirement, Ji Nengti
The rate of recovery of braking energy can reduce the loss of conventional brake friction plate again in high braking process.
The braking electric energy of the present invention recycles subsystem, makes electric braking force with hydraulic braking force in certain model by mechanical structure
Enclose it is interior be continuously adjusted in real time, controller in the prior art or single chip circuit is omitted and calculates control and deterministic process,
Thus it coordinates the timeliness of braking more preferably.
Fig. 4 shows the structural schematic diagram of second of embodiment of braking electric energy recycling subsystem.
As shown in figure 4, the single-side rack sliding block in the brake coordination component can also be driven by leading screw and be moved left and right
To replace electromagnetic induction device, concrete scheme to include：
The leading screw is driven by motor, which is controlled by a MCU module, and the MCU module passes through Hall sensor
The current value that the M brakings of acquisition wheel drive motors generate adjusts the displacement of single-side rack sliding block to control Motor torque.
Fig. 5 shows the circuit diagram of second of charging circuit of the present invention.
As shown in figure 5, concrete scheme includes：The charging circuit includes：First, second diode and charging capacitor C；Institute
It is the first, second normally closed switch and a normal open switch to state auxiliary switch；The anode of the accumulator E and the of the first normally closed switch
One end is connected, and the second end of first normal open switch is connected by the electromagnetic coil with the cathode of the first diode VD1, this
The anode of one diode VD1 is connected with the output end of boost module, the input terminal of the boost module and the cathode of accumulator E point
It Lian Jie not be with the both ends of wheel drive motors M；The second end of first normally closed switch also with one end phase of the second normally closed switch
Even, the other end of second normally closed switch is connected with the input terminal of boost module；The second diode VD2 anodes and charging electricity
Hold the connected composition quick-charging circuit in the one end C, which is parallel to the both ends accumulator E and described second
Diode VD2 anodes are also connected by the normal open switch with the second end of the first normally closed switch.
Wherein, charging capacitor C may be used several bulky capacitor parallel connections and realize, since capacitor charging response speed compares accumulator
It is fast, so the electric current that braking generates often is caused to have little time to charge to accumulator E and disappear, therefore, charging effect
Rate is very low, in order to overcome the technical problem, can effectively avoid the waste of energy that braking generates by quick charge capacitor, improve
Charge efficiency.
Concrete principle is first to carry out quick charge to charging capacitor, is then carried out again to battery by the second diode VD2
Electric discharge.
Preferably, it is additionally provided with speech recognition subsystem in the on-vehicle navigation apparatus, to improve speech recognition capabilities.
Embodiment 3
On the basis of embodiment 1, the present invention also provides a kind of working methods of navigation system, pass through speech recognition
System and/or interpersonal interactive interface carry out control instruction input.
The navigation system also has path optimization's air navigation aid, and this method comprises the following steps：
Step S1 shoots the traffic lights at the crossing, the passage video of vehicle by the monitoring device positioned at each crossing
And/or image, and the current video and/or image are sent by wireless sending module.
Step S2, by the advance travel route planning of on-vehicle navigation apparatus, and suitable for driving to going out for planning when vehicle
When n-th of crossing of walking along the street line, the current video and/or image at (n+1)th crossing in the traffic path are received, for driving
The person of sailing checks；Wherein, n-th of crossing will only be reached in the vehicle or in traffic lights such as n-th of crossings
When, the on-vehicle navigation apparatus just shows the passage video and/or image at (n+1)th crossing.
Specifically the concrete mode about navigation system and speech recognition subsystem may refer in the part of embodiment 1
Hold.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (1)
1. a kind of navigation automobile of installation navigation system, the navigation system include：
Monitoring device, the passage video and/or image for shooting the crossing vehicle positioned at each crossing, and by wirelessly sending out
Module is sent to send the current video and/or image；
On-vehicle navigation apparatus, advance travel route planning, when the vehicle configured with the on-vehicle navigation apparatus will travel to planning
Traffic path n-th of crossing when, receive the current video and/or image at (n+1)th crossing in the traffic path, with
It is checked for driver；
It is equipped with speech recognition subsystem in the on-vehicle navigation apparatus, the vehicle mounted guidance is filled according to the speech recognition subsystem
Set input phonetic order；
The navigation automobile is electric vehicle；
It is equipped with braking electric energy in the electric vehicle and recycles subsystem, the braking electric energy recycling subsystem and on-vehicle navigation apparatus
It is connected, the on-vehicle navigation apparatus is further adapted for after the traffic path is planned again, calculating again the passage of planning path
Speed, to obtain the remaining wheeled milimeter number of accumulator in braking electric energy recycling subsystem；
The braking electric energy recycling subsystem includes hydraulic brake mechanism, and is assisted with the matched braking of the hydraulic brake mechanism
Adjust component；
When braking, the brake coordination component is suitable for generating the direction of motion opposite effect with piston in hydraulic brake mechanism
Power, while the electric energy that wheel drive motors braking generates charging to accumulator by a boost module；Or wheel is driven
The electric energy that dynamic motor braking generates is by again charging to accumulator through quick-charging circuit after a boost module；
The braking electric energy recycles subsystem：Brake assemblies, the brake assemblies are interior to be equipped with travel switch K；
When braking, travel switch K is triggered, to generate the active force；
The hydraulic brake mechanism includes the interior master cylinder for setting the piston, and the piston passes through piston rod and brake assemblies phase
Even；
It is characterized in that, the brake assemblies include：The two-sided rack sliding block；The brake coordination component includes：Single-side rack is slided
Block；
The lower face of the two-sided rack sliding block is coordinated by driving gear component and brake pedal, thereon end face and single-side rack
A brake coordination gear is engaged between the lower face of sliding block, which is connected with the end of the piston rod；
When brake, brake pedal controls the two-sided rack sliding block by driving gear component and brake coordination gear is driven to rotate, and should
Brake coordination gear is suitable for driving hydraulic brake mechanism to generate braking to wheel hub by piston rod；And the brake coordination group
Part acts power by single-side rack sliding block to brake coordination gear；
The brake coordination component further includes electromagnetic induction device, and the electromagnetic induction device is by the auxiliary in the travel switch K
Switch control；
The electromagnetic induction device be suitable for when travel switch K trigger after, auxiliary switch control electromagnetic induction device obtain it is electric, with generation
The active force；
The electromagnetic induction device includes：Electromagnetic coil, the electromagnetic coil are suitable for obtaining electric pull-core；
The iron core is connected with single-side rack sliding block, is suitable for when electromagnetic coil obtains electric, drives single-side rack sliding block to braking
Coordinate gear and generates the active force；
The iron core sleeve is set in a hollow shell, and the electromagnetic coil is set around on the hollow shell periphery；
One end of the iron core is connected by connecting rod with single-side rack sliding block, and the other end passes through compression in the hollow shell
The inner wall of end resilient engagement of spring and the hollow shell；
The iron core carries a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil obtain it is electric after, so that iron core is moved to compressed spring direction
It is dynamic.
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| CN106585637A (en) * | 2016-11-30 | 2017-04-26 | 广西壮族自治区都安瑶族自治县科学技术情报研究所 | Intelligent interaction system for farm tractor |
| CN108088458A (en) * | 2018-01-12 | 2018-05-29 | 山东高速信息工程有限公司 | Based on image highway navigation road conditions show method, apparatus, storage medium |
| CN110986986A (en) * | 2019-12-19 | 2020-04-10 | 燕山大学 | Electric automobile charging navigation system design based on voice recognition |
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