CN106990780B - 一种用于无人驾驶电动汽车的自动充电机导航系统及导航方法 - Google Patents

一种用于无人驾驶电动汽车的自动充电机导航系统及导航方法 Download PDF

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CN106990780B
CN106990780B CN201710190930.1A CN201710190930A CN106990780B CN 106990780 B CN106990780 B CN 106990780B CN 201710190930 A CN201710190930 A CN 201710190930A CN 106990780 B CN106990780 B CN 106990780B
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范贤根
曾庆喜
周倪青
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Wuhu Lion Automotive Technologies Co Ltd
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Abstract

一种用于无人驾驶电动汽车的自动充电机导航系统，包括：在充电车位上间隔铺设标签卡，建立一个二维的坐标系；在无人车底盘的四个拐角位置均固定一个读卡器，用于读取标签卡的位置，充电孔设置在四个读卡器的对角线交点处；在无人车上的信号发射端和在充电小车上的信号接收端。采用该导航系统，使无人车充电系统简单化并且使自动充电产业化发展有了可行性方案。

Description

一种用于无人驾驶电动汽车的自动充电机导航系统及导航 方法
技术领域
本发明属于无人车充电领域，特别是涉及到一种用于无人驾驶电动汽车的自动充电机低成本导航系统。
背景技术
目前市场在研发的无人车多以电动车为主，电动车的优势在于易控节能环保，结构简单，噪音小。但也有缺点，例如电池寿命较短，蓄电池及电机控制器使成本较高，其中最主要的就是耗电量较快需要频繁充电，且目前建造的服务站耗费太高，无法普及。
已有的充电桩和其他类似充电设施需要人工操作，如无人车充电需要人力帮助，不够智能，操作不方便。现有的专利中充电装置结构复杂，设备设施昂贵，更不利于无人车充电设施的普及，而且自动充电机的导航方法不可靠，容易出现信号传输干扰、误传、漏传等现象。
发明内容
针对以上问题本发明采用的射频信号(RFID)扫码导航方式具有：数据传输稳定，结构简单，成本低廉等优势，为无人车充电服务区能够智能化、普及化的可行性增加。
本发明提供一种低成本的无人车自动充电系统，具体技术方案为：
一种用于无人驾驶电动汽车的自动充电机导航系统，包括：在充电车位上间隔铺设标签卡，建立一个二维的坐标系；在无人车底盘的四个拐角位置均固定一个读卡器，用于读取标签卡的位置，充电孔设置在四个读卡器的对角线交点处；在无人车上的信号发射端和在充电小车上的信号接收端。
进一步地，所述每个读卡器下方安置一个自动升降罩。
进一步地，所述自动升降罩是直径为70cm的金属圆筒。
进一步地，在充电车位上以1m的间隔铺设标签卡。
进一步地，所述读卡器采用RFID；
进一步地，所述信号发射端和信号接收端为3G信号发射端和3G信号接收端。
进一步地，所述充电小车上设有MCU控制器。
进一步地，设四个读卡器读到的标签卡坐标分别为：(Xa，Ya)、(Xb，Yb)、 (Xc，Yc)、(Xd，Yd)，则得到充电孔的坐标
Figure BDA0001256145180000021
Figure BDA0001256145180000022
无人车通过3G信号发射端，将此坐标位置发送给充电小车；所述充电小车收到此坐标位置后到达充电孔位置，给无人车充电。
一种如上述用于无人驾驶电动汽车的自动充电机导航系统的导航方法，包括如下步骤：
步骤一：坐标获取；
无人车驶入停车位时，无人车载体上的读卡器上安装的自动升降罩下降至距离地面5cm的位置处，扫描地上标签卡；所述四个读卡器分别为读卡器a，读卡器b，读卡器c，读卡器d，设读卡器a读到的标签卡坐标为(Xa，Ya)，读卡器d读到的标签卡坐标为(Xd，Yd)；
此时得到充电孔的第一个坐标值：
Figure BDA0001256145180000023
设读卡器b读到的标签卡坐标为(Xb，Yb)，读卡器c读到的标签卡坐标为 (Xc，Yc)；
此时得到充电孔的第二个坐标值：
Figure BDA0001256145180000024
对两个坐标值进行取平均减小误差，得到准确的坐标值：
Figure BDA0001256145180000025
Figure BDA0001256145180000026
故
Figure BDA0001256145180000027
步骤二：坐标发送与对接充电
无人车通过信号发射端，将此坐标位置发送给充电小车，充电小车的信号接收端在收到坐标位置后，会对充电小车发出指令；在到达充电接口位置后，充电小车将充电头往上上升，通过插入特制的接口，即可实现充电。
步骤三：充电小车返回：
无人车电量到达100％后就会发送指令“充电完成”，充电小车在接收到指令后就会将插头拔出；降下充电头，按照来的路径返回；回到初始位置(0，0)，完成整个充电过程。
进一步地，所述步骤二中，根据每个铺设的标签卡距离为L，可得充电小车沿着X轴前进L*X cm后再沿着Y轴前L*Ycm的距离。
采用该导航系统，使无人车充电系统简单化并且使自动充电产业化发展有了可行性方案。
附图说明
图1为本发明的导航系统结构示意图；
具体实施方式
下面通过对最优实施例的描述，对本发明的具体实施方式作进一步详细的说明。
如图1：1、无人车；2、自动升降罩；3、读卡器a，读卡器b，读卡器c，读卡器d；(以下简称RFIDa、RFIDb、RFIDc、RFIDd、)4、标签卡；5、3G信号发射端；6、3G信号接收端；7、充电小车及MCU控制器。
在充电车位上以1m的间隔铺设标签卡4，来建立一个二维的坐标系如图1 所示。在无人车底盘6的四个拐角位置均会固定个RFID3，充电孔设置在四个R FID的对角线交点处；在每个RFID3下方安置一个自动升降罩2，以保证标签卡4被准确读到，其他标签卡不会被误读。自动升降罩2是一个直径为70cm的金属圆筒。
Figure BDA0001256145180000031
仅有圆筒中心位置与标签卡4形成的正方形中心位置恰好重合时，标签卡才不会被扫到，并且四个RFID也恰好同时处在正方形中心位置时定位才会无效。我们认为此为极小概率事件，也即不可能事件。
导航方法，包括如下步骤：
步骤一：坐标获取；
无人车底盘1驶入停车位时，无人车载体上的RFID3上安装的自动升降罩便会下降至距离地面5cm的位置处，扫描地上标签卡4。设RFIDa读到的标签卡4 坐标为(Xa，Ya)，RFIDd读到的标签卡4坐标为(Xd，Yd)；
此时得到充电孔的第一个坐标值：
Figure BDA0001256145180000041
设RFIDb读到的标签卡4坐标为(Xb，Yb)，RFIDc读到的标签卡4坐标为 (Xc，Yc)；
此时得到充电孔的第二个坐标值：
Figure BDA0001256145180000042
对两个坐标值进行取平均减小误差，得到准确的坐标值：
Figure BDA0001256145180000043
Figure BDA0001256145180000044
故
Figure BDA0001256145180000045
步骤二：坐标发送与对接充电
无人车通过3G信号发射端，将此坐标位置发送给充电小车，充电小车的3G 信号接收端在收到坐标位置后，会对小车发出指令：根据每个铺设的标签距离为 50cm，可得充电小车沿着X轴前进50*X cm后再沿着Y轴前50*Y cm的距离。在到达充电接口位置后，充电小车将充电接口往上上升，通过插入特制的接口，即可实现充电。
步骤三：充电小车返回：
无人车电量到达100％后就会发送指令“充电完成”，充电小车在接收到指令后就会将插头拔出。降下充电头，按照来的路径返回。回到初始位置(0，0)，完成整个充电过程。
上面对本发明进行了示例性描述，显然本发明具体实现并不受上述方式的限制，只要采用了本发明的方法构思和技术方案进行的各种改进，或未经改进直接应用于其它场合的，均在本发明的保护范围之内。

Claims (2)

1.一种用于无人驾驶电动汽车的自动充电机导航系统的导航方法，该用于无人驾驶电动汽车的自动充电机导航系统包括：在充电车位上间隔铺设标签卡，建立一个二维的坐标系；在无人车底盘的四个拐角位置均固定一个读卡器，用于读取标签卡的位置，充电孔设置在四个读卡器所在矩形的对角线交点处；在无人车上的信号发射端和在充电小车上的信号接收端，每个读卡器下方安置一个自动升降罩，所述自动升降罩是直径为70cm的金属圆筒，在充电车位上以1m的间隔铺设标签卡，所述读卡器采用RFID，所述信号发射端和信号接收端为3G信号发射端和3G信号接收端，所述充电小车上设有MCU控制器，设四个读卡器读到的标签卡坐标分别为：(Xa，Ya)、(Xb，Yb)、(Xc，Yc)、(Xd，Yd)，则得到充电孔的坐标
Figure FDA0002300780800000011
Ya+Yb+Yc+Yd)；无人车通过3G信号发射端，将此坐标位置发送给充电小车；所述充电小车收到此坐标位置后到达充电孔位置，给无人车充电，其特征在于，所述方法包括如下步骤：
步骤一：坐标获取；
无人车驶入停车位时，无人车载体上的读卡器上安装的自动升降罩下降至距离地面5cm的位置处，扫描地上标签卡；所述四个读卡器分别为读卡器a，读卡器b，读卡器c，读卡器d，设读卡器a读到的标签卡坐标为(Xa，Ya)，读卡器d读到的标签卡坐标为(Xd，Yd)；
此时得到充电孔的第一个坐标值：
Figure FDA0002300780800000012
设读卡器b读到的标签卡坐标为(Xb，Yb)，读卡器c读到的标签卡坐标为(Xc，Yc)；
此时得到充电孔的第二个坐标值：
Figure FDA0002300780800000013
对两个坐标值进行取平均减小误差，得到准确的坐标值：
Figure FDA0002300780800000014
Figure FDA0002300780800000015
故
Figure FDA0002300780800000016
步骤二：坐标发送与对接充电
无人车通过信号发射端，将此坐标位置发送给充电小车，充电小车的信号接收端在收到坐标位置后，会对充电小车发出指令；在到达充电接口位置后，充电小车将充电头往上上升，通过插入特制的接口，即可实现充电；
步骤三：充电小车返回：
无人车电量到达100％后就会发送指令“充电完成”，充电小车在接收到指令后就会将插头拔出；降下充电头，按照来的路径返回；回到初始位置(0，0)，完成整个充电过程。
2.如权利要求1所述的导航方法，其特征在于，所述步骤二中，根据每个铺设的标签卡距离为L，可得充电小车沿着X轴前进L*X后再沿着Y轴前进L*Y的距离。
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