CN107153417A - Support the payment terminal of mobile network's access - Google Patents
Support the payment terminal of mobile network's access Download PDFInfo
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- CN107153417A CN107153417A CN201610543824.2A CN201610543824A CN107153417A CN 107153417 A CN107153417 A CN 107153417A CN 201610543824 A CN201610543824 A CN 201610543824A CN 107153417 A CN107153417 A CN 107153417A
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- 238000001914 filtration Methods 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 24
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000004579 marble Substances 0.000 claims description 7
- 230000002708 enhancing effect Effects 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 6
- 210000003128 head Anatomy 0.000 description 10
- 230000005611 electricity Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 206010028813 Nausea Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—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
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F15/00—Coin-freed apparatus with meter-controlled dispensing of liquid, gas or electricity
- G07F15/003—Coin-freed apparatus with meter-controlled dispensing of liquid, gas or electricity for electricity
- G07F15/005—Coin-freed apparatus with meter-controlled dispensing of liquid, gas or electricity for electricity dispensed for the electrical charging of vehicles
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- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Subsystem, automatic charging subsystem and control subsystem etc. are detected the present invention relates to a kind of payment terminal for supporting mobile network to access, including Galileo navigation subsystem, charging pile.The present invention can access to mobile network, and being authenticated by mobile network for delivery operation at any time, so that the safety certification to transaction is realized, to ensure the security performance of contactless payment of swiping the card.
Description
The present invention be Application No. 2016101254786, the applying date be on March 6th, 2016, it is entitled " support move
The divisional application of the patent of the payment terminal of dynamic network insertion ".
Technical field
The present invention relates to mobile payment field, more particularly to a kind of payment terminal for supporting mobile network to access.
Background technology
At present, payment of swiping the card has become the commonly used means of payment of people day.Consumer is carried out with contactless card
During transaction payment, as long as Payment Card can be completed into consumption close to swiping card equipment.Contactless card is by REID and IC
Card technique is combined together, and solves that equipment is passive and two problems of contact-free person, and this breakthrough has the advantages that its is unique, because
This is obtained for large-scale application in numerous industries.
But, there is no the process for verifying password when being paid due to contactless card, this just brings to the security merchandised
Risk, is easily damaged holder's interests by modes such as malice transaction and illegal swiping card equipments.Therefore other must be taken each
Plant the precautionary measures to avoid the generation of queasy transaction, to protect the interests of user.
Existing safeguard measure, is to prevent robber from swiping the card by the coverage for controlling to swipe the card.Pass through software or hard
Part method so that card needs the completion transaction that could successfully be swiped the card in specified shorter coverage.If card and brush
The distance between card apparatus is more than the coverage that this is specified, then can not successfully swipe the card and be traded.But this method is not
The possibility of the stolen brush of card can be avoided completely, while also reducing the accuracy rate and usage experience recognized when swiping the card.
The content of the invention
According to an aspect of the present invention there is provided a kind of payment terminal for supporting mobile network to access, it is arranged at based on gal
The unmanned electric car that slightly navigates of profit, the electric car includes Galileo navigation subsystem, charging pile detection subsystem, automatic
Charge subsystem and control subsystem, and control subsystem detects subsystem with Galileo navigation subsystem, charging pile and filled automatically
Electronic system is connected respectively, and the position of charging station nearby is determined for the output based on Galileo navigation subsystem, and further
The output for detecting subsystem based on charging pile determines the position of charging station nearby, is additionally operable to control automatic charging subsystem to realize
To the automatic charging of electric car.
More specifically, in the unmanned electric car based on Galileo navigation, including：Frequency duplex communications connect
Mouthful, it is arranged on the outside of the vehicle body of electric car, for the current Galileo navigation position based on electric car from the charging station pipe of distal end
The occupancy percentage of each charging station near the current Galileo navigation position that electric car is received at server is managed, also from distal end
At traffic administration server receive arrive at current Galileo navigation position nearby each charging station distinguish each corresponding section
Congestion level；Galileo position indicator, for receiving current gal profit that Galileo navigation position location satellite is sent in real time, electric car
Slightly navigation position, be additionally operable to receive in Galileo navigation electronic map, the current Galileo navigation position of electric car nearby each
The Galileo navigation position of charging station；CF cards, are arranged on electric car, the reference characteristic vector for prestoring charging pile,
The reference characteristic vector of charging pile is made up of 8 geometric properties of benchmark charging pile image, Europe on the basis of 8 geometric properties difference
Pulling eye number, circularity, angle point number, convex-concave degree, smoothness, draw ratio, tight ness rating and main shaft angle；Vision sensor, for electricity
Shot in front of motor-car, to obtain forward image, the resolution ratio of the forward image is 3840 × 2160；Image preprocessing is set
It is standby, it is arranged on electric car, is connected with the vision sensor, including the sub- equipment of medium filtering, low pass filtered marble equipment and same
State filters sub- equipment；The sub- equipment of medium filtering is connected with the vision sensor, used in being performed to the forward image
Value filtering, to filter out the spot noise in the forward image, obtains the first filtering image；The low pass filtered marble equipment with it is described
The sub- equipment connection of medium filtering, for removing the random noise in first filtering image, obtains the second filtering image；It is described
The sub- equipment of homomorphic filtering is connected with the low pass filtered marble equipment, for performing image enhaucament to second filtering image, with
Obtain enhancing image；Charging pile detection device, is arranged on electric car, distinguishes with described image pre-processing device and the CF cards
Connection, including image split sub- equipment and the sub- equipment of eigenvector recognition, and described image is split sub- equipment and is used for the enhancing
Target identification in image comes out to obtain target image；The sub- equipment of eigenvector recognition splits sub- equipment with described image
Connected respectively with the CF cards, 8 geometric properties of target are determined based on the target image, by 8 geometric properties groups
Matched into target feature vector, and by target feature vector with the reference characteristic vector of charging pile, the match is successful then exports
There is charging pile signal, it fails to match then exports in the absence of charging pile signal；Electric power detection equipment, is arranged on the electric power storage of electric car
Chi Shang, the real-time dump energy for detecting battery；Controller is travelled, is arranged on electric car, the direction electricity with electric car
Machine controller and speed motor controller connection, for receiving position control signal, driving side is determined based on position control signal
To and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller；
Ultrasonic detecting equipment, is arranged on electric car front portion, the real-time difference distance for detecting electric car front distance charging pile；
ZIGBEE communication equipments, are arranged on electric car, for carrying out handshake operation with the ZIGBEE communication interfaces of charging pile, shake hands into
Work(then sends charging pile qualifying signal, and failure of shaking hands then sends the unqualified signal of charging pile；Automatic charging equipment, is arranged on electronic
Che Shang, including locator, displacement driver, manipulator and charging head, locator, displacement driver and charging head are all disposed within machine
On hand, locator is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver and positioning for tool
Device is connected, and for driving manipulator to go to the charging socket of charging pile based on relative distance, manipulator is for arriving at charging pile
Charging socket after by charging head insert charging pile charging socket in；MSP430 single-chip microcomputers, are arranged on electric car, with frequency division
Duplex communication interface, electric power detection equipment, traveling controller, Galileo position indicator, charging pile detection device, ultrasound examination are set
Standby, ZIGBEE communication equipments and automatic charging equipment are connected respectively, when real-time dump energy is less than or equal to the first default electricity threshold
During value, into self-navigation pattern；Wherein, MSP430 single-chip microcomputers are in self-navigation pattern, start frequency duplex communications interface,
Galileo position indicator and charging pile detection device, receive current Galileo navigation position and nearby each at Galileo position indicator
The Galileo navigation position of charging station, it is each nearby to obtain that current Galileo navigation position is sent into frequency duplex communications interface
The congestion level for taking percentage and each corresponding section of neighbouring each charging station difference of individual charging station, based on current gal
The Galileo navigation position of profit slightly navigation position and each neighbouring charging station determine current Galileo navigation position to it is neighbouring each
Each charging station Galileo navigation distance of the Galileo navigation position of charging station, based on the corresponding section of each charging station
Congestion level, congestion level weight, nearby each charging station occupancy percentage, take percentage weight, nearby each
The Galileo navigation distance and distance weighting of charging station calculate the convenience degree of each charging station nearby, and congestion level is lower,
Convenience degree is higher, and occupancy percentage is lower, and convenience degree is higher, and Galileo navigation distance is shorter, and convenience degree is higher, selection
Nearby charging station is used as target charging station to convenience degree highest；Wherein, MSP430 single-chip microcomputers are also based on current Galileo navigation
Position and the Galileo navigation position of target charging station determine position control signal, and position control signal is sent into traveling control
Instrument is to control electric car to go to prestore in electronic map charging station recently, when being received at charging pile detection device in the presence of charging
During stake signal, start ultrasonic detecting equipment and ZIGBEE communication equipments, receive charging pile qualifying signal and in real time difference
When distance is less than or equal to pre-determined distance threshold value, start automatic charging equipment so that charging head is inserted in the charging socket of charging pile,
MSP430 single-chip microcomputers exit self-navigation pattern；Wherein, MSP430 single-chip microcomputers are more than or equal to second in real-time dump energy and preset
Power threshold, controls the manipulator of automatic charging equipment charging head is pulled away to the charging socket of charging pile, the second default electricity
Threshold value is more than the first default power threshold；Wherein, the first default power threshold, the second default power threshold, congestion level weight,
It is default fixed numbers to take percentage weight and distance weighting.
More specifically, in the unmanned electric car based on Galileo navigation：CF cards are electromechanical with MSP430 monolithics
Property connection.
More specifically, in the unmanned electric car based on Galileo navigation：CF cards have also prestored first
Default power threshold, the second default power threshold, congestion level weight, occupancy percentage weight and distance weighting.
More specifically, in the unmanned electric car based on Galileo navigation：Vision sensor is arranged on electronic
The body structure of car.
More specifically, in the unmanned electric car based on Galileo navigation：Galileo position indicator is arranged on electricity
On the outside of the vehicle body of motor-car.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the structure square frame of the unmanned electric car based on Galileo navigation according to embodiment of the present invention
Figure.
Reference：1 Galileo navigation subsystem；2 charging piles detect subsystem；3 automatic charging subsystems；4 control
System
Embodiment
The embodiment to the unmanned electric car based on Galileo navigation of the present invention is carried out below with reference to accompanying drawings
Describe in detail.
Existing charging station search pattern has following drawback：
(1) under manual drive pattern, electric car user is likely to be unfamiliar with neighbouring road, for example, do not know about each nearby
The occupancy situation of individual charging station, does not know about the jam situation of neighbouring each charging station correspondence road or long short distance, easily choosing
Select the slower charging station of offer charging service to be charged, will so delay the charging interval of electric car.
(2) after target charging station is reached, it is still necessary to which electric car user naked eyes select neighbouring charging pile to be charged, together
When electric car charging plug is inserted into the process of charging socket of charging pile is also manually operated, automatization level is not high.
In order to overcome above-mentioned deficiency, the present invention has built a kind of unmanned electric car based on Galileo navigation, increases
Charging station search mechanisms, automatic Pilot mechanism, nearest charging pile recognition mechanism, charging pile handshake mechanism and automation charger
Make to realize the full automation of electric car charging whole process, so that electric car is unpiloted in the case of overcoming electric power not enough
Blind area, it is to avoid user is manually operated or remote-operated intervention.
Fig. 1 is the structure square frame of the unmanned electric car based on Galileo navigation according to embodiment of the present invention
Figure, the electric car includes Galileo navigation subsystem, charging pile detection subsystem, automatic charging subsystem and control subsystem
System, control subsystem is connected respectively with Galileo navigation subsystem, charging pile detection subsystem and automatic charging subsystem, is used for
Output based on Galileo navigation subsystem determines the position of charging station nearby, and is based further on charging pile detection subsystem
Output determines the position of charging station nearby, is additionally operable to control automatic charging subsystem to realize the automatic charging to electric car.
Then, continue to carry out further the concrete structure of the unmanned electric car based on Galileo navigation of the present invention
Explanation.
The electric car includes：On the outside of frequency duplex communications interface, the vehicle body for being arranged on electric car, for based on electric car
Current Galileo navigation position the current Galileo navigation position of electric car is received at the charging station management server of distal end
The occupancy percentage of each neighbouring charging station, receives also at the traffic administration server of distal end and arrives at current Galileo navigation position
Put the congestion level that each neighbouring charging station distinguishes each corresponding section.
The electric car includes：Galileo position indicator, it is that Galileo navigation position location satellite is sent in real time, electronic for receiving
The current Galileo navigation position of car, be additionally operable to receive Galileo navigation electronic map in, the current Galileo navigation of electric car
The Galileo navigation position of each charging station near position.
The electric car includes：CF cards, are arranged on electric car, the reference characteristic vector for prestoring charging pile,
The reference characteristic vector of charging pile is made up of 8 geometric properties of benchmark charging pile image, Europe on the basis of 8 geometric properties difference
Pulling eye number, circularity, angle point number, convex-concave degree, smoothness, draw ratio, tight ness rating and main shaft angle；Vision sensor, for electricity
Shot in front of motor-car, to obtain forward image, the resolution ratio of the forward image is 3840 × 2160.
The electric car includes：Image-preprocessing device, is arranged on electric car, is connected with the vision sensor, bag
Include the sub- equipment of medium filtering, low pass filtered marble equipment and the sub- equipment of homomorphic filtering.
Wherein, the sub- equipment of the medium filtering is connected with the vision sensor, used in being performed to the forward image
Value filtering, to filter out the spot noise in the forward image, obtains the first filtering image；The low pass filtered marble equipment with it is described
The sub- equipment connection of medium filtering, for removing the random noise in first filtering image, obtains the second filtering image；It is described
The sub- equipment of homomorphic filtering is connected with the low pass filtered marble equipment, for performing image enhaucament to second filtering image, with
Obtain enhancing image.
The electric car includes：Charging pile detection device, is arranged on electric car, with described image pre-processing device and institute
CF cards are stated to connect respectively, including image splits sub- equipment and the sub- equipment of eigenvector recognition, described image is split sub- equipment and is used for
Target identification in the enhancing image is come out to obtain target image；The sub- equipment of eigenvector recognition and described image
Split sub- equipment and the CF cards are connected respectively, 8 geometric properties of target are determined based on the target image, by described 8
Geometric properties constitute target feature vector, and target feature vector is matched with the reference characteristic vector of charging pile, match
It is successful then output there is charging pile signal, it fails to match then output be not present charging pile signal.
The electric car includes：Electric power detection equipment, is arranged on the battery of electric car, the reality for detecting battery
When dump energy；Controller is travelled, is arranged on electric car, direction electric machine controller and speed motor controller with electric car
Connection, for receiving position control signal, driving direction and actuating speed are determined based on position control signal, and by driving direction
Direction electric machine controller and speed motor controller are sent respectively to actuating speed.
The electric car includes：Ultrasonic detecting equipment, is arranged on electric car front portion, for detecting electric car front distance
The real-time difference distance of charging pile；ZIGBEE communication equipments, are arranged on electric car, communicate and connect for the ZIGBEE with charging pile
Mouth carries out handshake operation, shakes hands and successfully then sends charging pile qualifying signal, failure of shaking hands then sends the unqualified signal of charging pile.
The electric car includes：Automatic charging equipment, is arranged on electric car, including locator, displacement driver, machinery
Hand and charging head, locator, displacement driver and charging head are all disposed within manipulator, and locator is used for inspecting manipuator with filling
Relative distance between the charging socket of electric stake, displacement driver is connected with locator, for driving machinery based on relative distance
Hand goes to the charging socket of charging pile, and manipulator is used to after the charging socket of charging pile is arrived at charging head inserting charging pile
In charging socket.
The electric car includes：MSP430 single-chip microcomputers, are arranged on electric car, are examined with frequency duplex communications interface, electricity
Measurement equipment, traveling controller, Galileo position indicator, charging pile detection device, ultrasonic detecting equipment, ZIGBEE communication equipments and
Automatic charging equipment is connected respectively, when real-time dump energy is less than or equal to the first default power threshold, into self-navigation mould
Formula.
Wherein, MSP430 single-chip microcomputers are in self-navigation pattern, start frequency duplex communications interface, Galileo position indicator and
Charging pile detection device, receives the Galileo of current Galileo navigation position and each neighbouring charging station at Galileo position indicator
Navigation position, is sent to frequency duplex communications interface to obtain the occupancy of each neighbouring charging station by current Galileo navigation position
Percentage and nearby each charging station distinguishes the congestion level in corresponding each section, based on current Galileo navigation position and
The Galileo navigation position of each neighbouring charging station determines current Galileo navigation position to the Galileo of each neighbouring charging station
Each charging station Galileo navigation distance of navigation position, congestion level, congestion based on the corresponding section of each charging station
The occupancy percentage of degree weight, nearby each charging station, occupancy percentage weight, the Galileo of each neighbouring charging station
Navigation distance and distance weighting calculate the convenience degree of each charging station nearby, and congestion level is lower, and convenience degree is higher, accounts for
Lower with percentage, convenience degree is higher, and Galileo navigation distance is shorter, and convenience degree is higher, selects convenience degree highest
Neighbouring charging station is used as target charging station.
Wherein, Galileo navigation position of the MSP430 single-chip microcomputers also based on current Galileo navigation position and target charging station
Position control signal is determined, position control signal is sent to traveling controller to control electric car to go to prestore in electronic map
Nearest charging station, when received at charging pile detection device there is charging pile signal when, start ultrasonic detecting equipment and
ZIGBEE communication equipments, when receiving charging pile qualifying signal and difference distance is less than or equal to pre-determined distance threshold value in real time, are opened
Dynamic automatic charging equipment is so that charging head is inserted in the charging socket of charging pile, and MSP430 single-chip microcomputers exit self-navigation pattern.
Wherein, MSP430 single-chip microcomputers are more than or equal to the second default power threshold in real-time dump energy, control automatic charging
The manipulator of equipment is so that charging head to be pulled away to the charging socket of charging pile, and the second default power threshold is more than the first default electricity threshold
Value；Wherein, the first default power threshold, second preset power threshold, congestion level weight, take percentage weight and apart from power
It is default fixed numbers again.
Alternatively, in the electric car：CF cards are electrically connected with MSP430 single-chip microcomputers；CF cards have also prestored first
Default power threshold, the second default power threshold, congestion level weight, occupancy percentage weight and distance weighting；Visual sensing
Device is arranged on the body structure of electric car；And Galileo position indicator can be arranged on the outside of the vehicle body of electric car.
In addition, satellite navigation (Satellite navigation) refer to using aeronautical satellite to ground, ocean, it is aerial and
Spatial user carries out the technology of navigator fix.Common GPS navigation, the Big Dipper navigation, Galileo navigation etc. are satellite navigation.
The technology of navigator fix is carried out to ground, ocean, aerial and spatial user using aeronautical satellite.Utilize the sun, the moon
Existing thousands of years of the history of ball and other natural coelonavigations, although the imagination navigated by artificial object early in latter half in 19th century just
It has been proposed that, but just start to realize until 1960s.The U.S. in 1964 builds up " meridian instrument " satellite navigation system, and hands over
Pay naval to use, start within 1967 civilian.Start within 1973 to develop " nautical star " global positioning system again.The Soviet Union also establishes class
As satellite navigation system.France, Japan, the Chinese research and experiment work for also having carried out satellite navigation.Satellite navigation is integrated
The advantage of conventional navigation systems, is truly realized high accuracy passive type navigator fix in the whole world under various weather conditions.Particularly
Time measurlng range satellite navigation system, can not only provide the whole world and the covering of terrestrial space continuous stereo, high-precision three-dimensional positioning and survey
Speed, and strong antijamming capability.
Galileo satellite navigation system (Galileo satellite navigation system), is developed by European Union
With the global navigation satellite system of foundation, this plans to be announced by European commission in 2 months 1999, European commission and Europe
Empty office is collectively responsible for.System is made up of orbit altitude for 23616km 30 satellites, wherein 27 work stars, 3 backup stars.
About 2.4 ten thousand kilometers of satellite orbital altitude, positioned at 3 inclination angles in 56 degree of orbit plane.In August, 2014, the Galileo whole world is defended
One satellite of star navigation system second batch succeeds in sending up existing 6 formal Galileo system satellites in lift-off, space, can be with
Network consisting, it is preliminary to play the pinpoint function in ground.
Using the unmanned electric car based on Galileo navigation of the present invention, electric car can not be realized for prior art
The technical problem voluntarily charged, on the one hand, introduce charging pile identification equipment, handshake communication equipment and mechanization charging equipment complete
Into the full-automation charging of electric car, on the other hand, by increase navigation equipment and Wireless Telecom Equipment obtain nearby each fill
The relevant information in power station, the relevant information based on each neighbouring charging station takes rational selection mechanism to be determined to most provide soon
The charging station of charging service as target charging station, increase voluntarily steer with based on nearest charging station location control electric car
Voluntarily go to, so as to fill up the unmanned blank that is difficult to of the unmanned electric car in the case of not enough power supply.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment and being not used to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible variations and modification are all made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of change.Therefore, every content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (2)
1. a kind of payment terminal for supporting mobile network to access, is arranged at the unmanned electric car based on Galileo navigation, institute
Stating electric car includes Galileo navigation subsystem, charging pile detection subsystem, automatic charging subsystem and control subsystem, control
Subsystem is connected respectively with Galileo navigation subsystem, charging pile detection subsystem and automatic charging subsystem, for based on gal
The output of profit slightly navigation subsystem determines the position of charging station nearby, and it is true to be based further on the output of charging pile detection subsystem
The position of fixed charging station nearby, is additionally operable to control automatic charging subsystem to realize the automatic charging to electric car.
2. the payment terminal of mobile network's access is supported as claimed in claim 1, it is characterised in that the electric car includes：
On the outside of frequency duplex communications interface, the vehicle body for being arranged on electric car, for the current Galileo navigation position based on electric car
Each charging station near the current Galileo navigation position for receiving electric car at the charging station management server of distal end is put to account for
With percentage, received also at the traffic administration server of distal end and arrive at each charging station institute near current Galileo navigation position
The congestion level in each corresponding section of difference；
Galileo position indicator, for receiving current Galileo navigation that Galileo navigation position location satellite is sent in real time, electric car
Position, is additionally operable to receive in Galileo navigation electronic map, neighbouring each charging station in the current Galileo navigation position of electric car
Galileo navigation position；
CF cards, are arranged on electric car, the reference characteristic vector for prestoring charging pile, the reference characteristic vector of charging pile
Be made up of 8 geometric properties of benchmark charging pile image, 8 geometric properties respectively on the basis of Euler's hole count, circularity, angle point number,
Convex-concave degree, smoothness, draw ratio, tight ness rating and main shaft angle；
Vision sensor, for being shot in front of electric car, to obtain forward image, the resolution ratio of the forward image to be
3840×2160；
Image-preprocessing device, is arranged on electric car, is connected with the vision sensor, including the sub- equipment of medium filtering, low
The sub- equipment of pass filter and the sub- equipment of homomorphic filtering；The sub- equipment of medium filtering is connected with the vision sensor, for institute
State forward image and perform medium filtering, to filter out the spot noise in the forward image, obtain the first filtering image；The low pass
Filter sub- equipment to be connected with the sub- equipment of the medium filtering, for removing the random noise in first filtering image, obtain
Second filtering image；The sub- equipment of homomorphic filtering is connected with the low pass filtered marble equipment, for scheming to the described second filtering
As performing image enhaucament, to obtain enhancing image；
Charging pile detection device, is arranged on electric car, is connected respectively with described image pre-processing device and the CF cards, including
Image splits sub- equipment and the sub- equipment of eigenvector recognition, and described image is split sub- equipment and is used for the mesh in the enhancing image
Mark identifies to obtain target image；The sub- equipment of eigenvector recognition splits sub- equipment and the CF cards with described image
Connect respectively, 8 geometric properties of target are determined based on the target image, 8 geometric properties are constituted into target signature
Vector, and the reference characteristic vector of target feature vector and charging pile is matched, the match is successful then exports and there is charging pile
Signal, it fails to match then exports in the absence of charging pile signal；
Electric power detection equipment, is arranged on the battery of electric car, the real-time dump energy for detecting battery；
Controller is travelled, is arranged on electric car, is connected with the direction electric machine controller and speed motor controller of electric car, is used
In receiving position control signal, driving direction and actuating speed are determined based on position control signal, and by driving direction and driving
Speed is sent respectively to direction electric machine controller and speed motor controller；
Ultrasonic detecting equipment, is arranged on electric car front portion, the real-time phase gap for detecting electric car front distance charging pile
From；
ZIGBEE communication equipments, are arranged on electric car, for carrying out handshake operation with the ZIGBEE communication interfaces of charging pile, hold
Hand success then sends charging pile qualifying signal, and failure of shaking hands then sends the unqualified signal of charging pile；
Automatic charging equipment, is arranged on electric car, including locator, displacement driver, manipulator and charging head, locator,
Displacement driver and charging head are all disposed within manipulator, and locator is used between inspecting manipuator and the charging socket of charging pile
Relative distance, displacement driver is connected with locator, for driving manipulator to go to the charging of charging pile based on relative distance
Socket, manipulator is used to insert charging head in the charging socket of charging pile after arriving at the charging socket of charging pile；
MSP430 single-chip microcomputers, are arranged on electric car, with frequency duplex communications interface, electric power detection equipment, traveling controller, gal
Profit slightly position indicator, charging pile detection device, ultrasonic detecting equipment, ZIGBEE communication equipments and automatic charging equipment connect respectively
Connect, when real-time dump energy is less than or equal to the first default power threshold, into self-navigation pattern；
Wherein, MSP430 single-chip microcomputers start frequency duplex communications interface, Galileo position indicator and charging in self-navigation pattern
Stake detection device, receives the Galileo navigation of current Galileo navigation position and each neighbouring charging station at Galileo position indicator
Position, is sent to frequency duplex communications interface to obtain the occupancy percentage of each neighbouring charging station by current Galileo navigation position
Than and nearby each charging station distinguishes the congestion level in corresponding each section, based on current Galileo navigation position and near
The Galileo navigation position of each charging station determines current Galileo navigation position to the Galileo navigation of each neighbouring charging station
Each charging station Galileo navigation distance of position, congestion level, congestion level based on the corresponding section of each charging station
Occupancy percentage, occupancy percentage weight, the Galileo navigation of each neighbouring charging station of weight, nearby each charging station
Distance and distance weighting calculate the convenience degree of each charging station nearby, and congestion level is lower, and convenience degree is higher, takes hundred
Point than lower, convenience degree is higher, and Galileo navigation distance is shorter, and convenience degree is higher, selects near convenience degree highest
Charging station is used as target charging station；
Wherein, MSP430 single-chip microcomputers are also determined based on current Galileo navigation position and the Galileo navigation position of target charging station
Position control signal, is sent to traveling controller to control electric car to go to prestore in electronic map recently by position control signal
Charging station, when received at charging pile detection device there is charging pile signal when, start ultrasonic detecting equipment and ZIGBEE
Communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to pre-determined distance threshold value in real time, starts automatic
Charging equipment is so that charging head is inserted in the charging socket of charging pile, and MSP430 single-chip microcomputers exit self-navigation pattern；
Wherein, MSP430 single-chip microcomputers are more than or equal to the second default power threshold in real-time dump energy, control automatic charging equipment
Manipulator so that charging head to pull away to the charging socket of charging pile, the second default power threshold is more than the first default power threshold；
Wherein, the first default power threshold, the second default power threshold, congestion level weight, occupancy percentage weight and distance
Weight is default fixed numbers；
CF cards are electrically connected with MSP430 single-chip microcomputers；
CF cards have also prestored the first default power threshold, the second default power threshold, congestion level weight, occupancy percentage
Weight and distance weighting.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610543824.2A CN107153417A (en) | 2016-03-06 | 2016-03-06 | Support the payment terminal of mobile network's access |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610125478.6A CN105807768A (en) | 2016-03-06 | 2016-03-06 | Payment terminal supporting mobile network access |
| CN201610543824.2A CN107153417A (en) | 2016-03-06 | 2016-03-06 | Support the payment terminal of mobile network's access |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610125478.6A Division CN105807768A (en) | 2016-03-06 | 2016-03-06 | Payment terminal supporting mobile network access |
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| CN107153417A true CN107153417A (en) | 2017-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610125478.6A Withdrawn CN105807768A (en) | 2016-03-06 | 2016-03-06 | Payment terminal supporting mobile network access |
| CN201610543824.2A Withdrawn CN107153417A (en) | 2016-03-06 | 2016-03-06 | Support the payment terminal of mobile network's access |
| CN201610548361.9A Withdrawn CN107153418A (en) | 2016-03-06 | 2016-03-06 | Support the payment terminal of mobile network's access |
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| CN201610125478.6A Withdrawn CN105807768A (en) | 2016-03-06 | 2016-03-06 | Payment terminal supporting mobile network access |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610548361.9A Withdrawn CN107153418A (en) | 2016-03-06 | 2016-03-06 | Support the payment terminal of mobile network's access |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107225995B (en) * | 2017-07-24 | 2023-10-10 | 国网山东省电力公司桓台县供电公司 | Self-addressing charging system for charging pile |
| CN111061280A (en) * | 2020-03-13 | 2020-04-24 | 广州赛特智能科技有限公司 | Robot automatic charging method, device, system, terminal device and storage medium |
-
2016
- 2016-03-06 CN CN201610125478.6A patent/CN105807768A/en not_active Withdrawn
- 2016-03-06 CN CN201610543824.2A patent/CN107153417A/en not_active Withdrawn
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| CN105807768A (en) | 2016-07-27 |
| CN107153418A (en) | 2017-09-12 |
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