CN107908189A - A kind of unmanned low-speed electronic automobile - Google Patents
A kind of unmanned low-speed electronic automobile Download PDFInfo
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- CN107908189A CN107908189A CN201711193431.4A CN201711193431A CN107908189A CN 107908189 A CN107908189 A CN 107908189A CN 201711193431 A CN201711193431 A CN 201711193431A CN 107908189 A CN107908189 A CN 107908189A
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- electric automobile
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- 238000007600 charging Methods 0.000 claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 239000012530 fluid Substances 0.000 claims abstract description 9
- 230000002265 prevention Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 8
- 241001269238 Data Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000013519 translation Methods 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of unmanned low-speed electronic automobile, including GPS navigation equipment, sensing system, remote control equipment, perform drive system, Vehicle Controller, power supply road network, some charging piles and telescoping mechanism, the GPS navigation equipment, the sensing system, remote control equipment and the execution drive system are electrically connected with the Vehicle Controller respectively, the sensing system includes path sensor system, obstacle avoidance sensor system and start stop system, the execution drive system includes wire-controlled steering system, motor driven systems and brake fluid system, the power supply road network is laid on the side in highway or ad hoc path, some charging piles are set along the axial direction of the power supply road network respectively.Beneficial effect：The present invention can make electric automobile have driving and the remote driving technology of tracking, and while possessing collision prevention function, can ensure the long-range cruising ability of electric automobile.
Description
Technical field
The present invention relates to electric automobile field, it particularly relates to a kind of unmanned low-speed electronic automobile.
Background technology
Since traditional energy development of automobile centuries, its drawback is constantly presented, especially in recent years with expanding economy and
The improvement of people's living standards, the jumbo growth of private car quantity, traditional energy automobile belt come air pollution, noise pollution,
The shortcomings of urban congestion and energy depletion, becomes more prominent, and the work to people and life causes adverse effect
New-energy automobile, especially electric automobile, the replacement hair of traditional energy automobile is increasingly becoming due to haing the following advantages
Open up direction：1. zero-emission, electric automobile uses electric energy, is discharged under steam without exhaust gas, free from environmental pollution；2. electric automobile ratio
The energy utilization rate of gasoline engine driving automobile will height；3. because using single electric energy, engine, speed changer, oil are eliminated
Case, cooling and exhaust system, so structure is simpler, area occupied is relatively small；4. noise is small；5. can in electricity consumption ebb into
Row automobile charges, and can stabilize the peak-valley difference of power grid, generating equipment is fully used.Even start intelligent level occur
The driverless electric automobile of higher.
As highway network is constantly expanded, can be contacted in most 100 kilometer ranges of user vehicle periphery public at a high speed
Road, develops than later, the existing defects in the road of traveling yet with driverless electric automobile：1. based on guide tracks
Driverless electric automobile control accuracy is not high, and the situation for deviateing guide tracks happens occasionally, and a people can only drive one
Car, loses time when back and forth meeting relatives and friends to return in life；2. easily collide between vehicle；3. in life, no matter
It is to travel or go on a tour, user vehicle all needs remotely to be travelled, and electric automobile can ensure by the charging of its cells night
Enough capacity carries out short distance continuation of the journey, and remotely going on a journey just must carry out charging by neighbouring charging station and could continue to go on a journey, appearance
Easily occur road out of power charging station again too far the problem of, cause trip inconvenience.
The problem of in correlation technique, not yet propose effective solution at present.
The content of the invention
The problem of in correlation technique, the present invention proposes a kind of unmanned low-speed electronic automobile, to overcome existing phase
Above-mentioned technical problem present in the technology of pass.
The technical proposal of the invention is realized in this way：
A kind of unmanned low-speed electronic automobile, including GPS navigation equipment, sensing system, remote control equipment, perform driving
System, Vehicle Controller, power supply road network, some charging piles and telescoping mechanism, the GPS navigation equipment, the sensing system,
Remote control equipment and the execution drive system are electrically connected with the Vehicle Controller respectively, and the sensing system includes road
Footpath sensing system, obstacle avoidance sensor system and start stop system, the execution drive system includes wire-controlled steering system, motor drives
Dynamic system and brake fluid system, the power supply road network are laid on the side in highway or ad hoc path, some chargings
Stake is set along the axial direction of the power supply road network respectively, and the telescoping mechanism is fixedly installed in the charging pile close to the one of highway
Side, remote controlled with signals connects between the telescoping mechanism and the Vehicle Controller, the charging brush head fixed setting of the charging pile
In the telescopic end of the telescoping mechanism, the charging brush head is filled by being arranged on the power cord inside the telescoping mechanism with described
Electric stake is electrically connected, and the side of the charging pile is equipped with infrared emitting equipment, the infrared transmitting set and the charging pile
Distance is less than the length of automobile, and the side that the head of the automobile corresponds to the power supply road network is equipped with infrared receiving set, described
The side that automobile corresponds to the charging pile is equipped with charge port, the distance between the charge port and the infrared receiving set and institute
It is equal to state the distance between charging pile and the infrared transmitting set.
Further, the path sensor system is mainly by light source, photoelectric sensor, signal acquiring board and power unit
Composition, wherein light source is arranged on the chassis of electric automobile, and using totally 48 high-brightness LED lamps, the photoelectric sensor is arranged on electricity
The chassis of electrical automobile, using totally 40 photo resistance, equidistant 7.68mm arrangements, the signal acquiring board is arranged on electric automobile
In the instrument board of front end, using two pieces of 8-bit microcontrollers, every piece of microcontroller is responsible for the collection and transmission of 20 channel datas, with photoelectricity
Sensor connects, and for sampling and exporting the Photoelectric Detection voltage of each Photoelectric Detection passage output, signal picker is adopted
Sample frequency is 2 milliseconds.
Further, the obstacle avoidance sensor system is made of 3 sets of ultrasonic sensors, and wherein first set A is ultrasonic wave
Locater plate, is installed on the headstock center of the electric automobile, and test maximum magnitude is 3.5m, and second set of B passes for two ultrasonic waves
Sensor, is installed on headstock both sides, and test maximum magnitude is 4.5m, and the 3rd set of C is two groups of digital ultrasonic reverse collision prevention radars, often
4 sensors of group, are installed on headstock two corners and vehicle body both sides, test maximum magnitude 1.5m.
Further, the start stop system is mainly by power-on switch, remote signal switch, starting switch and pause switch etc.
Component forms.
Further, the remote control equipment is mainly made of signal projector, signal receiver and antenna, be remotely controlled away from
From for 500m.
Further, the wire-controlled steering system is mainly made of sensor, Vehicle Controller and executing agency, the biography
Sensor mainly includes a BI sensor and incremental optical-electricity encoder, and the executing agency includes motor driver, turns to electricity
The components such as machine, rack and pinion steering gear.
Further, the motor driven systems are wheel hub motor system, it mainly by sensor, controller and performs machine
Structure forms, and the controller of the motor driven systems is connected by CAN with the Vehicle Controller, receives the Vehicle Controller
Speed command, meanwhile, the controller can be also connected by dedicated data line with laptop.
Further, the brake fluid system is mainly made of brush direct current motor and reducing gear,
Further, the model MicroAutoBox of the Vehicle Controller.
Further, some charging piles are axially equally spaced along the power supply road network.
Beneficial effects of the present invention：By the GPS navigation equipment on electric automobile, for receiving GPS positioning satellite reality
When the current GPS location of electric automobile that sends, be additionally operable to receive the current GPS location of electric automobile in GPS electronic maps, lead to
Setting path sensor system is crossed, and driving path is recognized using photoelectric sensor automatically, coordinates GPS navigation equipment, vehicle-mounted
The traveling that tracks is automatically performed under controller, by setting remote control equipment, can realize that a people drives more electronic vapour at the same time
The function of car, makes electric automobile have remote controlled travelling technology, by the ultrasonic sensor Detection Techniques in sensing system certainly
Dynamic detection obstacle information, has anti-collision, by being laid with power supply road network, charging pile in highway side and being arranged on
Telescoping mechanism on charging pile, during long-range traveling, when the battery capacity for finding electric automobile not enough supports continuation long-range
When driving, Automatic Track Finding is travelled to next charging pile, and when close to charging pile, Vehicle Controller is sent to drive system is performed
Instruction makes electric automobile Reduced Speed Now, when the signal of the infrared receiving set on electric automobile and charging pile infrared transmitting set is matched somebody with somebody
Pair when, Vehicle Controller makes electric automobile stop traveling to sending instruction to start stop system, and photoelectric sensor detects electronic vapour
The distance between car and telescoping mechanism and send to Vehicle Controller, Vehicle Controller and send instruction, telescopic machine to telescoping mechanism
Structure carries charging brush head and the charge port pairing of electric automobile connects, and when batteries of electric automobile stores full, Vehicle Controller is to flexible
Mechanism sends state before instruction was disengaged it to the beginning, and electric automobile continues to travel, the present invention can make electric automobile have track
Driving and remote driving technology, while possessing collision prevention function, can ensure the long-range cruising ability of electric automobile.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of block diagram of system of unmanned low-speed electronic automobile according to embodiments of the present invention；
Fig. 2 is a kind of system control principle drawing of unmanned low-speed electronic automobile according to embodiments of the present invention；
Fig. 3 is the distribution of electric automobile and power supply road network in a kind of unmanned low-speed electronic automobile according to embodiments of the present invention
Top view；
Fig. 4 is path sensing system schematic diagram in a kind of unmanned low-speed electronic automobile according to embodiments of the present invention；
Fig. 5 be obstacle avoidance sensor first set A in a kind of unmanned low-speed electronic automobile according to embodiments of the present invention, second set
The installation diagram of B and the 3rd set of C.
In figure：
1st, GPS navigation equipment；2nd, sensing system；3rd, remote control equipment；4th, drive system is performed；5th, Vehicle Controller；6、
Power supply road network；7th, charging pile；8th, telescoping mechanism；9th, path sensor system；10th, obstacle avoidance sensor system；11st, start stop system；
12nd, wire-controlled steering system；13rd, motor driven systems；14th, brake fluid system；15th, charge brush head；16th, infrared transmitting set；
17th, electric automobile；18th, infrared receiving set；19th, charge port.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art's all other embodiments obtained, belong to what the present invention protected
Scope.
According to an embodiment of the invention, there is provided a kind of unmanned low-speed electronic automobile.
As shown in Figs. 1-5, a kind of unmanned low-speed electronic automobile according to embodiments of the present invention, including GPS navigation are set
Standby 1, sensing system 2, remote control equipment 3, execution drive system 4, Vehicle Controller 5, power supply road network 6, some charging piles 7
With telescoping mechanism 8, the GPS navigation equipment 1, the sensing system 2, remote control equipment 3 and the execution drive system 4
It is electrically connected respectively with the Vehicle Controller 5, the sensing system 2 includes path sensor system 9, obstacle avoidance sensor system
10 and start stop system 11, the execution drive system 4 includes wire-controlled steering system 12, motor driven systems 13 and Hydraulic braking system
System 14, the power supply road network 6 is laid on the side in highway or ad hoc path, and some charging piles 7 are respectively along the electricity
The axial setting of source road network 6, the telescoping mechanism 8 are fixedly installed in the charging pile 7 close to the side of highway, the telescopic machine
Remote controlled with signals connects between structure 8 and the Vehicle Controller 5, and the charging brush head 15 of the charging pile 7 is fixed at described stretch
The telescopic end of contracting mechanism 8, the charging brush head 15 is by being arranged on the power cord inside the telescoping mechanism 8 and the charging pile
7 are electrically connected, and the side of the charging pile 7 is equipped with infrared transmitting set 16, the infrared transmitting set 16 and the charging pile 7
Distance is less than the length of electric automobile 17, and the head of the electric automobile 17 corresponds to the side of the power supply road network 6 equipped with infrared
Receiving device 18, the side that the electric automobile 17 corresponds to the charging pile 15 are equipped with charge port 19, the charge port 19 and institute
It is equal with the distance between the charging pile 7 and the infrared transmitting set 16 to state the distance between infrared receiving set 18.
In addition, in one embodiment, the path sensor system 9 is mainly by light source, photoelectric sensor, signal acquisition
Plate and power unit composition, wherein light source is arranged on the chassis of electric automobile 17, using totally 48 high-brightness LED lamps, the photoelectricity
Sensor is arranged on the chassis of electric automobile 17, using totally 40 photo resistance, equidistant 7.68mm arrangements, and the signal acquiring board
It is arranged in the front end instrument board of electric automobile 17, using two pieces of 8-bit microcontrollers, every piece of microcontroller is responsible for 20 channel datas
Collection and transmission, be connected with photoelectric sensor, for sample and export each Photoelectric Detection passage output Photoelectric Detection
Voltage, the sample frequency of signal picker is 2 milliseconds.Using the program, by setting photoelectric sensor, according to white on path
Line and road background detect the difference of visible reflectance degree the lateral deviation of vehicle, and Vehicle Controller 5 is according to laterally inclined
Difference calculates corner needed for steering, and output order control performs motor driven systems 13 in drive system 4, line traffic control turns
To system 12 and brake fluid system 14.
In addition, in one embodiment, the obstacle avoidance sensor system 10 is made of 3 sets of ultrasonic sensors, wherein the
A set of A is ultrasonic ranging plate, is installed on the headstock center of the electric automobile 17, test maximum magnitude is 3.5m, second set of B
For two ultrasonic sensors, headstock both sides are installed on, test maximum magnitude is 4.5m, and the 3rd set of C is two groups of digital ultrasonics
Reverse collision prevention radar, every group of 4 sensors, are installed on headstock two corners and vehicle body both sides, test maximum magnitude 1.5m.Using the party
Case, when obstacle avoidance sensor detects that barrier is in a car risk distance, Vehicle Controller 5 control vehicle deceleration traveling until
Stop, barrier removes rear vehicle and starts the traveling that tracks.
In addition, in one embodiment, the start stop system 11 is mainly opened by power-on switch, remote signal switch, startup
Close and formed with components such as pause switch.
In addition, in one embodiment, the remote control equipment 3 is mainly by signal projector, signal receiver and day
Line forms, remote control distance 500m.
In addition, in one embodiment, the wire-controlled steering system 12 mainly by sensor, Vehicle Controller 5 and performs
Mechanism forms, and the sensor mainly includes a BI sensor and incremental optical-electricity encoder, and the executing agency includes electricity
The components such as machine driver, steering motor, rack and pinion steering gear.Using the program, angle command that Vehicle Controller 5 provides with
BI sensors and the actual rotational angle difference of incremental optical-electricity encoder measurement, are output to after torque turns to as torque command
Motor driver, motor driver exports corresponding current-order driving tooth sector actuating motor, so as to fulfill predetermined corner.
In addition, in one embodiment, the motor driven systems 13 are wheel hub motor system, its mainly by sensor,
Controller and executing agency's composition, the controller of the motor driven systems 13 are connected by CAN with the Vehicle Controller 5,
The speed command of the Vehicle Controller 5 is received, meanwhile, the controller can also be connected by dedicated data line and laptop
Connect.Using the program, while can realizing that control electric automobile is run at a low speed, moreover it is possible to realize the debugging to wheel hub motor system
And data acquisition.
In addition, in one embodiment, the brake fluid system 14 is mainly by brush direct current motor and reducing gear group
Into.Using the program, it is changed into the translation of push rod in electric pushrod after the effect for rotating through reducing gear of direct current generator, pushes away
The piston of dynamic master cylinder produces brake fluid pressure, so as to complete vehicle braking procedure.
In addition, in one embodiment, the model MicroAutoBox of the Vehicle Controller 5.
In addition, in one embodiment, some charging piles 7 are equally spaced along the power supply road network 6 is axial.Using this
The distance between scheme, adjacent charging pile 7 is corresponding with the operating range of the full state battery of electric automobile 17, ensures electronic
The cruising ability that automobile 17 remotely travels.
In conclusion by means of the above-mentioned technical proposal of the present invention, by the GPS navigation equipment 1 on electric automobile, it is used for
The current GPS location for the electric automobile that GPS positioning satellite is sent in real time is received, is additionally operable to receive electronic vapour in GPS electronic maps
The current GPS location of car, recognizes driving path by setting path sensor system 9, and using photoelectric sensor, coordinates automatically
GPS navigation equipment 1, is automatically performed the traveling that tracks under Vehicle Controller 5, by setting remote control equipment 3, can realize one
People drives the function of more electric automobiles at the same time, electric automobile 17 is had remote controlled travelling technology, by sensing system 2
Ultrasonic sensor Detection Techniques detect obstacle information automatically, have anti-collision, by being laid with highway side
Power supply road network 6, charging pile 7 and the telescoping mechanism 8 being arranged on charging pile 7, during long-range traveling, when discovery electric automobile
17 battery capacity, which not enough supports, to be continued remotely when driving, and Automatic Track Finding is travelled to next charging pile 7, close to charging pile 7
When, Vehicle Controller 5 sends instruction to execution drive system 4 makes 17 Reduced Speed Now of electric automobile, when red on electric automobile 17
When the signal of the outer infrared transmitting set 16 for receiving 18 and 7 side of charging pile matches, Vehicle Controller 5 is sent to start stop system 11
Instruction makes electric automobile 17 stop traveling, and photoelectric sensor detects the distance and hair between the 8 of electric automobile 17 and telescoping mechanism
Send to Vehicle Controller 5, Vehicle Controller 5 sends instruction to telescoping mechanism 8, telescoping mechanism 8 carry charging brush head 15 with it is electronic
The pairing connection of charge port 19 of automobile 17, when 17 battery of electric automobile is empty full, Vehicle Controller 5 sends instruction to telescoping mechanism 8
State before disengaging it to the beginning, electric automobile 17 travel, and the present invention can have electric automobile 17 to track driving and remote control is driven
Technology is sailed, while possessing collision prevention function, can ensure the long-range cruising ability of electric automobile 17.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention god.
Claims (10)
1. a kind of unmanned low-speed electronic automobile, it is characterised in that including GPS navigation equipment（1）, sensing system（2）, it is remote
Journey remote control equipment（3）, perform drive system（4）, Vehicle Controller（5）, power supply road network（6）, some charging piles（7）And telescopic machine
Structure（8）, the GPS navigation equipment（1）, the sensing system（2）, remote control equipment（3）With the execution drive system
（4）Respectively with the Vehicle Controller（5）It is electrically connected, the sensing system（2）Including path sensor system（9）, anticollision
Sensing system（10）And start stop system（11）, the execution drive system（4）Including wire-controlled steering system（12）, motor driving
System（13）And brake fluid system（14）, the power supply road network（6）The side in highway or ad hoc path is laid on, it is some
The charging pile（7）Respectively along the power supply road network（6）Axial setting, the telescoping mechanism（8）It is fixedly installed in described fill
Electric stake（7）Close to the side of highway, the telescoping mechanism（8）With the Vehicle Controller（5）Between remote controlled with signals connect, it is described
Charging pile（7）Charging brush head（15）It is fixed at the telescoping mechanism（8）Telescopic end, the charging brush head（15）Pass through
It is arranged on the telescoping mechanism（8）Internal power cord and the charging pile（7）It is electrically connected, the charging pile（7）Side set
There is infrared transmitting set（16）, the infrared transmitting set（16）With the charging pile（7）Distance be less than electric automobile（17）
Length, the electric automobile（17）Head correspond to the power supply road network（6）Side be equipped with infrared receiving set（18）, institute
State electric automobile（17）The corresponding charging pile（15）Side be equipped with charge port（19）, the charge port（19）With it is described infrared
Receiving device（18）The distance between with the charging pile（7）With the infrared transmitting set（16）The distance between it is equal.
A kind of 2. unmanned low-speed electronic automobile according to claim 1, it is characterised in that the path sensor system
System（9）Mainly it is made of light source, photoelectric sensor, signal acquiring board and power unit, wherein light source is arranged on electric automobile
（17）Chassis, using totally 48 high-brightness LED lamps, the photoelectric sensor is arranged on electric automobile（17）Chassis, using altogether
40 photo resistance, equidistant 7.68mm arrangements, the signal acquiring board are arranged on electric automobile（17）Front end instrument board in, adopt
With two pieces of 8-bit microcontrollers, every piece of microcontroller is responsible for the collection and transmission of 20 channel datas, is connected, is used for photoelectric sensor
Sample and export the Photoelectric Detection voltage of each Photoelectric Detection passage output, the sample frequency of signal picker is 2 milliseconds.
A kind of 3. unmanned low-speed electronic automobile according to claim 1, it is characterised in that the obstacle avoidance sensor system
System（10）It is made of 3 sets of ultrasonic sensors, wherein first set A is ultrasonic ranging plate, is installed on the electric automobile（17）
Headstock center, test maximum magnitude is 3.5m, and second set of B is two ultrasonic sensors, is installed on headstock both sides, is tested most
A wide range of is 4.5m, and the 3rd set of C is two groups of digital ultrasonic reverse collision prevention radars, and every group of 4 sensors, are installed on headstock two corners
And vehicle body both sides, test maximum magnitude 1.5m.
A kind of 4. unmanned low-speed electronic automobile according to claim 1, it is characterised in that the start stop system（11）
Mainly it is made of components such as power-on switch, remote signal switch, starting switch and pause switch.
A kind of 5. unmanned low-speed electronic automobile according to claim 1, it is characterised in that the remote control equipment
（3）Mainly it is made of signal projector, signal receiver and antenna, remote control distance 500m.
A kind of 6. unmanned low-speed electronic automobile according to claim 1, it is characterised in that the wire-controlled steering system
（12）Mainly by sensor, Vehicle Controller（5）Formed with executing agency, the sensor mainly include BI sensor and
Incremental optical-electricity encoder, the executing agency include the components such as motor driver, steering motor, rack and pinion steering gear.
A kind of 7. unmanned low-speed electronic automobile according to claim 1, it is characterised in that the motor driven systems
（13）For wheel hub motor system, it is mainly made of sensor, controller and executing agency, the motor driven systems（13）'s
Controller passes through CAN and the Vehicle Controller（5）Connection, receives the Vehicle Controller（5）Speed command, meanwhile, institute
Controller is stated can be also connected with laptop by dedicated data line.
A kind of 8. unmanned low-speed electronic automobile according to claim 1, it is characterised in that the brake fluid system
（14）Mainly it is made of brush direct current motor and reducing gear.
A kind of 9. unmanned low-speed electronic automobile according to claim 1, it is characterised in that the Vehicle Controller
（5）Model MicroAutoBox.
A kind of 10. unmanned low-speed electronic automobile according to claim 1, it is characterised in that some charging piles
（7）Along the power supply road network（6）Axially it is equally spaced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711193431.4A CN107908189A (en) | 2017-11-24 | 2017-11-24 | A kind of unmanned low-speed electronic automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711193431.4A CN107908189A (en) | 2017-11-24 | 2017-11-24 | A kind of unmanned low-speed electronic automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107908189A true CN107908189A (en) | 2018-04-13 |
Family
ID=61847756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711193431.4A Withdrawn CN107908189A (en) | 2017-11-24 | 2017-11-24 | A kind of unmanned low-speed electronic automobile |
Country Status (1)
| Country | Link |
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| CN (1) | CN107908189A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657174A (en) * | 2018-06-01 | 2018-10-16 | 中国北方车辆研究所 | A kind of multiaxis distribution driving vehicle control method and system |
| WO2020029462A1 (en) * | 2018-08-09 | 2020-02-13 | 金龙联合汽车工业（苏州）有限公司 | Self-driving system for electric vehicle |
-
2017
- 2017-11-24 CN CN201711193431.4A patent/CN107908189A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657174A (en) * | 2018-06-01 | 2018-10-16 | 中国北方车辆研究所 | A kind of multiaxis distribution driving vehicle control method and system |
| CN108657174B (en) * | 2018-06-01 | 2022-06-10 | 中国北方车辆研究所 | Multi-axis distributed driving unmanned vehicle control method and system |
| WO2020029462A1 (en) * | 2018-08-09 | 2020-02-13 | 金龙联合汽车工业（苏州）有限公司 | Self-driving system for electric vehicle |
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