CN108688500A - A kind of electric bus vision-based detection charge control system and its design method - Google Patents
A kind of electric bus vision-based detection charge control system and its design method Download PDFInfo
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/146—Methods for optical code recognition the method including quality enhancement steps
- G06K7/1486—Setting the threshold-width for bar codes to be decoded
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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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
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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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
- 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]
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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
- 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
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Abstract
The invention discloses a kind of electric bus vision-based detection charge control system and its design methods, are related to electric vehicle charging field, and industrial camera obtains bus roof ArUco tag images and is transmitted to industrial personal computer;Industrial camera is demarcated by MATLAB calibration tool casees, obtains the distortion factor of camera intrinsic parameter and camera;Image code data base administration;Industrial personal computer is detected ArUco labels, obtains bus information and position, and control charge controller charges to bus.The present invention includes ArUco labels, visual identifying system and lift charging bow control system, and simple and quick, instead of cumbersome manually charging modes, release human resources improve the efficiency of work, securely and reliably, strong robustness.
Description
Technical field
The present invention relates to electric vehicle charging field more particularly to a kind of electric bus vision-based detection charge control system and
Its design method.
Background technology
Machine vision technique is one and is related to artificial intelligence, computer science, mechanical engineering, image procossing, pattern-recognition
The cross discipline of equal numerous areas.Machine vision mainly simulates the visual performance of people with computer, and information is extracted from image,
It is handled and is understood, eventually for actual detection, measured and control.The main feature of NI Vision Builder for Automated Inspection is exactly to carry
The flexibility of height production and the degree of automation.In the industrial processes of high-volume repeatability, some unsuitable manual works
Dangerous work environment and artificial vision be difficult under the occasion met the requirements, work is greatly improved using machine vision technique
Flexibility ratio and production efficiency.
In machine vision applications, to determine in space body surface point and its pass between corresponding points in the picture
System need to establish the geometrical model of camera imaging, and by testing and calculating the intrinsic parameter for obtaining camera, this process is camera
Calibration.The precision of calibration result and the stability of algorithm will directly affect the stability of NI Vision Builder for Automated Inspection work with it is reliable
Property.Therefore, camera calibration is the basis of follow-up work, improves the emphasis place that stated accuracy is research work.Zhang Zhengyou cameras
Standardization is Zhang Zhengyou professors proposition in 1998 based on the tessellated camera calibration method in monoplane.This method is between traditional mark
Determine between method and self-calibrating method, it requires camera to shoot the multiple image of some scaling board from different perspectives, passes through calibration
The correspondence of each characteristic point and its image plane picture point on plate, the i.e. homography matrix per piece image carry out camera calibration
's.
Attitude estimation plays highly important role in computer vision field, and problem is just to determine a certain three-dimensional mesh
Mark the bearing sense problem of object.The basis of this process is the corresponding points found between real world and image projection, for letter
Change the problem, some special markings come into being, wherein the most popular is the ArUco labels based on binary system square.ArUco
It is a reality enhancing library increased income, has been integrated in the version of OpenCV3.0 or more at present.The key problem of Attitude estimation
It is perspective n point problem (PnP problems), this is a basic problem of camera calibration, and the main external ginseng for studying camera calibration becomes
Amount is position and the posture of the n picture point solution camera obtained by perspective projection.
Concern with people to atmospheric environment problem and energy problem, novel energy electric bus is with its green ring
It protects, the advantages that space is big, galleryful is more, convenient and efficient, comes into operation more and more, be the main hair in public transport future
Open up direction.Current electric bus charging mainly manually carries out, and machinery repeats, cumbersome, labor intensity is big.
Therefore, those skilled in the art be dedicated to developing a kind of electric bus vision-based detection charge control system and its
Design method realizes the automatic charging of electric bus, to substitute traditional manually charging modes.
Invention content
In view of the drawbacks described above of the prior art, the technical problem to be solved by the present invention is to change electric bus tradition
Charging modes, the charge control system of modernization is built using machine vision technique, realizes the automatic charging of electric bus.
To achieve the above object, the present invention provides a kind of electric bus vision-based detection charge control system design sides
Method includes the following steps:
The image code data of step 1, industrial camera acquisition bus roof, and industrial personal computer is sent the data to, the work
The image data received is sent to the vehicle-carrying display screen on the bus by control machine by WiFi routers;
Step 2 demarcates the industrial camera by MATLAB calibration tools case, obtains camera intrinsic parameter and phase
The distortion factor of machine;
ArUco labels in step 3, detection image, and according to the camera intrinsic parameter and distortion factor obtained to camera
Attitude estimation is carried out, three-dimensional coordinate of the mark center under camera coordinates system is obtained;
Step 4, image code data base administration;
Step 5, using the communication described in ModbusRTU protocol realizations between industrial personal computer and charge controller.
Further, described image code includes that two ArUco are marked, and is printed on PVC film and sticks, and using transparent organic
Glass is protected.
Further, the industrial personal computer calculates the position relationship between ArUco labels and the industrial camera coordinate system, judges
Whether the bus is located at chargeable region, and sends that information to the charge controller.
Further, the ArUco labels on the bus roof contain the information of vehicles of the bus, can pass through
Described image code inquires database, obtains the Vehicular charging parameter information of the bus, and the parameter is sent to described fill
Electric controller, the charge controller control bus charging pile charge according to the specified charge parameter of the bus.
Further, the vehicle-carrying display screen, size are 10 inches, can show the real-time figure that the industrial personal computer sends over
Picture also can receive the warning message that the industrial personal computer sends over and be displayed on the screen.
Further, the function button for having " starting to charge up " and " stopping charging " in the bus, for Bus driver control
Make the progress and stopping of charging;When not meeting charging requirement, the function button of described " starting to charge up " can be in locking state.
Further, the charge controller is undertaken by AW500A, receives the order from the industrial personal computer.
Further, the industrial personal computer is 9600bps with the traffic rate between the charge controller, is encoded to 8
Binary system, no parity check, 1 stop position.
Further, database, and markup information is recorded in described image code, and content includes ArUco label informations, vehicle
Coding information, user's name, integrator's title and vehicle factor title.
The present invention also provides a kind of electric bus vision-based detection charge control systems, including ArUco labels, vision to know
Other system and lift charging bow control system;The ArUco mark installments are in the bus roof;The visual recognition line
System and lift charging bow control system are mounted on bus charging pile;The visual identifying system includes the industry
Camera;The lift charging bow control system includes the charge controller;The industrial camera obtains the ArUco labels
Image is simultaneously transmitted to the industrial personal computer, and image processing program is write in the industrial personal computer, is examined to ArUco labels
It surveys, obtains the bus information, control the lift charging bow control system and charge to the bus.
The good characteristics such as flexibility is big, working efficiency is high possessed by present invention foundation NI Vision Builder for Automated Inspection, for electronic
The traditional artificial charging modes of bus, devise a kind of vision-based detection charge control system.System detects installation at runtime
In the image code of roof, judge whether the pantograph of the bus is in the work of press-down type charging bow according to the position of image code
Make in orientation, to realize the automatic charging to electric bus.
The beneficial effects of the present invention are:
1) flexibility of vision-based detection charging system is strong, and work efficiency is high.Bus driver only need to be according to vehicle-carrying display screen institute
The actual conditions of display operate interior associated button, can control charging bow and charge to bus.It is easy to operate fast
Victory releases part human resources instead of cumbersome manually charging modes, improves the efficiency of work.
2) system operational security is reliable.If bus institute off-position is set not in chargeable working range, charging bow can be into
Enter locking state, even if driver presses charge button, charging bow will not be activated, and industrial personal computer can send warning message to vehicle-mounted
Display screen is reminded driver to move vehicle and is re-registrated.When charging terminates, driver need to press stop button, and charging bow rises, driver
Confirm that charging bow rise just can be with clean boot vehicle by vehicle-carrying display screen.
3) strong robustness of system.Image code is composed of two ArUco labels, is had certain fault-tolerant ability, can be dropped
The low probability for causing to break down because identifying error.Also ArUco mark parts can be reduced to a certain extent to be blocked and can not know
Not and so on.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the system structure diagram of the preferred embodiment of the present invention;
Fig. 2 is the camera calibration gridiron pattern picture schematic diagram of the preferred embodiment of the present invention;
Fig. 3 is the MATLAB camera calibrations tool box graphical interaction interface of the preferred embodiment of the present invention;
Fig. 4 be the selected OpenCV of the preferred embodiment of the present invention aruco modules in some is predefined
Dictionary;
Fig. 5 is the image code schematic diagram of the preferred embodiment of the present invention;
Fig. 6 is the ArUco mark installment schematic diagrames of the preferred embodiment of the present invention.
Specific implementation mode
Multiple preferred embodiments that the present invention is introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.In order to keep diagram apparent, some places suitably exaggerate the thickness of component in attached drawing.
Fig. 1 is the electric bus vision-based detection charge control system design method system of the preferred embodiment of the present invention
System structure diagram.
The first step:Industrial camera and lift charging bow control system are equipped on electric bus charging pile, and in public affairs
Hand over the image code of vehicle roof installation provision.To ensure that industrial camera is in water proof environment, it is installed in charging bow case.Phase
Machine plane need to be parallel to ground level, and angular error controls in the range of 0.5 degree.In actual work, camera plane and bus
The distance of roof plane is in the range of 1.5m to 2.1m.Industrial camera is connected on industrial personal computer (IPC), and industrial personal computer is responsible for vehicle
Position identification and bus code identification.When Public Transit Bus Stopping is on the position for have charging pile, industrial camera obtains
The realtime graphic of bus roof, the image processing program write in industrial personal computer in advance are responsible for the identification of image code, and obtain
Take location information of the image code in camera coordinates system;Image data is sent to bus by industrial personal computer through WiFi routers simultaneously
On vehicle-carrying display screen.There are " starting to charge up " button and " stopping charging " button in bus, for driver operation.Charge controller
It is undertaken by AW500A, receives the order from industrial personal computer, be responsible for controlling the landing of press-down type charging bow electrode by driving motor,
And it controls charging pile and charges according to the specified charge parameter of vehicle.
Second step:Industrial camera is demarcated using MATLAB calibration tool casees, obtains intrinsic parameter and the distortion of camera
Coefficient.
Current most common camera imaging model is national forest park in Xiaokeng, the three-dimensional point (X, Y, Z) under world coordinate system
Transformation between the two-dimensional points (u, v) under image pixel coordinates system can pass through following matrix description:
Wherein, (Xw,Yw,Zw) it is world coordinate system;ZcFor the Z coordinate under camera coordinates system;(u, v) is pixel coordinate system;
R, T is respectively rotation and translation matrix, is determined by the relative position between world coordinate system and camera coordinates system;F is camera focus;
Dx, dy are the unit length of discretization;(u0,v0) it is coordinate of the optical axis center under pixel coordinate system.
Order matrixThen K is the Intrinsic Matrix of camera, and the purpose of camera calibration is exactly
Determine matrix K and distortion factor.
Calibration gridiron pattern picture is got out, easy scaling board is made as shown in Fig. 2, printing and being fixed on tablet.
Fixed camera shoots the scaling board image of different postures, and 20 or so are advisable.Start MATLAB camera calibrations tool box, tool
Case graphical interaction interface is as shown in Figure 3.It is loaded into the scaling board image shot in advance, for per piece image manual setting outermost
Four angle points, and the actual object size of lattice is set, tool box will automatically get tessellated angle point, if
The distortion of camera is larger, tool box can be assisted to get more accurate result by the coefficient of radial distortion of input prediction.Finally
Calibration buttons on click tools case run program, obtain calibration result.
Third walks:It identifies the image code on bus roof, and Attitude estimation is carried out to camera.
Aruco modules have been integrated in the version of OpenCV3.0 or more at present, and ArUco labels are binary system square marks
Note is made of black border and internal binary matrix, and internal matrix determines the ID of ArUco labels.The boundary of black
Be conducive to be quickly detected image, binary coding can verify ID.A suitable predefined word is selected in the module
Allusion quotation creates a dictionary object.In view of the accuracy of detection and the actual demand of engineering, it is 4 × 4 to select a size,
The dictionary formed is marked by 50 ArUco, as shown in Figure 4.
Image code is made of two ArUco labels, is printed on PVC pad pastings, and protected using transparent organic glass.Often
The size of a image code is the rectangle of 10*25cm, and the size of wherein ArUco labels is the rectangle of 10*10cm, between two mark
It is spaced 5cm, as shown in Figure 5.Image code has installation direction requirement, as shown in fig. 6, arrow direction is directed toward headstock direction.
Divide ArUco labels first with adaptivity threshold value, appearance profile is extracted from the image after thresholding, it will
Square contour remains, and according to contour area, gives up excessive or too small profile.Detect possible marked region
Afterwards, it needs to analyze its in-line coding to judge whether the region is genuine ArUco labels.Possible marked region is carried out saturating
Depending on transformation, thresholding is carried out using OTSU algorithms to the image after standardization, to detach black and white pixel.According to
The size of ArUco labels uses mesh generation image, counts black, white pixel point number in each cell, every to determine
The bit of a unit.Finally, check whether the coding of extraction belongs to selected dictionary.The above operation can pass through calling
DetectMarkers functions in OpenCV are realized.
After detecting ArUco labels, then is marked by ArUco and obtain camera posture.It is in a program loaded into and to obtain before
Camera intrinsic parameter and distortion factor call aruco moulds estimatePoseSingleMarkers functions in the block, can detect
The posture of each ArUco labels.
4th step:The data base administration of image code.
Image code is grouped, each grouping indicates that a circuit, every group of most 100 image code can correspond to 100 kinds
Vehicle, it is desirable that the image code of each group the inside cannot repeat, and the name mark for supporting image to be grouped.To ensure data base administration
The scalability of system, system need to support image code grouping newly-built, delete that copy is grouped, the functions such as copy image code.System is grasped
Image code can be retrieved and be printed from database by making personnel.
The image code of all manufactures is recorded to database, and gives image code markup information, content includes that first ArUco is marked
10 byte informations of note, 10 byte informations of second ArUco labels;Vehicle code information uses string representation, totally 20 word
Section;60 byte of user's name, 60 byte of integrator's title, 60 byte of vehicle factor title.Operating personnel inquire data-base recording can
It is inquired by vehicle code, user's name, integrator's title, vehicle factor title.The simple rights management of database is assigned,
It is divided into administrator and operator's permission, only administrator can delete data-base recording.
5th step:Industrial personal computer uses ModbusRTU agreements with the communication protocol between AW500A.Traffic rate is
9600bps is encoded to 8 binary systems, no parity check, 1 stop position.
Modbus communication formats:ADR+10H+ originating registers high byte address+originating register low byte address+deposit
Device quantity high byte+register digital quantity low byte+data byte sum+register data 1+ register datas 2+...+ deposit
Device data N+CRC codes low byte+CRC code high byte.
Data content writes QW80~QW85 of AW500A, and the length for writing register data every time is fixed, shares 10
A byte, format are as follows:
2 bytes of type of vehicle+vehicle location (8 bytes, x, each 4 byte of y-coordinate)
The above committed step is completed, after successfully building vision-based detection charging controller system, driver is by Public Transit Bus Stopping
When on the position of charging pile, system can detect the image code for being installed on bus roof automatically, and obtain image code in camera
Position in coordinate system.If position coordinates are located in chargeable working range, driver is real-time on determining vehicle-carrying display screen
After image, charge button is pressed, charging bow landing starts to charge up.If position coordinates are not in working region, even if driver presses
Charge button, charging bow will not land, and industrial personal computer sends a warning to vehicle-carrying display screen at this time, to remind driver to stop again
By vehicle.When charging terminates, driver presses stop button, and confirms that charging bow has risen by vehicle-carrying display screen, then can be with
Clean boot vehicle.The present invention constructs the automatic detection charge control system based on machine vision, be electric bus from
Dynamic charging problems provide solution route.
The present invention provides the embodiment of electric bus vision-based detection charge control system, this system includes ArUco
Label, visual identifying system and lift charging bow control system;ArUco mark installments are in bus roof;Visual recognition line
System and lift charging bow control system are mounted on bus charging pile;Visual identifying system includes industrial camera;Lift
Charging bow control system includes charge controller;Industrial camera obtains ArUco tag images and is transmitted to industrial personal computer, in industrial personal computer
In write image processing program, to ArUco label be detected, obtain bus information, control lift charging bow control system
System charges to bus.
System constitutes image code to be detected using two ArUco labels, is printed on PVC film and sticks, and using transparent
Organic glass is protected.Two being used cooperatively for ArUco labels can effectively prevent error detection and label to be at least partially obscured
Harmful effect to system improves the stability of system work to a certain extent.
Industrial personal computer receives the image from industrial camera, operation image Processing Algorithm detection image code, to obtain bus
Information coding, and calculate the position relationship between image code and camera coordinates system, judge whether vehicle is located at chargeable region, and
Send that information to charge controller.
Electric bus vision-based detection automatic charging system requires to be equipped with vehicle-carrying display screen on bus, and size is 10 English
It is very little, it supports WiFi communication, can show the realtime graphic that industrial personal computer sends over, also can receive the alarm signal that industrial personal computer sends over
It ceases and is displayed on the screen.
Industrial personal computer detects whether the pantograph of the bus is located at press-down type charging bow according to the center of image code
Working range in, if bus is parked in the current video image for obtaining camera positioned at chargeable working range, industrial personal computer
The vehicle-carrying display screen being sent on vehicle, Bus driver can control the progress and stopping of charging by the corresponding button.Otherwise, industrial personal computer
Warning message is sent to vehicle-carrying display screen, charge button can also be in locking state.
Image code on electric bus roof contains the information of vehicles of the bus, and visual identifying system can pass through figure
As code inquiry database, the Vehicular charging parameter information of the electric bus is obtained, and the parameter is sent to charge controller,
Charge controller is responsible for the landing of press-down type charging bow, and controls charging pile and charge according to the specified charge parameter of vehicle.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of electric bus vision-based detection charge control system design method, which is characterized in that include the following steps:
The image code data of step 1, industrial camera acquisition bus roof, and industrial personal computer is sent the data to, the industrial personal computer
The vehicle-carrying display screen image data received being sent to by WiFi routers on the bus;
Step 2 demarcates the industrial camera by MATLAB calibration tools case, obtains camera intrinsic parameter and camera
Distortion factor;
ArUco labels in step 3, detection image, and camera is carried out with distortion factor according to the camera intrinsic parameter obtained
Attitude estimation obtains three-dimensional coordinate of the mark center under camera coordinates system;
Step 4, image code data base administration;
Step 5, using the communication described in ModbusRTU protocol realizations between industrial personal computer and charge controller.
2. electric bus vision-based detection charge control system design method as described in claim 1, which is characterized in that described
Image code includes that two ArUco are marked, and is printed on PVC film and sticks, and is protected using transparent organic glass.
3. electric bus vision-based detection charge control system design method as described in claim 1, which is characterized in that described
Industrial personal computer calculate ArUco label the industrial camera coordinate system between position relationship, judge the bus whether be located at can
Charged area, and send that information to the charge controller.
4. electric bus vision-based detection charge control system design method as described in claim 1, which is characterized in that described
ArUco labels on bus roof contain the information of vehicles of the bus, can inquire database by described image code,
The Vehicular charging parameter information of the bus is obtained, and the parameter is sent to the charge controller, the charge control
Device control bus charging pile charges according to the specified charge parameter of the bus.
5. electric bus vision-based detection charge control system design method as described in claim 1, which is characterized in that described
Vehicle-carrying display screen, size are 10 inches, can show the realtime graphic that the industrial personal computer sends over, and also can receive the industrial personal computer
The warning message that sends over simultaneously is displayed on the screen.
6. electric bus vision-based detection charge control system design method as described in claim 1, which is characterized in that described
The function button for having " starting to charge up " and " stopping charging " in bus, for the progress and stopping of Bus driver control charging;No
When meeting charging requirement, the function button of described " starting to charge up " can be in locking state.
7. electric bus vision-based detection charge control system design method as described in claim 1, which is characterized in that described
Charge controller is undertaken by AW500A, receives the order from the industrial personal computer.
8. electric bus vision-based detection charge control system design method as described in claim 1, which is characterized in that described
Industrial personal computer is 9600bps with the traffic rate between the charge controller, is encoded to 8 binary systems, no parity check, 1 stopping
Position.
9. electric bus vision-based detection charge control system design method as described in claim 1, which is characterized in that described
Database, and markup information is recorded in image code, and content includes ArUco label informations, vehicle code information, user's name, collection
At quotient's title and vehicle factor title.
10. a kind of electric bus vision-based detection charge control system, which is characterized in that including ArUco labels, visual recognition line
System and lift charging bow control system;The ArUco mark installments are in the bus roof;The visual identifying system and
The lift charging bow control system is mounted on bus charging pile;The visual identifying system includes the industrial phase
Machine;The lift charging bow control system includes the charge controller;The industrial camera obtains the ArUco labels figure
Picture is simultaneously transmitted to the industrial personal computer, and image processing program is write in the industrial personal computer, is detected to ArUco labels,
The bus information is obtained, the lift charging bow control system is controlled and charges to the bus.
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