CN110370935B - Image identification pantograph transverse slip control system and method for double-source trackless electric heavy truck - Google Patents
Image identification pantograph transverse slip control system and method for double-source trackless electric heavy truck Download PDFInfo
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- CN110370935B CN110370935B CN201910649577.8A CN201910649577A CN110370935B CN 110370935 B CN110370935 B CN 110370935B CN 201910649577 A CN201910649577 A CN 201910649577A CN 110370935 B CN110370935 B CN 110370935B
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- 239000003086 colorant Substances 0.000 description 2
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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
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
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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
- B60L2200/00—Type of vehicles
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
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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
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
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Abstract
A transverse slip control system and method for an image recognition pantograph for a double-source trackless electric heavy truck comprise a photosensitive unit, an image processing unit, a control unit, an execution unit and a target object. The photosensitive unit is connected with the image processing unit. An expansion unit is arranged between the image processing unit and the control unit. The invention collects the position coordinates of the target object and completes the transverse sliding action of the pantograph by the following steps: a. collecting images and outputting image signals to an image processing unit; b. analyzing the image signal and calculating the coordinates of the target object; c. outputting the coordinates of the target object to the expansion unit and transmitting the coordinates of the target object to the control unit by the expansion unit; d. the control unit calculates and outputs execution parameters to the execution unit; e. the execution unit drives the pantograph to slide transversely. The invention can ensure that the pantograph is continuously contacted with the overhead network when the double-source trackless electric heavy truck overtakes or uses an emergency lane of a highway, thereby avoiding the frequent switching of the power transmission network and the vehicle-mounted power supply.
Description
Technical Field
The invention belongs to the field of automobile research, and particularly relates to a system and a method for controlling transverse slippage of an image recognition pantograph for a double-source trackless electric heavy truck.
Background
The double-source trackless electric repacaine can be powered by a power grid and does not completely depend on the power grid to be concerned, and the double-source trackless electric repacaine has a special fixed electric power highway. In view of the working condition of high speed and heavy load of the double-source trackless electric heavy truck, when overtaking or using an emergency lane on a highway, if the traditional trolley pole device is adopted, the double-source trackless electric heavy truck cannot continuously use the power of a power transmission network due to an offset overhead power network, so that the power of the power network and a vehicle-mounted power supply are frequently switched.
Disclosure of Invention
The control system and the control method provided by the invention can ensure that the pantograph can continuously keep contact with an overhead line when the double-source trackless electric truck overtakes or uses an emergency lane of a highway, thereby avoiding frequent switching of power of a power transmission network and a vehicle-mounted power supply.
In order to achieve the purpose, the invention adopts the following technical scheme:
the image recognition pantograph transverse slip control system for the double-source trackless electric heavy truck comprises a photosensitive unit, an image processing unit, a control unit, an execution unit and a target object. The photosensitive unit is connected with the image processing unit.
The photosensitive unit is composed of an optical lens and a photosensitive chip and is used for collecting an external image.
The image processing unit is used for analyzing an external image and outputting the position coordinates of the target object. The image processing unit takes an ARM microprocessor or a PC platform as a core processing module.
The control unit is used for receiving the position coordinates of the target object and transmitting corresponding execution parameters to the execution unit.
And the execution unit is used for finishing the required action according to the execution parameters.
An expansion unit is arranged between the image processing unit and the control unit. The extension unit is connected with a light supplementing lamp. The expansion unit and the image processing unit are communicated through a serial port, the position coordinate information is sent to the expansion unit and then sent to the control unit through a CAN line, and the control unit and the execution unit are also communicated through the CAN line. Meanwhile, the extension unit can drive a light supplement lamp switch.
Further, the execution unit comprises a yaw motor, and the yaw motor is responsible for the transverse sliding action of the pantograph.
Furthermore, the target object comprises one or more rectangular identification strips, and one or more groups of identification blocks with alternate colors are coated on the rectangular identification strips.
The invention also provides a control method for identifying the transverse sliding of the pantograph by the image for the double-source trackless electric heavy truck, which is based on the control system for identifying the transverse sliding of the pantograph by the image for the double-source trackless electric heavy truck and specifically comprises the following steps of:
a. the method comprises the steps that an external image is collected through a photosensitive unit, and an image signal is output to an image processing unit;
b. the image processing unit analyzes the image signal, judges whether a target object exists in the received image, and calculates the coordinate of the target object after recognizing the target object;
c. outputting the coordinates of the target object to an expansion unit, and transmitting the coordinates to a control unit through a CAN (controller area network) line by the expansion unit;
d. the control unit calculates a pantograph transverse sliding strategy according to the coordinates of the target object and outputs execution parameters to the execution unit;
e. the execution unit drives the pantograph to slide transversely according to the execution parameters. Meanwhile, the image processing unit analyzes the image signal and judges whether the image brightness is in a specified range, and when the image brightness is less than 60LX, the light supplement lamp is turned on; and when the image brightness is greater than 80LX, the light supplementing lamp is turned off.
Furthermore, in the step e, the transverse sliding motion of the pantograph is driven by the transverse swinging motor.
The beneficial effects of the invention are as follows: the pantograph can continuously keep contact with an overhead network when the double-source trackless electric heavy truck overtakes or uses an emergency lane of a highway, and frequent switching between power of a power transmission network and a vehicle-mounted power supply is avoided.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic view of a normal driving state of the double-source trackless electric heavy truck;
fig. 3 is a schematic diagram of the transverse sliding state of the pantograph of the double-source trackless electric heavy truck.
Reference numerals are as follows: 1-photosensitive unit, 2-image processing unit, 3-expansion unit, 4-control unit, 5-execution unit, 6-target, 7-supplementary lighting lamp, 8-trolley pole, 9-yaw motor, 10-support on trolley pole, 11-slide rail, 12-slide block, 13-pantograph, 14-overhead line, 15-power line, 16-double-source trackless electric heavy truck, 17-common vehicle, 18-overtaking lane, 19-overtaking electric lane and 20-emergency lane.
Detailed Description
For the convenience of understanding, the technical scheme of the invention is further described in detail by embodiments with reference to the accompanying drawings:
as shown in fig. 1, the image recognition pantograph lateral slip control system for the double-source trackless electric heavy truck comprises a photosensitive unit 1, an image processing unit 2, a control unit 4, an execution unit 5 and a target object 6. The photosensitive unit 1 is connected to the image processing unit 2.
The photosensitive unit 1 is used for collecting an external image. The photosensitive unit 1 is composed of an optical lens and a photosensitive chip, and the photosensitive chip can be a CCD type or a CMOS type.
The image processing unit 2 is used for analyzing the outside image and outputting the position coordinates of the target object 6. The image processing unit 2 takes an ARM microprocessor as a core processing module.
An extension unit 3 is provided between the image processing unit 2 and the control unit 4. The extension unit 3 is connected with a light supplement lamp 7. The expansion unit 3 and the image processing unit 2 are communicated through a serial port, the position coordinate information is sent to the expansion unit 3 and then sent to the control unit 4 through a CAN line, and the control unit 4 and the execution unit 5 are also communicated through the CAN line. Meanwhile, the extension unit 3 can drive the light supplement lamp 7 to be switched on and off.
The control unit 4 is used for receiving the position coordinates of the target object 6 and transmitting corresponding execution parameters to the execution unit 5.
The execution unit 5 is configured to complete the required action according to the execution parameter.
As shown in fig. 2 and fig. 3, a trolley pole 8 is arranged at the top of a double-source trackless electric heavy truck 16, an upper trolley pole support 10 is arranged at the top end of the trolley pole 8, a sliding rail 11 is slidably arranged in the upper trolley pole support 10, a sliding block 12 is arranged at the tail end of the sliding rail 11, a pantograph 13 is arranged above the sliding block 12, an overhead line 14 is arranged above the pantograph 13, and the overhead line 14 is connected with a power transmission line 15 of a power grid; a yaw motor 9 is arranged below the trolley pole upper support 10, the yaw motor 9 is meshed with the sliding rails 11, and the yaw motor 9 can drive the sliding rails 11 to move transversely, so that the pantograph 13 is driven to move transversely through the sliding blocks 12.
The execution unit 5 comprises a yaw motor 9, and the yaw motor 9 is responsible for the transverse sliding action of the pantograph 13. The object 6 is used for system identification. The object 6 comprises one or more rectangular identification strips on which one or more sets of identification blocks of alternating colors are applied.
The invention also provides a control method for the image recognition pantograph transverse sliding for the double-source trackless electric heavy truck, which specifically comprises the following steps of collecting the position coordinates of the target object 6 and completing the pantograph transverse sliding action:
a. an external image is collected through the photosensitive unit 1, and an image signal is output to the image processing unit 2;
b. the image processing unit 2 analyzes the image signal, judges whether the target object 6 exists in the received image, and calculates the coordinate of the target object 6 after recognizing the target object 6;
c. the coordinates of the target object 6 are output to the extension unit 3, and are transmitted to the control unit 4 by the extension unit 3 through a CAN (controller area network) line;
d. the control unit 4 calculates a pantograph transverse sliding strategy according to the coordinates of the target object 6, and outputs execution parameters to the execution unit 5;
e. the execution unit 5 drives the pantograph 13 to transversely slide through the yaw motor 9 according to the execution parameters. Meanwhile, the image processing unit 2 analyzes the image signal, judges whether the image brightness is in a specified range, and turns on the light supplement lamp 7 when the image brightness is less than 60 LX; and when the image brightness is greater than 80LX, the light supplement lamp 7 is turned off.
When the double-source trackless electric heavy truck 16 runs on the overhead cable way 19, the slide rail 11 is in a contracted state.
When the dual-source trackless heavy electric truck 16 needs to travel in the overtaking lane 18 or the emergency lane 20, the pantograph makes good contact with the grid by slipping laterally. The pantograph can continuously keep contact with an overhead network when the double-source trackless electric heavy truck overtakes or uses an emergency lane of a highway, and frequent switching between power of a power transmission network and a vehicle-mounted power supply is avoided.
The above embodiments are merely illustrative or explanatory of the technical solution of the present invention and should not be construed as limiting the technical solution of the present invention, and it is apparent that various modifications and variations can be made by those skilled in the art without departing from the spirit and scope of the present invention. The present invention also encompasses these modifications and variations provided they come within the scope of the claims and their equivalents.
Claims (2)
1. The image identification pantograph transverse slippage control system for the double-source trackless electric heavy truck comprises a photosensitive unit, an image processing unit, a control unit, an execution unit and a target object, wherein the photosensitive unit is connected with the image processing unit, the photosensitive unit consists of an optical lens and a photosensitive chip, the image processing unit takes an ARM (advanced RISC machine) microprocessor or a PC (personal computer) platform as a core processing module, an expansion unit is arranged between the image processing unit and the control unit, the expansion unit is connected with a light supplementing lamp, the expansion unit is communicated with the image processing unit through a serial port, position coordinate information is sent to the expansion unit and then sent to the control unit through a CAN (controller area network) line, and the control unit is also communicated with the execution unit through the CAN line;
the method is characterized in that: the execution unit comprises a transverse swinging motor (9), a trolley pole (8) is arranged at the top of the double-source trackless electric heavy truck (16), an upper trolley pole support (10) is arranged at the top end of the trolley pole (8), a sliding rail (11) is arranged in the upper trolley pole support (10) in a sliding manner, a sliding block (12) is arranged at the tail end of the sliding rail (11), a pantograph (13) is arranged above the sliding block (12), an overhead line (14) is arranged above the pantograph (13), and the overhead line (14) is connected with a power transmission line (15) of a power grid; the horizontal swing motor (9) is arranged below the trolley pole upper support (10), the horizontal swing motor (9) is meshed with the sliding rails (11), and the horizontal swing motor (9) can drive the sliding rails (11) to move transversely, so that the sliding blocks (12) drive the pantograph (13) to move transversely.
2. The control system of claim 1, wherein the control system is configured to perform the image recognition pantograph lateral slip control method for the dual-source trackless electric heavy truck, wherein the image recognition pantograph lateral slip control method comprises: the method comprises the following specific steps of collecting the position coordinates of a target object and finishing the transverse sliding action of the pantograph:
a. the method comprises the steps that an external image is collected through a photosensitive unit, and an image signal is output to an image processing unit;
b. the image processing unit analyzes the image signal, judges whether a target object exists in the received image, and calculates the coordinate of the target object after identifying the target object;
c. outputting the coordinates of the target object to an extension unit, and transmitting the coordinates to a control unit through a CAN (controller area network) line by the extension unit;
d. the control unit calculates a pantograph transverse sliding strategy according to the coordinates of the target object and outputs execution parameters to the execution unit;
e. the execution unit drives the pantograph to slide transversely according to the execution parameters, and meanwhile, the image processing unit analyzes the image signal and judges whether the image brightness is in a specified range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910649577.8A CN110370935B (en) | 2019-07-18 | 2019-07-18 | Image identification pantograph transverse slip control system and method for double-source trackless electric heavy truck |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910649577.8A CN110370935B (en) | 2019-07-18 | 2019-07-18 | Image identification pantograph transverse slip control system and method for double-source trackless electric heavy truck |
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| Publication Number | Publication Date |
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| CN110370935A CN110370935A (en) | 2019-10-25 |
| CN110370935B true CN110370935B (en) | 2023-01-20 |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101580022B (en) * | 2009-06-18 | 2011-04-20 | 上海交通大学 | Single pole moving and swinging type public transportation trolley bus pantograph |
| CN204279121U (en) * | 2014-09-20 | 2015-04-22 | 姚秀林 | There is the pantograph of the ability trackless trolley car that continues |
| CN104890520B (en) * | 2015-06-16 | 2018-02-23 | 中车株洲电力机车有限公司 | A kind of lateral current collector and electric vehicle |
| CN109318717A (en) * | 2017-07-31 | 2019-02-12 | 天津市松正电动汽车技术股份有限公司 | A kind of double source trolleybus image recognition control system and method |
| CN208324903U (en) * | 2018-04-19 | 2019-01-04 | 田野 | A kind of Electric Transit bow collector |
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Effective date of registration: 20240321 Address after: 266000 No.1 Loushan Road, Licang District, Qingdao City, Shandong Province Patentee after: QINGDAO AUTOMOTIVE RESEARCH INSTITUTE, JILIN University Country or region after: Zhong Guo Patentee after: Jilin University Address before: 266000 No.1 Loushan Road, Licang District, Qingdao City, Shandong Province Patentee before: QINGDAO AUTOMOTIVE RESEARCH INSTITUTE, JILIN University Country or region before: Zhong Guo |