CN111968400A - Vehicle guiding system and guiding method for automatic oiling of robot - Google Patents
Vehicle guiding system and guiding method for automatic oiling of robot Download PDFInfo
- Publication number
- CN111968400A CN111968400A CN202010690441.4A CN202010690441A CN111968400A CN 111968400 A CN111968400 A CN 111968400A CN 202010690441 A CN202010690441 A CN 202010690441A CN 111968400 A CN111968400 A CN 111968400A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- light curtain
- parking frame
- projection
- refueling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 3
- 239000000446 fuel Substances 0.000 claims 6
- 230000004888 barrier function Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/02—Supplying fuel to vehicles; General disposition of plant in filling stations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/14—Image acquisition
- G06V30/148—Segmentation of character regions
- G06V30/153—Segmentation of character regions using recognition of characters or words
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
- G06V20/625—License plates
Abstract
The invention discloses a vehicle guiding system and a guiding method for robot automatic oiling, wherein the vehicle guiding system comprises a ground parking frame projection device arranged above a robot automatic oiling parking area, a display screen and a first image acquisition device which are arranged on the front side above the parking area, and second image acquisition devices respectively arranged on two sides above the parking area, wherein the ground parking frame projection device, the display screen, the first image acquisition device and the second image acquisition device are respectively connected with a control system of an oiling robot, and the ground parking frame projection device forms a parking frame on the ground of the parking area in a light curtain projection mode according to the type of a vehicle; the display screen displays a dynamic graph of the relative position between the vehicle and the parking frame in real time through the vehicle position information acquired by the control system so as to guide the vehicle to accurately enter the refueling parking area. The invention improves the safety of automatic oiling of the robot and improves the oiling efficiency.
Description
Technical Field
The invention relates to the technical field of automatic vehicle refueling, in particular to a vehicle guiding system and a guiding method for automatic robot refueling.
Background
The traditional refueling mode mainly takes manual service as the main part, and its human cost is higher, intelligent level is lower. With the progress of the technology, some semi-self-service refueling systems and refueling methods are developed in the prior art, but the semi-self-service refueling method requires the customer to get off the vehicle and operate the system, so that the refueling experience of the customer is poor, and the refueling efficiency is low.
Therefore, the existing oiling system and the existing oiling method need to be technically improved, the existing oiling system is optimized through an Artificial Intelligence (AI) technology by fully utilizing a computer technology, particularly a computer software technology, a computer internet technology and an automatic control technology, and the core competitiveness of an oiling machine product is improved by combining the oiling machine and an artificial intelligence oiling robot.
At present, the following technical problems still exist in the aspect of adopting an intelligent refueling robot to automatically refuel vehicles: after the vehicle enters the refueling parking area, the parking position of a driver is random, and the positions of refueling ports of different vehicles are different, so that the refueling robot can refuel the vehicle by moving a larger distance. This would have two disadvantages: firstly, refuel the robot long distance removal and wasted certain invalid refueling time to reduce the efficiency of refueling, secondly refuel the robot and remove the increase that can lead to positioning error for a long time, lead to easily refuel the oil gun of robot can't with the accurate centering of the oil filler hole of vehicle, thereby bring certain operation potential safety hazard.
Disclosure of Invention
In order to solve the problems, the invention provides a vehicle guiding system and a guiding method for robot automatic oiling, aiming at improving the safety of robot automatic oiling and improving the oiling efficiency. The specific technical scheme is as follows:
a vehicle guide system for robot automatic oiling comprises a ground parking frame projection device arranged above a robot automatic oiling parking area, a display screen and a first image acquisition device which are arranged on the front side above the parking area, and second image acquisition devices respectively arranged on two sides above the parking area, wherein the ground parking frame projection device, the display screen, the first image acquisition device and the second image acquisition device are respectively connected with a control system of an oiling robot, and the ground parking frame projection device forms a parking frame on the ground of the parking area in a light curtain projection mode according to the type of a vehicle; the display screen displays a dynamic graph of the relative position between the vehicle and the parking frame in real time through the vehicle position information acquired by the control system so as to guide the vehicle to accurately enter the refueling parking area.
Preferably, the control system is provided with an image recognition module, the image recognition module comprises a vehicle position recognition module and a vehicle license plate recognition module, the control system is further provided with a vehicle model matching module, and the vehicle model matching module is connected with the vehicle information management system through the internet to be used for obtaining the vehicle type of the corresponding vehicle license plate.
Preferably, the ground parking frame is a rectangular parking frame.
As a preferable scheme of the ground parking frame projection device in the invention, the ground parking frame projection device is integrally built into a shape of a Chinese character jing by a front light curtain projection assembly, a rear light curtain projection assembly, a left light curtain projection assembly and a right light curtain projection assembly, each light curtain projection assembly comprises a projection module array composed of a plurality of projection modules which are adjacently arranged, the projection angle of each light curtain projection assembly is adjustable, and the opening and closing of each projection module is independently controlled by the control system.
The ground parking frame projection device further comprises a frame, each light curtain projection assembly is respectively and rotatably arranged on the frame, an angle encoder used for detecting the rotation angle of the light curtain projection assembly is further arranged on the frame, the light curtain projection assembly is driven to rotate through a stepping motor, and the angle encoder and the stepping motor are respectively connected with the control system.
In order to enable the ground parking frame projection device in the shape of the Chinese character 'jing' to project a rectangular parking frame, the control system calculates projection intersection points projected to adjacent light curtains on the ground and projection boundary position points on the light curtain projection assembly corresponding to the projection intersection points while controlling each light curtain projection assembly to rotate so as to adjust the projection angle of the light curtain, then dynamically closes all projection modules except the projection boundary position points on the light curtain projection assembly and dynamically opens all projection modules within the projection boundary position points on the light curtain projection assembly in the rotation process of the light curtain projection assembly, so as to ensure that a complete rectangular parking frame is projected on the ground all the time instead of the Chinese character 'jing' shaped frame.
Preferably, the ground parking frame projection device further comprises a dynamic arrow light curtain assembly, wherein the dynamic arrow light curtain assembly is arranged at the central part of a space surrounded by the front light curtain projection assembly, the rear light curtain projection assembly, the left light curtain projection assembly and the right light curtain projection assembly and is connected with the frame; when the dynamic arrow light curtain assembly is started, a dynamic arrow is projected at the central part of the ground parking frame so as to guide a vehicle to enter the ground parking frame.
In the invention, after the ground parking frame projection device is started, an initial parking frame is projected on the ground of a refueling parking area under the condition that no vehicle is ready to enter a refueling passage of a refueling station, when a vehicle enters the refueling passage of the refueling station and is ready to enter the refueling parking area, a control system identifies the license plate number of the vehicle at the first time through the first image acquisition device and the license plate number identification module, matches the vehicle type of the corresponding license plate number through the vehicle information management system according to the identified vehicle license plate number information, and then automatically adjusts the size of the ground parking frame according to the vehicle type to realize accurate guidance of the matched vehicle.
As a further improvement of the present invention, four correction marks for correcting the light curtain projection angle of the light curtain projection assembly during installation are disposed on the ground of the parking area, and the four correction marks are respectively located on four borders of the initial parking frame.
As a further improvement of the invention, four light curtain light ray centering receiving sensors connected with the control system are embedded on the ground of the refueling parking area, the four light curtain light centering receiving sensors are positioned on four borders or outside the four borders of the initial parking frame, the control system regularly utilizes the four light curtain light centering receiving sensors to detect and correct the precision of the light curtain projection angle of the light curtain projection assembly, the control system turns on the stepping motor during detection and correction to drive the light curtain projection assembly to carry out rotary scanning of the light curtain, and detects whether the angle of the light curtain light centering receiving sensors when the light curtain projection assembly just receives the light is consistent with the preset centering angle or not, and if errors occur, setting an error compensation value to ensure the accuracy of the rotation angle of the light curtain projection assembly.
The light curtain projection assembly angle correction uses four correction marks on the ground during installation, the corrected light curtain projection assembly is used for correcting the positions of the four light curtain light centering receiving sensors and fixing the positions, and the corrected four light curtain light centering receiving sensors are used for automatically correcting the rotation angle of the light curtain projection assembly by a subsequent control system.
A guidance method for a robotic automated refueling vehicle guidance system, comprising the steps of:
(1) before a vehicle does not enter a refueling channel of a refueling station, a vehicle guiding system projects an initial parking frame on the ground of a refueling parking area through a ground parking frame projecting device, and a dynamic arrow flickers to wait for the vehicle to enter;
(2) the method comprises the following steps that a vehicle enters a refueling channel of a refueling station, a control system of a refueling robot acquires an image right in front of the vehicle through a first image acquisition device, the license plate of the vehicle is recognized at the first time through a license plate recognition module, the vehicle type corresponding to the license plate of the vehicle is matched through a vehicle information management system according to the recognized license plate information, and then the size of a ground parking frame is automatically adjusted according to the vehicle type to realize accurate guidance of the matched vehicle;
(3) in the process that the vehicle enters the refueling parking area, the control system acquires the positions of the front and back direction and the left and right direction of the vehicle through the first image acquisition device, the second image acquisition device and the vehicle position identification module, and displays a dynamic graph of the relative position between the vehicle and the parking frame on a display screen in front of the vehicle in real time to guide the vehicle to accurately enter the refueling parking area.
After the vehicle accurately enters the refueling parking area, the refueling robot moves within a small range to refuel the vehicle.
In order to improve the driving experience, the size of the ground parking frame exceeds the vehicle outline size of the vehicle type of the corresponding vehicle mark.
In order to ensure the safety of the refueling operation, an automobile channel barrier gate connected with a control system is further arranged in front of the real-time refueling parking area, and the automobile channel barrier gate can be opened after the refueling of the vehicle is finished.
In order to guide and manage all vehicles entering the gas station, a shunting guide system can be arranged at an entrance of the gas station, the shunting guide system identifies the vehicle types of the vehicles through a vehicle brand identification system, and then guides different vehicles to enter corresponding refueling channels according to the indication of broadcasting or a display screen.
The invention has the beneficial effects that:
firstly, according to the vehicle guiding system and the guiding method for robot automatic oiling, the vehicle parking frame is projected on the ground through the ground parking frame projection device arranged above the robot automatic oiling parking area, and the relative dynamic position of the vehicle position relative to the parking frame is displayed in a matched mode through the display screen, so that the vehicle can be guided to accurately enter the oiling parking area, the moving range and the moving time of the oiling robot can be shortened, the positioning error of the oiling robot is reduced, an oil gun of the oiling robot is accurately aligned with an oil filling port of the vehicle, the safety of robot automatic oiling is improved, and the oiling efficiency is improved.
Secondly, according to the vehicle guiding system and the guiding method for robot automatic oiling, the size of the parking frame projected by the ground parking frame projection device can be adjusted through a control system according to different types of vehicles, and the adaptability is good.
Thirdly, according to the vehicle guiding system and the guiding method for robot automatic oiling, the control system extracts the vehicle license plate number by utilizing the image information acquired by the image acquisition device, matches the vehicle type corresponding to the vehicle license plate number through the vehicle information management system, and further automatically adjusts the size of the ground parking frame according to the vehicle type to realize accurate guiding of the matched vehicle, so that the adaptability of the vehicle guiding system is further improved.
Fourthly, according to the vehicle guiding system and the guiding method for robot automatic oiling, four correction marks on the ground can be used for correcting the angle of the light curtain projection assembly during installation, and the correction precision is improved. Meanwhile, the four light curtain light centering receiving sensors can be used for realizing the regular automatic correction of a subsequent control system, so that the reliability and the stability of the vehicle guide system are improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle guidance system for robotic refueling according to the present invention (the ground parking frame projection device is not shown);
fig. 2 is a schematic structural view of a ground parking frame projection device.
In the figure: 1. ground parking frame projection arrangement, 2, the display screen, 3, first image acquisition device, 4, second image acquisition device, 5, the parking frame, 6, preceding light curtain projection subassembly, 7, back light curtain projection subassembly, 8, left light curtain projection subassembly, 9, right light curtain projection subassembly, 10, the frame, 11, step motor, 12, the angle encoder, 13, dynamic arrow point light curtain subassembly, 14, the refuel passageway of filling station, 15, the correction mark, 16, light curtain light centering receiving transducer, 17, the dynamic arrow point, 18, refuel the robot.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1:
fig. 1 to 2 show an embodiment of a vehicle guidance system for robot automatic refueling according to the present invention, which includes a ground parking frame projection device 1 disposed above a robot automatic refueling parking area, a display screen 2 and a first image capturing device 3 disposed on a front side above the parking area, and second image capturing devices 4 disposed on two sides above the parking area, respectively, where the ground parking frame projection device 1, the display screen 2, the first image capturing device 3, and the second image capturing device 4 are connected to a control system of a refueling robot 18, respectively, and the ground parking frame projection device 1 forms a parking frame 5 on the ground of the parking area in a light curtain projection manner according to a vehicle type; the display screen 2 displays a dynamic graph of the relative position between the vehicle and the parking frame 5 in real time through the vehicle position information acquired by the control system so as to guide the vehicle to accurately enter a refueling parking area.
Preferably, the control system is provided with an image recognition module, the image recognition module comprises a vehicle position recognition module and a vehicle license plate recognition module, the control system is further provided with a vehicle model matching module, and the vehicle model matching module is connected with the vehicle information management system through the internet to be used for obtaining the vehicle type of the corresponding vehicle license plate.
Preferably, the ground parking frame 5 is a rectangular parking frame.
As a preferable scheme of the ground parking frame projection apparatus 1 in this embodiment, the ground parking frame projection apparatus 1 is integrally built into a shape of a Chinese character jing by a front light curtain projection assembly 6, a rear light curtain projection assembly 7, a left light curtain projection assembly 8 and a right light curtain projection assembly 9, each light curtain projection assembly includes a projection module array composed of a plurality of projection modules arranged adjacently, a projection angle of each light curtain projection assembly is adjustable, and opening and closing of each projection module is independently controlled by the control system.
In this embodiment, the ground parking frame projection apparatus 1 further includes a frame 10, each light curtain projection assembly is respectively rotatably disposed on the frame 10, the frame 10 is further provided with an angle encoder 12 for detecting a rotation angle of the light curtain projection assembly, the light curtain projection assembly is driven to rotate by a stepping motor 11, and the angle encoder 12 and the stepping motor 11 are respectively connected to the control system.
In order to enable the floor parking frame projection device 1 in the shape of the Chinese character 'jing' to project a rectangular parking frame, the control system controls each light curtain projection assembly 6, 7, 8, 9 to rotate so as to adjust the projection angle of the light curtain, and at the same time, calculates the projection intersection point position of the adjacent light curtain projected on the floor and the projection boundary position point on the light curtain projection assembly 6, 7, 8, 9 corresponding to the projection intersection point position, and then dynamically turns off all projection modules except the projection boundary position point on the light curtain projection assembly 6, 7, 8, 9 and dynamically turns on all projection modules within the projection boundary position point on the light curtain projection assembly 6, 7, 8, 9 in the rotation process of the light curtain projection assembly 6, 7, 8, 9, so as to ensure that the complete rectangular parking frame is projected on the floor all the time and is not the Chinese character 'jing' shaped frame.
Preferably, the ground parking frame projection device 1 further includes a dynamic arrow light curtain assembly 13, and the dynamic arrow light curtain assembly 13 is disposed at a central portion of a space surrounded by the front light curtain projection assembly 6, the rear light curtain projection assembly 7, the left light curtain projection assembly 8, and the right light curtain projection assembly 9, and is connected to the frame 10; when the dynamic arrow light curtain assembly 13 is opened, a dynamic arrow 17 is projected at the central part of the ground parking frame 5 to guide the vehicle to enter the ground parking frame 5.
In this embodiment, after the ground parking frame projection device 1 is turned on, an initial parking frame is projected on the ground of the refueling parking area under the condition that no vehicle is ready to enter the refueling passage 14 of the refueling station, when a vehicle enters the refueling passage of the refueling station and is ready to enter the refueling parking area, the control system recognizes the license plate of the vehicle through the first image acquisition device and the license plate recognition module for the first time, matches the vehicle type of the corresponding license plate of the vehicle through the vehicle information management system according to the recognized information of the license plate of the vehicle, and then automatically adjusts the size of the ground parking frame 5 according to the vehicle type to realize accurate guidance of the matched vehicle.
As a further improvement of this embodiment, four correction marks 15 for correcting the light curtain projection angle of the light curtain projection assemblies 6, 7, 8, 9 when the parking area is installed are disposed on the ground of the parking area, and the four correction marks 15 are respectively located on four borders of the initial parking frame 5.
As a further improvement of this embodiment, four light curtain light centering receiving sensors 16 connected to the control system are embedded in the ground of the refueling parking area, the four light curtain light centering receiving sensors 16 are located on four borders or outside the four borders of the initial parking frame 5, the control system periodically utilizes the four light curtain light centering receiving sensors 16 to detect and correct the precision of the light curtain projection angles of the light curtain projection assemblies 6, 7, 8, 9, the control system turns on the stepping motor 11 during detection and correction to drive the light curtain projection assemblies 6, 7, 8, 9 to perform rotary scanning of the light curtain, and detects whether the angle at which the light curtain light centering receiving sensors 16 just receive the light of the light curtain projection assemblies 6, 7, 8, 9 is consistent with a predetermined centering angle or not, and if errors occur, setting an error compensation value to ensure the accuracy of the rotation angle of the light curtain projection components 6, 7, 8 and 9.
When the device is installed, the four correction marks 15 on the ground are used for correcting the angles of the light curtain projection assemblies 6, 7, 8 and 9, the positions of the four light curtain light centering receiving sensors 16 are corrected and fixed by the corrected light curtain projection assemblies 6, 7, 8 and 9, and the corrected four light curtain light centering receiving sensors 16 are used for automatically correcting the rotation angles of the light curtain projection assemblies 6, 7, 8 and 9 by a subsequent control system.
Example 2:
a guidance method using the vehicle guidance system for robot automatic refueling of embodiment 1, comprising the steps of:
(1) before a vehicle does not enter a refueling channel 14 of a refueling station, a vehicle guiding system projects an initial parking frame 5 on the ground of a refueling parking area through a ground parking frame projecting device 1, and a dynamic arrow 17 flickers to wait for the vehicle to enter;
(2) when a vehicle enters a refueling channel 14 of a refueling station, a control system of a refueling robot 18 acquires an image right in front of the vehicle through a first image acquisition device 3, recognizes the license plate number of the vehicle at the first time through a license plate number recognition module, matches the vehicle type of the corresponding license plate number through a vehicle information management system according to the recognized license plate number information, and then automatically adjusts the size of a ground parking frame 5 according to the vehicle type to realize accurate guidance of the matched vehicle;
(3) in the process that the vehicle enters the refueling parking area, the control system acquires the positions of the front and back direction and the left and right direction of the vehicle through the first image acquisition device 3, the second image acquisition device 4 and the vehicle position identification module, and displays a dynamic graph of the relative position between the vehicle and the parking frame 5 on the display screen 2 in front of the vehicle in real time to guide the vehicle to accurately enter the refueling parking area.
After the vehicle accurately enters the refueling parking area, the refueling robot 18 moves within a small range to refuel the vehicle.
In order to improve the driving experience, the size of the ground parking frame 5 exceeds the vehicle outline size of the vehicle type of the corresponding vehicle mark.
In order to ensure the safety of the refueling operation, an automobile channel barrier gate connected with a control system is further arranged in front of the real-time refueling parking area, and the automobile channel barrier gate can be opened after the refueling of the vehicle is finished.
In order to guide and manage all vehicles entering the gas station, a shunting guide system can be arranged at an entrance of the gas station, the shunting guide system identifies the vehicle types of the vehicles through a vehicle brand identification system, and then guides different vehicles to enter corresponding refueling channels according to the indication of broadcasting or a display screen.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A vehicle guide system for robot automatic oiling is characterized by comprising a ground parking frame projection device, a display screen, a first image acquisition device and second image acquisition devices, wherein the ground parking frame projection device is arranged above a robot automatic oiling parking area, the display screen and the first image acquisition device are arranged on the front side above the parking area, the second image acquisition devices are respectively arranged on two sides above the parking area, the ground parking frame projection device, the display screen, the first image acquisition device and the second image acquisition device are respectively connected with a control system of an oiling robot, and the ground parking frame projection device forms a parking frame on the ground of the parking area in a light curtain projection mode according to the type of a vehicle; the display screen displays a dynamic graph of the relative position between the vehicle and the parking frame in real time through the vehicle position information acquired by the control system so as to guide the vehicle to accurately enter the refueling parking area.
2. The vehicle guiding system for robot automatic oiling is characterized in that an image recognition module is arranged in the control system and comprises a vehicle position recognition module and a vehicle brand recognition module, a vehicle model matching module is further arranged in the control system, and the vehicle model matching module is connected with a vehicle information management system through the Internet and used for obtaining the vehicle type of the corresponding vehicle brand.
3. The vehicle guidance system for robotic refueling as recited in claim 1, wherein the ground parking frame is a rectangular parking frame.
4. The vehicle guiding system for robot automatic oiling according to claim 2, wherein the ground parking frame projection device is integrally built into a shape of a Chinese character jing by a front light curtain projection assembly, a rear light curtain projection assembly, a left light curtain projection assembly and a right light curtain projection assembly, each light curtain projection assembly comprises a projection module array composed of a plurality of projection modules which are adjacently arranged, the projection angle of each light curtain projection assembly is adjustable, and the opening and closing of each projection module is independently controlled by the control system.
5. The vehicle guiding system for robot automatic oiling according to claim 4, wherein the ground parking frame projection device further comprises a frame, each light curtain projection component is respectively and rotatably arranged on the frame, an angle encoder for detecting the rotation angle of the light curtain projection component is further arranged on the frame, the light curtain projection component is driven to rotate by a stepping motor, and the angle encoder and the stepping motor are respectively connected with the control system.
6. The vehicle guidance system for robotic automated refueling as recited in claim 5, wherein the ground parking frame projection arrangement further comprises a dynamic arrow light curtain assembly disposed in a central portion of a space enclosed by the front, rear, left and right light curtain projection assemblies and connected to the frame; when the dynamic arrow light curtain assembly is started, a dynamic arrow is projected at the central part of the ground parking frame so as to guide a vehicle to enter the ground parking frame.
7. The system as claimed in claim 5, wherein after the projection device of the ground parking frame is turned on, in the case that there is no fuel filling passageway for the vehicle to enter the fuel filling station, an initial parking frame is projected on the ground of the fuel filling parking area, when there is a vehicle to enter the fuel filling passageway of the fuel filling station and to enter the fuel filling parking area, the control system recognizes the vehicle license plate number at the first time through the first image capturing device and the vehicle license plate number recognition module, matches the vehicle type of the corresponding vehicle license plate number through the vehicle information management system according to the recognized vehicle license plate number information, and then automatically adjusts the size of the ground parking frame according to the vehicle type to realize accurate guidance of the matched vehicle.
8. The vehicle guidance system for robotic automated refueling according to claim 7, wherein four correction marks for correcting a light curtain projection angle of a light curtain projection assembly when installed are provided on the ground of the parking area, the four correction marks being located on four borders of the initial parking frame, respectively.
9. The vehicle guiding system for robot automatic refueling according to claim 8, wherein four light curtain light centering receiving sensors connected to the control system are embedded in the ground of the refueling parking area, the four light curtain light centering receiving sensors are located on or outside the four frames of the initial parking frame, the control system periodically utilizes the four light curtain light centering receiving sensors to detect and correct the precision of the light curtain projection angle of the light curtain projection assembly, the control system turns on a stepping motor during detection and correction to drive the light curtain projection assembly to perform rotary scanning of the light curtain, the angle of the light curtain light centering receiving sensors when the light curtain projection assembly is just received is consistent with a preset centering angle, if an error occurs, an error compensation value is set, so as to ensure the accuracy of the rotation angle of the light curtain projection assembly.
10. A guiding method using the vehicle guiding system for robot automated refueling of any one of claims 1 to 9, characterized by comprising the steps of:
(1) before a vehicle does not enter a refueling channel of a refueling station, a vehicle guiding system projects an initial parking frame on the ground of a refueling parking area through a ground parking frame projecting device, and a dynamic arrow flickers to wait for the vehicle to enter;
(2) the method comprises the following steps that a vehicle enters a refueling channel of a refueling station, a control system of a refueling robot acquires an image right in front of the vehicle through a first image acquisition device, the license plate of the vehicle is recognized at the first time through a license plate recognition module, the vehicle type corresponding to the license plate of the vehicle is matched through a vehicle information management system according to the recognized license plate information, and then the size of a ground parking frame is automatically adjusted according to the vehicle type to realize accurate guidance of the matched vehicle;
(3) in the process that the vehicle enters the refueling parking area, the control system acquires the positions of the front and back direction and the left and right direction of the vehicle through the first image acquisition device, the second image acquisition device and the vehicle position identification module, and displays a dynamic graph of the relative position between the vehicle and the parking frame on a display screen in front of the vehicle in real time to guide the vehicle to accurately enter the refueling parking area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010690441.4A CN111968400A (en) | 2020-07-17 | 2020-07-17 | Vehicle guiding system and guiding method for automatic oiling of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010690441.4A CN111968400A (en) | 2020-07-17 | 2020-07-17 | Vehicle guiding system and guiding method for automatic oiling of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111968400A true CN111968400A (en) | 2020-11-20 |
Family
ID=73361684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010690441.4A Pending CN111968400A (en) | 2020-07-17 | 2020-07-17 | Vehicle guiding system and guiding method for automatic oiling of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111968400A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672885A (en) * | 2017-02-09 | 2017-05-17 | 浙江百倍云信息科技有限公司 | Unmanned oiling method and system |
| CN108682074A (en) * | 2018-04-11 | 2018-10-19 | 华南理工大学 | A kind of fuel station information reminding method and system |
| CN109519017A (en) * | 2018-11-21 | 2019-03-26 | 上海市城市建设设计研究总院（集团）有限公司 | The motor-driven parking stall in the embedded roadside of changeable multifunctional |
| CN110379080A (en) * | 2019-06-05 | 2019-10-25 | 江阴市富仁高科股份有限公司 | A kind of fuel loading system and oiling method based on license plate number intelligent recognition |
| CN110969892A (en) * | 2019-11-06 | 2020-04-07 | 重庆市城投金卡信息产业(集团)股份有限公司 | Parking lot management method and system |
| CN212675727U (en) * | 2020-07-17 | 2021-03-09 | 江阴市富仁高科股份有限公司 | Vehicle guiding system for automatic oiling of robot |
-
2020
- 2020-07-17 CN CN202010690441.4A patent/CN111968400A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672885A (en) * | 2017-02-09 | 2017-05-17 | 浙江百倍云信息科技有限公司 | Unmanned oiling method and system |
| CN108682074A (en) * | 2018-04-11 | 2018-10-19 | 华南理工大学 | A kind of fuel station information reminding method and system |
| CN109519017A (en) * | 2018-11-21 | 2019-03-26 | 上海市城市建设设计研究总院（集团）有限公司 | The motor-driven parking stall in the embedded roadside of changeable multifunctional |
| CN110379080A (en) * | 2019-06-05 | 2019-10-25 | 江阴市富仁高科股份有限公司 | A kind of fuel loading system and oiling method based on license plate number intelligent recognition |
| CN110969892A (en) * | 2019-11-06 | 2020-04-07 | 重庆市城投金卡信息产业(集团)股份有限公司 | Parking lot management method and system |
| CN212675727U (en) * | 2020-07-17 | 2021-03-09 | 江阴市富仁高科股份有限公司 | Vehicle guiding system for automatic oiling of robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106494395B (en) | A kind of automatic parking control method and device based on data fusion | |
| US10464606B2 (en) | Method and apparatus for guiding a vehicle along a defined guidepath | |
| US20150168719A1 (en) | Inspection device and method of head up display for vehicle | |
| CN212675727U (en) | Vehicle guiding system for automatic oiling of robot | |
| EP3621037B1 (en) | System and method for calibrating advanced driver assistance system based on vehicle positioning | |
| CN111173339A (en) | Intelligent parking method and system | |
| CN109917782A (en) | Parking guiding system and its method and automatic parking system | |
| KR102143641B1 (en) | Automatic Lane Painting Device Using Vision Sensors | |
| JPH0255268B2 (en) | ||
| CN110952821B (en) | Community three-dimensional parking system with intelligent auxiliary function | |
| CN107705631A (en) | The structure and application method of managing system of car parking | |
| CN111776243B (en) | Control method and device for boarding bridge | |
| CN111613089B (en) | Garage management system and vehicle in-out management method | |
| CN111968400A (en) | Vehicle guiding system and guiding method for automatic oiling of robot | |
| EP4307496A1 (en) | Line laser module and self-moving device | |
| CN108195568B (en) | Centering self-checking and calibrating method for headlamp illuminance detection device | |
| KR102217453B1 (en) | Boarding bridge automatic entrance system | |
| CN112817303A (en) | Self-propelled triangular warning frame and advancing control method thereof | |
| US10880487B2 (en) | Imaging apparatus having automatically adjustable imaging direction | |
| CN104097572B (en) | Driving assistant device and method thereof | |
| CN102024324A (en) | Automatic control system for parking lot barrier | |
| CN201556298U (en) | Automatic park barrier machine control device | |
| CN110134151B (en) | Bus type vision leveling control system based on laser guide | |
| CN113610899A (en) | Non-inductive refueling method based on video streaming event | |
| CN108195569B (en) | Headlamp illuminance detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |