CN105751912A - Automatic charging type unmanned electric automobile - Google Patents
Automatic charging type unmanned electric automobile Download PDFInfo
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- CN105751912A CN105751912A CN201610125069.6A CN201610125069A CN105751912A CN 105751912 A CN105751912 A CN 105751912A CN 201610125069 A CN201610125069 A CN 201610125069A CN 105751912 A CN105751912 A CN 105751912A
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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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- 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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
- B60L2240/72—Charging station selection relying on external data
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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
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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
- Y02T90/14—Plug-in 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to an automatic charging type unmanned electric automobile. The automatic charging type unmanned electric automobile comprises electric quantity detection equipment, automatic charging equipment, GPS positioning equipment and an MSP430 single chip microcomputer, wherein the electric quantity detection equipment is used for detecting residual electric quantity of the electric automobile; the GPS positioning equipment is used for receiving a current GPS position of the electric automobile; the MSP430 single chip microcomputer is connected with the electric quantity detection equipment, the automatic charging equipment and the GPS positioning equipment; and the automatic charging equipment is used for realizing automatic charging of the electric automobile under the control of the MSP430 single chip microcomputer. With the adoption of the automatic charging type unmanned electric automobile, complete automation of operation of finding a charging station and operation of inserting a charging plug into a charging socket for charging of the electric automobile can be realized.
Description
Technical field
The present invention relates to charging field, particularly relate to a kind of automatic charging type driverless electric automobile.
Background technology
New-energy automobile, especially electric automobile, be increasingly becoming the replacement developing direction of traditional energy automobile: 1. zero-emission owing to having the following advantages, and electric automobile uses electric energy, discharges without waste gas under steam, free from environmental pollution；2. electric automobile is higher than the energy utilization rate of gasoline engine driving automobile；3. because using single electric energy, eliminating electromotor, variator, fuel tank, cooling and gas extraction system, so structure is relatively simple, area occupied is relatively small；4. noise is little；5. vehicle charging can be carried out when electricity consumption ebb, it is possible to stabilize the peak-valley difference of electrical network, make generating equipment be fully used.Even start that the driverless electric automobile that intelligent level is higher occurs.
But, owing to driverless electric automobile development time is shorter, some problems under steam are in the prior art still without obtaining adequate solution, even also needing to manually participate in: (1) is not high based on the driverless electric automobile control accuracy of guide tracks, the situation of deviation guide tracks happens occasionally；(2) navigation feature is complete not, for instance when electricity deficiency, it is impossible to determine near most suitable charging station as target charging station to go to charging；(3) the location equipment of charging pile in charging station is lacked, it is impossible to complete charging controller function.
Therefore, need a kind of new driverless electric automobile, can solve the problem that the technical problem of above-mentioned three aspects, namely can set up the new electric automobile based on guide tracks and drive control structure, improve unpiloted guidance accuracy, can near determining each charging station position meanwhile, it is capable to select the target charging station of most convenient voluntarily；The position of charging pile in charging station can be positioned, it is achieved the automatic charging of electric automobile simultaneously.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of automatic charging type driverless electric automobile, optimize the existing electric automobile based on guide tracks and drive control structure, introduce high-precision photoelectric sensor and drive reference data for driving control structure to provide based on the electric automobile of guide tracks, introduce GPS location equipment and determine nearest charging station, the more important thing is, introduce image recognition apparatus and mechanical control equipment realizes the charging pile automatic charging to electric automobile.
According to an aspect of the present invention, provide a kind of automatic charging type driverless electric automobile, described electric automobile includes electric power detection equipment, automatic charging equipment, GPS location equipment and MSP430 single-chip microcomputer, electric power detection equipment is for detecting the dump energy of electric automobile, GPS positions equipment for receiving the current GPS location of electric automobile, MSP430 single-chip microcomputer positions equipment with electric power detection equipment, automatic charging equipment and GPS and is connected respectively, and automatic charging equipment for realizing the automatic charging to electric automobile under the control of MSP430 single-chip microcomputer.
More specifically, in described automatic charging type driverless electric automobile, including: electric power detection equipment, it is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator；Travel controller, it is arranged on electric automobile, it is connected with the direction controller of electric automobile and speed control, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller；GPS positions equipment, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile；Image acquisition identification equipment, for electric automobile front scene shoots to obtain forward image, and carries out image recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or be absent from charging pile signal forward image；Ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile；ZIGBEE communication equipment, is arranged on electric automobile, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile；Automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, is used for going to based on relative distance driving mechanical hand in the charging socket that the charging socket of charging pile, mechanical hand are used for being inserted by charging head charging pile after arriving at the charging socket of charging pile；MSP430 single-chip microcomputer, position equipment, image acquisition identification equipment, ultrasonic detecting equipment, ZIGBEE communication equipment and automatic charging equipment be connected respectively with electric power detection equipment, traveling controller, GPS, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern；MSP430 single-chip microcomputer is in self-navigation pattern, start GPS and position equipment and image acquisition identification equipment, receive current GPS location, GPS location based on charging pile nearest in current GPS location and the electronic chart that prestores determines position control signal, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from image acquisition identification equipment there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, MSP430 single-chip microcomputer exits self-navigation pattern；Light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated；Photoelectric sensor, it is arranged on the chassis of electric automobile, being made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different；Signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond；Operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage；8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence；Steering controller, it is arranged in the front end instrumental panel of electric automobile, it is connected with MSP430 single-chip microcomputer, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile, the tooth sector corner of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks；Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with steering controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile；Turn to drive motor, it is arranged on above the driving wheel of electric automobile, it is connected respectively with the driving wheel of steer motor driver and electric automobile, for based on drive and control of electric machine signal control drive wheel steering angle, with by electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks；Wherein, MSP430 single-chip microcomputer is also connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile；MSP430 single-chip microcomputer presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first.
More specifically, in described automatic charging type driverless electric automobile: MSP430 single-chip microcomputer is arranged in the front end instrumental panel of electric automobile.
More specifically, in described automatic charging type driverless electric automobile, described electric automobile also includes: rack and pinion steering gear, for drive motor being turned to be connected with the driving wheel of electric automobile.
More specifically, in described automatic charging type driverless electric automobile: rack and pinion steering gear is arranged on above the driving wheel of electric automobile.
More specifically, in described automatic charging type driverless electric automobile: GPS location equipment, image acquisition identification equipment, ZIGBEE communication equipment are integrated on one piece of surface-mounted integrated circuit.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the automatic charging type driverless electric automobile illustrated according to an embodiment of the present invention.
Accompanying drawing labelling: 1 electric power detection equipment；2 automatic charging equipment；3GPS positions equipment；4MSP430 single-chip microcomputer
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the automatic charging type driverless electric automobile of the present invention is described in detail.
The operation principle of electric automobile is as follows: battery current electric governor motor power transmission system drives running car.The kind of electric automobile is as follows: pure electric automobile (BEV), hybrid vehicle (PHEV), fuel cell car (FCEV).Electric automobile, relative fuel-engined vehicle, main difference is that four big parts: drive motor, speed setting controller, electrokinetic cell, onboard charger.For gas station, he has public charging station.The quality discrepancy of electric automobile depends on this four big parts, and it is worth height and also depends on the quality of these four big parts.The purposes of electric automobile is also directly related at the selection and deployment of four big parts.
Currently, the R&D direction of driverless electric automobile manufacturer essentially consists in the realization of some automatic functions when electric automobile normally travels, but owing to development time is limited, these automatic functions itself are perfect not, the situation of off-track is such as still there will be in the process of moving based on the driverless electric automobile of guide tracks, cannot in the face of complicated road environment, and structure remains a need for improving.
Additionally, concern is just more lacked for some scenes specifically applied, such as, when driverless electric automobile electric power deficiency needs to charge, prior art provides some basic navigation Service only with satellite navigation, including position and the relevant routes of each charging station neighbouring, but most suitable charging station cannot be selected to be charged for electric automobile, more cannot automatically select nearest charging pile and realize the automatic charging of electric automobile.
In order to overcome above-mentioned deficiency, the present invention has built a kind of automatic charging type driverless electric automobile, first, the driving control structure of the driverless electric automobile based on guide tracks is optimized, improve control accuracy to tackle the road environment of various complexity, secondly, the basis of satellite navigation adds the function that charging station comfort level compares, select can provide the target charging station of charging service for it the soonest for driverless electric automobile, finally, can based on the image recognition technology charging pile position that to be accurately positioned in charging station nearest, and adopt mechanical control method to realize the automatic charging to electric automobile.
Fig. 1 is the block diagram of the automatic charging type driverless electric automobile illustrated according to an embodiment of the present invention, described electric automobile includes electric power detection equipment, automatic charging equipment, GPS location equipment and MSP430 single-chip microcomputer, electric power detection equipment is for detecting the dump energy of electric automobile, GPS positions equipment for receiving the current GPS location of electric automobile, MSP430 single-chip microcomputer positions equipment with electric power detection equipment, automatic charging equipment and GPS and is connected respectively, and automatic charging equipment for realizing the automatic charging to electric automobile under the control of MSP430 single-chip microcomputer.
Then, continue the concrete structure of the automatic charging type driverless electric automobile of the present invention is further detailed.
Described electric automobile includes: electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator；Travel controller, it is arranged on electric automobile, it is connected with the direction controller of electric automobile and speed control, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller.
Described electric automobile includes: GPS positions equipment, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile.
Described electric automobile includes: image acquisition identification equipment, for shooting to obtain forward image to electric automobile front scene, and forward image is carried out image recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or be absent from charging pile signal；Ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile.
Described electric automobile includes: ZIGBEE communication equipment, is arranged on electric automobile, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile.
Described electric automobile includes: automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, for driving mechanical hand to go to the charging socket of charging pile based on relative distance, mechanical hand for inserting charging head in the charging socket of charging pile after arriving at the charging socket of charging pile.
Described electric automobile includes: MSP430 single-chip microcomputer, position equipment, image acquisition identification equipment, ultrasonic detecting equipment, ZIGBEE communication equipment and automatic charging equipment be connected respectively with electric power detection equipment, traveling controller, GPS, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern.
Wherein, MSP430 single-chip microcomputer is in self-navigation pattern, start GPS and position equipment and image acquisition identification equipment, receive current GPS location, GPS location based on charging pile nearest in current GPS location and the electronic chart that prestores determines position control signal, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from image acquisition identification equipment there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, MSP430 single-chip microcomputer exits self-navigation pattern.
Described electric automobile includes: light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated.
Described electric automobile includes: photoelectric sensor, it is arranged on the chassis of electric automobile, it is made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different；Signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond.
Described electric automobile includes: operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage；8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence.
Described electric automobile includes: steering controller, it is arranged in the front end instrumental panel of electric automobile, it is connected with MSP430 single-chip microcomputer, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile, the tooth sector corner of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks；Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with steering controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile.
Described electric automobile includes: turn to drive motor, it is arranged on above the driving wheel of electric automobile, it is connected respectively with the driving wheel of steer motor driver and electric automobile, for based on drive and control of electric machine signal control drive wheel steering angle, with by electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks.
Wherein, MSP430 single-chip microcomputer is also connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile.
Wherein, MSP430 single-chip microcomputer presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first.
Alternatively, in described electric automobile: MSP430 single-chip microcomputer is arranged in the front end instrumental panel of electric automobile；Described electric automobile also includes: rack and pinion steering gear, for drive motor being turned to be connected with the driving wheel of electric automobile；Rack and pinion steering gear is arranged on above the driving wheel of electric automobile；And GPS can be positioned equipment, image acquisition identification equipment, ZIGBEE communication equipment are integrated on one piece of surface-mounted integrated circuit.
It addition, GPS is the abbreviation of English GlobalPositioningSystem (global positioning system).GPS originates in a project of US military in 1958, within 1964, comes into operation.20 century 70s, land, sea, and air of U.S. joint research and developments Global Positioning System of new generation.
GPS main purpose is to provide real-time, round-the-clock and global navigation Service for big field, land, sea and air three, and for some military purposes such as information acquisition, Nuclear detonation monitoring and emergency communications, research experiment through more than 20 years, cost 30,000,000,000 dollars, by 1994, the Global coverage rate 24 gps satellites up to 98% are own to be laid.
Adopt the automatic charging type driverless electric automobile of the present invention, for the technical problem that prior art driverless electric automobile intelligent control degree is relatively low, navigate from the unmanned driving aspect of electric automobile itself and charging station and automatic charging aspect carries out intellectualized reconstruction, thus improving the traveling control accuracy of electric automobile, can automatically going to neighbouring charging pile to carry out automatic charging, whole process need not any manual operation simultaneously.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.
Claims (6)
1. an automatic charging type driverless electric automobile, described electric automobile includes electric power detection equipment, automatic charging equipment, GPS location equipment and MSP430 single-chip microcomputer, electric power detection equipment is for detecting the dump energy of electric automobile, GPS positions equipment for receiving the current GPS location of electric automobile, MSP430 single-chip microcomputer positions equipment with electric power detection equipment, automatic charging equipment and GPS and is connected respectively, and automatic charging equipment for realizing the automatic charging to electric automobile under the control of MSP430 single-chip microcomputer.
2. automatic charging type driverless electric automobile as claimed in claim 1, it is characterised in that described electric automobile includes:
Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator；
Travel controller, it is arranged on electric automobile, it is connected with the direction controller of electric automobile and speed control, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller；
GPS positions equipment, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile；
Image acquisition identification equipment, for electric automobile front scene shoots to obtain forward image, and carries out image recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or be absent from charging pile signal forward image；
Ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile；
ZIGBEE communication equipment, is arranged on electric automobile, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile；
Automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, is used for going to based on relative distance driving mechanical hand in the charging socket that the charging socket of charging pile, mechanical hand are used for being inserted by charging head charging pile after arriving at the charging socket of charging pile；
MSP430 single-chip microcomputer, position equipment, image acquisition identification equipment, ultrasonic detecting equipment, ZIGBEE communication equipment and automatic charging equipment be connected respectively with electric power detection equipment, traveling controller, GPS, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern；MSP430 single-chip microcomputer is in self-navigation pattern, start GPS and position equipment and image acquisition identification equipment, receive current GPS location, GPS location based on charging pile nearest in current GPS location and the electronic chart that prestores determines position control signal, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from image acquisition identification equipment there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, MSP430 single-chip microcomputer exits self-navigation pattern；
Light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated；
Photoelectric sensor, it is arranged on the chassis of electric automobile, being made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different；
Signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond；
Operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage；
8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence；
Steering controller, it is arranged in the front end instrumental panel of electric automobile, it is connected with MSP430 single-chip microcomputer, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile, the tooth sector corner of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks；
Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with steering controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile；
Turn to drive motor, it is arranged on above the driving wheel of electric automobile, it is connected respectively with the driving wheel of steer motor driver and electric automobile, for based on drive and control of electric machine signal control drive wheel steering angle, with by electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks；
Wherein, MSP430 single-chip microcomputer is also connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile；
Wherein, MSP430 single-chip microcomputer presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first.
3. automatic charging type driverless electric automobile as claimed in claim 2, it is characterised in that:
MSP430 single-chip microcomputer is arranged in the front end instrumental panel of electric automobile.
4. automatic charging type driverless electric automobile as claimed in claim 2, it is characterised in that described electric automobile also includes:
Rack and pinion steering gear, for turning to drive motor to be connected with the driving wheel of electric automobile.
5. automatic charging type driverless electric automobile as claimed in claim 4, it is characterised in that:
Rack and pinion steering gear is arranged on above the driving wheel of electric automobile.
6. automatic charging type driverless electric automobile as claimed in claim 2, it is characterised in that:
GPS location equipment, image acquisition identification equipment, ZIGBEE communication equipment are integrated on one piece of surface-mounted integrated circuit.
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| CN201610125069.6A CN105751912A (en) | 2016-03-06 | 2016-03-06 | Automatic charging type unmanned electric automobile |
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