CN102508489B - Vehicle guide system of electric vehicle charging station and guide method - Google Patents
Vehicle guide system of electric vehicle charging station and guide method Download PDFInfo
- Publication number
- CN102508489B CN102508489B CN 201110289708 CN201110289708A CN102508489B CN 102508489 B CN102508489 B CN 102508489B CN 201110289708 CN201110289708 CN 201110289708 CN 201110289708 A CN201110289708 A CN 201110289708A CN 102508489 B CN102508489 B CN 102508489B
- Authority
- CN
- China
- Prior art keywords
- module
- vehicle
- information
- center
- wireless communication
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000012545 processing Methods 0.000 claims abstract description 68
- 238000004891 communication Methods 0.000 claims abstract description 52
- 238000013439 planning Methods 0.000 claims abstract description 23
- 238000012544 monitoring process Methods 0.000 claims description 26
- 238000013480 data collection Methods 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 238000004148 unit process Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 5
- 208000018989 iridogoniodysgenesis Diseases 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- 238000012806 monitoring device Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention relates to a guide method for a vehicle guide system of an electric vehicle charging and replacing station. The guide system comprises a monitor center, one or more vehicle terminals, and one or more ground marks, wherein the monitor center comprises a monitor server; the vehicle terminal comprises a central control processing unit, which is respectively connected with an RFID (radio frequency identification) module, an image acquisition module, a video encoding module, a vehicle data acquisition module, a vehicle control module, a display module, a GPS (global positioning system) module, a wireless communication module (II), a power supply module, and a storage module; and the ground mark comprises an image mark line and an RFID mark. The guide method comprises the following steps: (1) vehicle information reading and processing; (2) path planning, and map information returning; (3) visual navigation; (4) IRID location charging and battery replacing. By adopting image mark navigation and RFID mark location, the method can guide electric vehicle to park at charging position or replacing position rapidly and accurately, thereby providing guarantee for stable operation of the electric vehicle charging and replacing station.
Description
Technical field
The present invention relates to a kind of automobile vehicle guiding system and guidance method, be specifically related to a kind of guidance method of the electric vehicle charging electrical changing station automobile vehicle guiding system based on RFID technology and visual identity technology.
Background technology
As a kind of emerging energy delivery vehicle that can replace the traditional power automobile, the development of electric automobile more and more is subject to the attention of Government and enterprise, the human and material resources and the financial resources that in this field, drop into are also increasing, lead automobile industry to move towards new developing direction.
In the practical application of electric automobile, mainly take to change electricity for convenience of using for main mode, electric automobile enters into to fill after electrical changing station to need to drive to voluntarily to change on current potential and carries out more changing jobs of electrokinetic cell by mechanical arm, how to realize vehicle self-navigation in filling electrical changing station, how to make vehicle rest in exactly to change on electric position to have become problem anxious to be resolved.In the art, the patent of invention that application number is 201010528873.1 discloses a kind of charging electric vehicle and has been scheduled to and navigational system, it has realized that vehicle is from road to the GPS navigation of filling electrical changing station, but lack the guiding and the vehicle that fill travel route in electrical changing station and filling the guiding of changing accurate parking spot on current potential, can't guarantee driving safety, efficiency and the order of vehicle in station, can't command vehicle to be accurate to reach to fill and change electric position.The patent of invention that application number is 200710156863.8 has been announced a kind of automatic guidance system and method thereof based on RFID tag and vision, it adopts industrial control computer to process and path planning for image, its device structure complexity, equipment volume is excessive, be unsuitable for being applied in the guidance system of electric vehicle charging electrical changing station, can't meet the requirement of the industry to guidance system.In actual applications, electrical changing station control center also needs the interior electric vehicle of standing is monitored and unified management in real time, only depend on the staff to supervise or camera head monitor can't be accomplished in time, comprehensively management, and need to expend a large amount of manpowers and material resources, not only increased operation cost, also can reduce work efficiency, not meet the development plan of whole industry.
At present, mainly there is following problem in the guidance method of existing electric automobile guidance system:
1) adopt the mode of electronic direction board not only to increase production cost, also can't, individually for travelling of each vehicle provides indication, can't make vehicle correctly drive to filling of appointment and change current potential.
2) can't realize the accurate parking problem of Rechargeable vehicle on parking stall, require vehicle while generally changing electricity and the angle of changing between the electromechanical hand is no more than 15 °, the stand of vehicle is had to strict demand.
3) real-time status that the camera head monitor method of using in standing can't at length be added up each vehicle, the real-time locating and monitoring problem of the interior vehicle of can't realizing standing.
Summary of the invention
Therefore, the invention is intended to solve the problems of the technologies described above, and a kind of guidance method of realizing the electric vehicle charging electrical changing station automobile vehicle guiding system that the electric automobile self-navigation is travelled based on RFID technology and visual identity technology is provided.Native system adopts the navigate mode of image identification and the locator meams of RFID sign, improved the efficiency of positioning precision and vehicle guidance, realized electric automobile in charge position or changed the quick and precisely stop on current potential, for the stable operation of electric vehicle charging electrical changing station provides guarantee.
For achieving the above object, the present invention adopts following technical proposals:
A kind of guidance method of electric vehicle charging electrical changing station automobile vehicle guiding system, described guidance system comprises Surveillance center, one or more car-mounted terminal and one or more land marking; Described Surveillance center comprises monitoring server, and described monitoring server is connected with wireless communication module I, path planning module, electric map module and car plate reading module respectively; Described car-mounted terminal comprises the center-control processing unit, and described center-control processing unit is connected with RFID module, image capture module, video encoding module, vehicle data collection module, vehicle control module, display module, GPS module, wireless communication module II, power module, memory module respectively; Described land marking comprises image identification line and RFID sign; Described Surveillance center and car-mounted terminal communicate by wireless communication module I and wireless communication module II;
It is characterized in that, the guidance method of described guidance system comprises the following steps:
1) information of vehicles reads, processes;
After electric automobile enters and fills electrical changing station, the car plate reading module reads the license board information of the vehicle that enters the station, and is sent to monitoring server, and monitoring server is processed license board information, and license board information is stored in order to file statistics;
2) path planning, cartographic information passback;
Undertaken after path planning that by path planning module the routing information after planning and the correlation map information exchange in electric map module are crossed to wireless communication module I by monitoring server and be sent to the wireless communication module II in car-mounted terminal, by wireless communication module II, reception information is sent to the center-control processing unit;
3) vision guided navigation;
Gather after image guided identification information after being sent to the video encoding module compressed encoding and be uploaded to the center-control processing unit by image capture module, control the operation of vehicle after being processed by the center-control processing unit by vehicle control module, export display module to image format and shown simultaneously; The GPS locating information of GPS module collection vehicle, vehicle data collection module collection vehicle battery information, keep away after barrier information and be sent to the center-control processing unit processes and send to Surveillance center by wireless communication module II and shown by display module simultaneously, provide electric power by power module for car-mounted terminal, memory module is preserved image data and result and related command;
4) electricity is charged, changed in the RFID location;
After arriving the RFID point of impact point, the car-mounted terminal prompting is charged or changes electric impact point position and arrive, and electric automobile starts charging or changes electricity.
The image-pickup method of described image capture module is based on the visual identity technology, adopt the Hough converter technique to extract the guide line image information collected, according to carry binary map data behind limit simulate thereon one relatively preferably straight line as the tag line of vehicle operating, and control and correct the traffic direction of vehicle according to the tag line slope information after extracting by the center-control processing unit.
Below at first in conjunction with the principle of work of concrete structure of the present invention and annexation explanation guidance system:
A kind of electric vehicle charging electrical changing station automobile vehicle guiding system, it comprises Surveillance center, one or more car-mounted terminal and one or more land marking; Described Surveillance center comprises monitoring server, and described monitoring server is connected with wireless communication module I, path planning module, electric map module and car plate reading module respectively; Described car-mounted terminal comprises the center-control processing unit, and described center-control processing unit is connected with RFID module, image capture module, video encoding module, vehicle data collection module, vehicle control module, display module, GPS module, wireless communication module II, power module, memory module respectively; Described land marking comprises image identification line and RFID sign.Described Surveillance center and car-mounted terminal communicate by wireless communication module I and wireless communication module II, and wireless communication module I and wireless communication module II are GPRS or 3G mobile communication module.
In above-mentioned car-mounted terminal, the RFID module provides the RFID navigation information for system, image capture module provides image-guidance information, video encoding module provides image processing function, the vehicle data collection module provides the vehicle operating parameters data, vehicle control module provides vehicle to control function, display module provides Presentation Function, the GPS module provides the GPS locating information, wireless communication module II provide wireless communication function, power module provides power supply, and memory module provides data storage function, and the center-control processing unit is connected between each functional unit.
In above-mentioned Surveillance center, wireless communication module I provide wireless communication function, path planning module provides driving path planning, and electric map module provides electronic map information and car plate reading module to read vehicle license plate information, and monitoring server is connected between each functional unit.
The center-control processing unit of above-mentioned car-mounted terminal, adopt ARM9 as flush bonding processor.It is connected with RFID module, GPS module respectively by the RS232 interface.Above-mentioned image capture module is connected with video encoding module, and the image of collection, after video compression coding, exports the center-control processing unit to and carries out the image processing.Above-mentioned vehicle data collection module adopts the CAN bus to be connected with the center-control processing unit, and the vehicle data collection module also is connected with the battery monitoring device of vehicle, automatically controlled supervising device by the CAN bus.Above-mentioned vehicle control module adopts the CAN bus to be connected with the center-control processing unit, and vehicle control module also is connected with the master control supervising device of vehicle by the CAN bus.
Above-mentioned display module comprises at least one in LCD display, touch-screen, pilot lamp and comprises in case of necessity button, for showing the output data of center-control processing unit, and the operational order input function is provided, and this display module communicates and is connected with the center-control processing unit by IO interface, VGA interface or RS232 mode.
In above-mentioned electric vehicle charging electrical changing station automobile vehicle guiding system, the RFID module gathers the RFID information on roadmarking, and is sent to the center-control processing unit and controls advancing/turn to/falling back/stop of vehicle by vehicle control module after treatment.
In above-mentioned electric vehicle charging electrical changing station automobile vehicle guiding system, image capture module adopts the CCD Digital Video, gather the image mark information on roadmarking, and be sent to after the video encoding module coding and be uploaded to the center-control processing unit after treatment according to the angle of advancing of the differential seat angle data adjustment electric automobile of vehicle and guide line.
In above-mentioned electric vehicle charging electrical changing station automobile vehicle guiding system, the vehicle data collection module connects battery monitoring device and automatically controlled supervising device by the CAN bus, and the operational factor of collection rechargeable battery and the overall operation data of vehicle also are sent to the center-control processing unit.
In above-mentioned electric vehicle charging electrical changing station automobile vehicle guiding system, vehicle control module connects the master control supervising device by the CAN bus, be sent to the center-control processing unit after reading vehicle operating parameters, and control the operation of vehicle according to the instruction of center-control processing unit.
In above-mentioned electric vehicle charging electrical changing station automobile vehicle guiding system, display module is used for the image information, information, the input operation order that the center-control processing unit sends and the path indication information that received Surveillance center sends by wireless communication module II that show that image capture module collects.
In above-mentioned electric vehicle charging electrical changing station automobile vehicle guiding system, the GPS module is for receiving the GPS locating information and being sent to the center-control processing unit.
Above-mentioned image identification line is to be laid on two black and whites on road, parallel continuously guided band in station.
Above-mentioned RFID is designated and is laid on the wireless radio frequency identification mark on road in station, coordinates the image identification line, in the corner of road and the parking spot place emphasis of charge position, lays.
In above-mentioned electric vehicle charging electrical changing station automobile vehicle guiding system, wireless communication module II is for sending by the Information Monitoring after the center-control processing unit processes, driving information and vehicle operating parameters to Surveillance center, and command information, cartographic information, the path indication information of the transmission of reception Surveillance center.
The image-pickup method of the image capture module that car-mounted terminal adopts is based on the visual identity technology, adopt the Hough converter technique to extract the guide line image information collected, according to carry binary map data behind limit simulate thereon one relatively preferably straight line as the tag line of vehicle operating, control and correct the traffic direction of vehicle according to the tag line slope information after extracting by the center-control processing unit, this algorithm is subject to the interference of noise spot less, recognition speed is fast, and the cost of the method is lower, the installation method flexible and convenient, be suitable for being widely used on the road of electrical changing station, to guide electric automobile correctly drive to the charge position of appointment or change current potential.Wherein the recognizer of Hough conversion comes from " the Distinctive Image Features from Scale-Invariant Keypoints " that David G.Lowe delivered on " International Journal of Computer Vision " in 2004.
The RFID module that car-mounted terminal adopts is based on the RFID technology, read the RFID sign in tag line by the RFID reader, wherein comprise charging item information, curve sign information and start-stop acceleration and deceleration flag information, be sent to the operation of controlling vehicle after the center-control processing unit processes according to identification information.The method reliability is high, can be operated in the external environment condition between temperature-40 ℃～85 ℃, and waterproof, protecting against shock, high anti-interference, easy for installation simple, can realize that high-speed data reads, and check point is not subject to destruction yet, be one of innovative point of the present invention.
According to above-mentioned guidance system, the guidance method of the guidance system of electric vehicle charging electrical changing station vehicle comprises the following steps:
(1), information of vehicles reads, processes.
After electric automobile enters and fills electrical changing station, the car plate reading module reads the license board information of the vehicle that enters the station, and is sent to monitoring server, and monitoring server is processed license board information, and license board information is stored in order to file statistics.
(2), path planning, cartographic information passback.
Undertaken after path planning that by path planning module the routing information after planning and the correlation map information exchange in electric map module are crossed to wireless communication module I by monitoring server and be sent to the wireless communication module II in car-mounted terminal, by wireless communication module II, reception information is sent to the center-control processing unit.
(3), vision guided navigation
Gather after image guided identification information after being sent to the video encoding module compressed encoding and be uploaded to the center-control processing unit by image capture module, control the operation of vehicle after being processed by the center-control processing unit by vehicle control module, export display module to image format and shown simultaneously; The GPS locating information of GPS module collection vehicle, vehicle data collection module collection vehicle battery information, keep away after barrier information and be sent to the center-control processing unit processes and send to Surveillance center by wireless communication module II and shown by display module simultaneously, provide electric power by power module for car-mounted terminal, memory module is preserved image data and result and related command.
(4), electricity is charged, changed in the RFID location
After arriving the RFID point of impact point, the car-mounted terminal prompting is charged or changes electric impact point position and arrive, and electric automobile starts charging or changes electricity.
The invention has the beneficial effects as follows:
1, adopt the navigate mode of image identification, guide path setting and change simple and conveniently, cost is low, and easy care has improved the anti-interference of system to image information, has advantages of that signal intensity is high, anti-interference good, conforming property is strong;
2, adopt the locator meams of RFID sign, realized electric automobile in charge position or changed accurate location and the stop on current potential.
3, the mode that adopts RFID navigation and image recognition navigation to combine, improved the efficiency of vehicle guidance, realized electric automobile in charge position or changed the quick and precisely stop on current potential, for the stable operation of electric vehicle charging electrical changing station provides guarantee.
The accompanying drawing explanation
The structured flowchart that Fig. 1 is electric vehicle charging electrical changing station automobile vehicle guiding system of the present invention;
The schematic flow sheet that Fig. 2 is electric vehicle charging electrical changing station automobile vehicle guiding system of the present invention;
The data flow schematic diagram that Fig. 3 is electric vehicle charging electrical changing station automobile vehicle guiding system of the present invention.
In Fig. 1: 1. Surveillance center: 101. monitoring servers, 102. wireless communication module I, 103. path planning module, 104. electric map module, 105. car plate reading modules; 2. car-mounted terminal: 201. center-control processing units, 202. wireless communication module II, 203. the vehicle data collection module, 204. display modules, 205. vehicle control module, 206. image capture module, 207.RFID module, 208. power modules, 209. memory modules, 210.GPS module, 211. video encoding module; 3. land marking: 301. image identification lines, 302.RFID sign.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
In Fig. 1, a kind of electric vehicle charging electrical changing station automobile vehicle guiding system, it comprises Surveillance center 1, one or more car-mounted terminal 2 and one or more land marking 3; Described Surveillance center 1 comprises monitoring server 101, and described monitoring server 101 is connected with wireless communication module I 102, path planning module 103, electric map module 104 and car plate reading module 105 respectively; Described car-mounted terminal 2 comprises center-control processing unit 201, and described center-control processing unit is connected with RFID module 207, image capture module 206, video encoding module 211, vehicle data collection module 203, vehicle control module 205, display module 204, GPS module 210, wireless communication module II 202, power module 208, memory module 209 respectively; Described land marking 3 comprises image identification line 301 and RFID sign 302.Described Surveillance center 1 and car-mounted terminal 2 communicate by wireless communication module I102 and wireless communication module II 202, and wireless communication module I 102 and wireless communication module II 202 are GPRS or 3G mobile communication module.
In above-mentioned electric vehicle charging electrical changing station automobile vehicle guiding system, RFID module 207 adopts the RS232 interface to be connected with center-control processing unit 201, image acquisition 206 is connected with video encoding module 211, video encoding module 2211 is connected by the RJ45 interface with center-control processing unit 201, vehicle data collection module 203 adopts the CAN bus to be connected with center-control processing unit 201, vehicle control module 205 adopts the CAN bus to be connected with center-control processing unit 201, display module 204 adopts the IO bus to be connected with center-control processing unit 201, GPS module 210 adopts the RS232 interface to be connected with center-control processing unit 201, wireless communication module II202 adopts serial ports or USB interface to be connected with center-control processing unit 201.
Vehicle data collection module 203 connects battery monitoring device by the CAN bus, gathers the service data of rechargeable battery and is sent to center-control processing unit 201.
Wireless communication module II 202 is for send Information Monitoring, driving information and the vehicle operating parameters after being processed by center-control processing unit 201 to Surveillance center, and reception is by dependent instruction information, the path indication information of wireless communication module I 102 transmissions of Surveillance center.
Contrast Fig. 2,3 schematic diagram, the workflow of electric vehicle charging electrical changing station automobile vehicle guiding system is as follows:
Be sent to monitoring server 101 read the license board information of the vehicle that enters the station by car plate reading module 105 after, 101 pairs of license board information of monitoring server are processed, and license board information are stored in order to file statistics;
Undertaken after path planning that by path planning module 103 the correlation map information exchange in routing information and electric map module 104 is crossed to wireless communication module I 102 by monitoring server 101 and be sent to the wireless communication module II 202 in car-mounted terminal 2, by wireless communication module II 202, reception information is sent to center-control processing unit 201;
Gather RFID positioning mark information by RFID module 207, be uploaded to center-control processing unit 201 after after the image guided identification information of image capture module 206 collection, being sent to video encoding module 211 codings, control the operation of vehicle after being processed by center-control processing unit 201 by vehicle control module 205, export display module 204 to image format is shown simultaneously, the GPS locating information of GPS module 210 collection vehicle, being sent to center-control processing unit 201 after vehicle data collection module 203 collection vehicle battery informations processes and sends to Surveillance center by wireless communication module II 209 and shown by display module 204 simultaneously, provide electric power by power module 208 for car-mounted terminal, memory module 209 is preserved image data and result and related command.
After arriving the RFID point of impact point, the car-mounted terminal prompting arrives charging or changes electric impact point position, and electric automobile starts charging or changes electricity.
Although above the present invention is had been described in detail, the present invention is not limited to this, and those skilled in the art of the present technique can carry out the modification on various forms according to principle of work of the present invention.Therefore, all modifications of doing according to the principle of the invention, all should be understood to fall into protection scope of the present invention.
Claims (1)
1. the guidance method of an electric vehicle charging electrical changing station automobile vehicle guiding system, described guidance system comprises Surveillance center, one or more car-mounted terminal and one or more land marking; Described Surveillance center comprises monitoring server, and described monitoring server is connected with wireless communication module I, path planning module, electric map module and car plate reading module respectively; Described car-mounted terminal comprises the center-control processing unit, described center-control processing unit is connected with RFID module, image capture module, video encoding module, vehicle data collection module, vehicle control module, display module, GPS module, wireless communication module II, power module, memory module respectively, described image capture module is ccd video camera, is arranged on the positive front of vehicle; Described land marking comprises image identification line and RFID sign, described image identification line is to be laid on two black and whites on road, parallel continuously guided band in station, described RFID is designated and is laid on the wireless radio frequency identification mark on road in station, coordinate the image identification line, lay in the corner of road and the parking spot place emphasis of charge position; Described Surveillance center and car-mounted terminal communicate by wireless communication module I and wireless communication module II, described wireless communication module I provides wireless communication function, described wireless communication module II is for sending by the Information Monitoring after the center-control processing unit processes, driving information and vehicle operating parameters to Surveillance center, and command information, cartographic information, the path indication information of the transmission of reception Surveillance center;
It is characterized in that, the guidance method of described guidance system comprises the following steps:
1) information of vehicles reads, processes;
After electric automobile enters and fills electrical changing station, the car plate reading module reads the license board information of the vehicle that enters the station, and is sent to monitoring server, and monitoring server is processed license board information, and license board information is stored to file statistics;
2) path planning, cartographic information passback;
Undertaken after path planning that by path planning module the routing information after planning and the correlation map information exchange in electric map module are crossed to wireless communication module I by monitoring server and be sent to the wireless communication module II in car-mounted terminal, by wireless communication module II, reception information is sent to the center-control processing unit;
3) vision guided navigation;
Gather RFID positioning mark information by the RFID module, be sent to video encoding module after reading ground image identification line by ccd video camera, the tag line image is encoded after processing and is sent to the center-control processing unit, adopt edge extracting method to extract the tag line image, adopt the Hough converter technique to extract tag line image point set, according to carry binary map data behind limit simulate thereon one relatively preferably straight line as the tag line of vehicle operating, control and correct the traffic direction of vehicle according to the tag line slope information after extracting by the center-control processing unit, export display module to image format is shown simultaneously, the GPS locating information of GPS module collection vehicle, vehicle data collection module collection vehicle battery information, keep away after barrier information and be sent to the center-control processing unit processes and send to Surveillance center by wireless communication module II and shown by display module simultaneously, provide electric power by power module for car-mounted terminal, memory module is preserved image data and result and related command,
4) electricity is charged, changed in the RFID location;
After arriving the RFID point of impact point, the car-mounted terminal prompting arrives charging or changes electric impact point position, and electric automobile starts charging or changes electricity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110289708 CN102508489B (en) | 2011-09-28 | 2011-09-28 | Vehicle guide system of electric vehicle charging station and guide method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110289708 CN102508489B (en) | 2011-09-28 | 2011-09-28 | Vehicle guide system of electric vehicle charging station and guide method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102508489A CN102508489A (en) | 2012-06-20 |
| CN102508489B true CN102508489B (en) | 2013-12-18 |
Family
ID=46220590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110289708 Expired - Fee Related CN102508489B (en) | 2011-09-28 | 2011-09-28 | Vehicle guide system of electric vehicle charging station and guide method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102508489B (en) |
Families Citing this family (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102916465B (en) * | 2012-12-10 | 2016-08-10 | 安徽旗翔科技发展有限公司 | Multifunction charging device is monitored when embedded color is reliable |
| CN103246254B (en) * | 2013-04-02 | 2015-11-18 | 国家电网公司 | Car-mounted terminal, electric automobile fill and change electric guidance system and method |
| GB2513912B (en) * | 2013-05-10 | 2018-01-24 | Dyson Technology Ltd | Apparatus for guiding an autonomous vehicle towards a docking station |
| CN103325267A (en) * | 2013-06-07 | 2013-09-25 | 安徽工程大学 | Vehicle navigation system based on RFID technology |
| JP2017531259A (en) | 2014-10-31 | 2017-10-19 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Position-based control method, apparatus, movable device, and robot |
| CN104408968B (en) * | 2014-11-27 | 2017-01-11 | 重庆智韬信息技术中心 | System for realizing parking navigation through RFID vehicular terminal |
| CN104600787B (en) * | 2014-12-30 | 2018-05-11 | 深圳市科陆电子科技股份有限公司 | Intelligent charging system |
| CN104950895B (en) * | 2015-07-08 | 2018-01-12 | 上海德马物流技术有限公司 | Warehouse logisticses RFID and the navigation control method of visual identity navigation vehicle |
| CN105825589A (en) * | 2016-05-20 | 2016-08-03 | 深圳大学 | Electric vehicle wireless charging alignment system and method based on vehicle license plate recognition |
| CN106323289A (en) * | 2016-08-23 | 2017-01-11 | 北京小米移动软件有限公司 | Method of and devices for balance car control |
| CN106502246A (en) * | 2016-10-11 | 2017-03-15 | 浙江大学 | A kind of intelligent vehicle automated induction systems based on grader |
| CN106647753A (en) * | 2016-12-19 | 2017-05-10 | 钦州市晶通科技有限公司 | Electronic device based on ultrasonic automatic positioning |
| CN106774335B (en) * | 2017-01-03 | 2020-01-21 | 南京航空航天大学 | Multi-view vision and inertial navigation based guiding device, landmark layout and guiding method |
| CN106882061B (en) * | 2017-01-09 | 2020-02-07 | 上海蔚来汽车有限公司 | Method for identifying electric vehicle by charging and battery replacing facility |
| CN109933054A (en) * | 2017-12-15 | 2019-06-25 | 蔚来汽车有限公司 | Moor the system and method for changing electric car position, the electric vehicle in electrical changing station automatically for vehicle |
| CN109102714B (en) * | 2017-12-15 | 2021-03-23 | 上海蔚来汽车有限公司 | Method and device for automatic parking, intelligent automobile and computer storage medium |
| CN108182760A (en) * | 2017-12-27 | 2018-06-19 | 上海宝通汎球电子有限公司 | It is a kind of that system and method is managed based on video identification and the intelligent charging spot of control |
| CN108255177A (en) * | 2018-01-17 | 2018-07-06 | 航天科工智能机器人有限责任公司 | Robot autonomous charging system |
| CN108345303A (en) * | 2018-01-24 | 2018-07-31 | 五邑大学 | A kind of novel electric vehicle charging service system based on guiding band and robot |
| CN110843597B (en) * | 2018-07-27 | 2022-03-22 | 奥动新能源汽车科技有限公司 | Visual analysis system and method applied to vehicle battery replacement and battery replacement control method |
| CN111056035A (en) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | Method and device for setting ground mark |
| CN109993923A (en) * | 2019-03-05 | 2019-07-09 | 宁波吉利汽车研究开发有限公司 | A kind of automobile automatic charging, parking system and method based on block chain |
| CN109993922A (en) * | 2019-03-05 | 2019-07-09 | 宁波吉利汽车研究开发有限公司 | A kind of wireless charging device based on block chain |
| DE102022103472A1 (en) | 2022-02-15 | 2023-08-17 | Audi Aktiengesellschaft | Method of performing an electrical charging process |
| CN114386721B (en) * | 2022-03-23 | 2023-06-20 | 蔚来汽车科技(安徽)有限公司 | Path planning method and system for power exchange station, medium and power exchange station |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101470807A (en) * | 2007-12-26 | 2009-07-01 | 河海大学常州校区 | Accurate detection method for highroad lane marker line |
| CN101561680B (en) * | 2009-05-11 | 2011-06-15 | 南京航空航天大学 | Embedded guidance device of autonomous vehicle and intelligent composite guidance method thereof |
| CN201887496U (en) * | 2010-10-27 | 2011-06-29 | 国家电网公司 | Charging system |
| CN201965459U (en) * | 2010-10-27 | 2011-09-07 | 国家电网公司 | Internet of thing-based system for monitoring charging and exchanging of battery |
| CN102009625B (en) * | 2010-11-02 | 2012-04-11 | 电子科技大学 | Charging reservation and navigation system for electric vehicle |
| CN102064578B (en) * | 2010-12-20 | 2014-03-12 | 中国电力科学研究院 | Replacing station for electric vehicles |
-
2011
- 2011-09-28 CN CN 201110289708 patent/CN102508489B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102508489A (en) | 2012-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102508489B (en) | Vehicle guide system of electric vehicle charging station and guide method | |
| CN102385369A (en) | Vehicle guidance system of electric vehicle charging and battery replacement station | |
| CN102761158B (en) | Charging management system and method for tunnel cable inspection robot | |
| CN205264074U (en) | Backward seek car system based on unmanned aerial vehicle | |
| CN102508490A (en) | Vehicle guiding terminal device for electric automobile charging and switching station | |
| CN202093687U (en) | Parking lot intelligent control system based on Internet of things | |
| CN102637365A (en) | System and method for realizing urban traffic intelligence by utilizing i-RFID (interactive-radio frequency identification) | |
| CN102682617A (en) | System for interacting road traffic identification, information and vehicle | |
| CN207799717U (en) | IC card with high-precision positioning function and the monitoring system based on IC card | |
| CN102173300A (en) | Intelligent management system of wireless anti-slip device | |
| CN109976327A (en) | A kind of patrol robot | |
| CN108986241A (en) | A kind of highway driving Path Recognition monitoring system and method | |
| CN108171295A (en) | IC card and its application process, the monitoring system based on IC card | |
| CN106353717A (en) | Mining scraper intelligent positioning terminal | |
| CN214475072U (en) | Inspection system for underground comprehensive pipe gallery | |
| CN202615617U (en) | System for interacting road traffic signs and information with vehicle | |
| CN203444645U (en) | Vehicle driving route identification device applied in highway | |
| CN202167774U (en) | Transformer substation patrolling and examining robot system based on smart antenna technology | |
| CN202887469U (en) | Vehicle positioning system based on monitoring gates | |
| CN105676847A (en) | Electric energy meter automatic boxing system | |
| CN107103653A (en) | A kind of vehicle intelligent terminal system | |
| CN107492254A (en) | A kind of separated parking casual inspection device based on unmanned plane | |
| CN105160932A (en) | Cloud storage and NFC-based parking area guidance system | |
| KR102421278B1 (en) | Charging Surveillance Apparatus for Battery Driven Transit | |
| CN205129874U (en) | Service robot control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Owner name: STATE GRID CORPORATION OF CHINA Free format text: FORMER OWNER: LINYI POWER SUPPLY COMPANY, SHANDONG POWER GROUP CORP. Effective date: 20130104 Owner name: LINYI POWER SUPPLY COMPANY, SHANDONG POWER GROUP C Effective date: 20130104 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 276001 LINYI, SHANDONG PROVINCE TO: 100761 DONGCHENG, BEIJING |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20130104 Address after: 100761 West Chang'an Avenue, Beijing, No. 86 Applicant after: State Grid Corporation of China Applicant after: Linyi Power Supply Company of Shandong Electric Power Corporation Address before: 276001 Shandong province Lanshan District Linyi city jinqueshan Road No. 130 Applicant before: Linyi Power Supply Company of Shandong Electric Power Corporation |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20140928 |
|
| EXPY | Termination of patent right or utility model |