CN105652882A - Electric vehicle three-dimensional navigation system and electric vehicle three-dimensional navigation method based on quadcopter - Google Patents
Electric vehicle three-dimensional navigation system and electric vehicle three-dimensional navigation method based on quadcopter Download PDFInfo
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- CN105652882A CN105652882A CN201511008791.3A CN201511008791A CN105652882A CN 105652882 A CN105652882 A CN 105652882A CN 201511008791 A CN201511008791 A CN 201511008791A CN 105652882 A CN105652882 A CN 105652882A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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Abstract
The invention relates to an electric vehicle three-dimensional navigation system and an electric vehicle three-dimensional navigation method based on a quadcopter, wherein the electric vehicle three-dimensional navigation system comprises the components of the quadcopter which is used for flying around the electric vehicle for realizing navigation to the electric vehicle; an on-quadcopter control system which is arranged on the quadcopter; an on-vehicle control system which is arranged on the electric vehicle; and a cloud computing server which is used for generating a navigation control strategy according to data information that is transmitted from the on-vehicle control system, data information that is transmitted from the on-quadcopter control system and locally stored map information, and transmitting the navigation control strategy to the on-quadcopter control system. According to the electric vehicle three-dimensional navigation system and the electric vehicle three-dimensional navigation method based on the quadcopter provided by the invention, Internet-of-vehicles technology is utilized, namely information interaction technology for realizing intercommunication between the vehicle and the quadcopter, between the vehicle and the cloud computing server, between the vehicle and a mobile phone terminal is used for settling a problem of high parking difficulty in an existing electric vehicle. A complete navigation parking service system is established and wide application range is realized.
Description
Technical field
The present invention relates to electric vehicle field, particularly relate to the navigation of electric vehicle, specifically refer to a kind of electric vehicle three-dimensional navigation system based on four-axle aircraft and air navigation aid.
Background technology
Improving constantly the fast development with automobile industry along with people's living standard, electric automobile obtains significant progress in recent years, and electric automobile starts to enter into the family of more ordinary people, is increasingly becoming the part that people's daily life is indispensable. Electric automobile serves very important effect in being convenient for people to trip, accelerative course of urbanization. At present, owing to city automobile recoverable amount is increased sharply, stopping becomes every car owner and goes on a journey the realistic problem faced by having to.
Navigation system refers to the automobile-used instrument with GPS GPS function, and utilizes mode that voice, video etc. point out to guide user to drive, it is provided that way forward and best route.
At present, various places all have various large-scale parking lot, including underground parking, parking lot, road surface etc., traffic route in parking lot is more complicated on the one hand, car owner is often unfamiliar with inner part of parking lot distribution situation, stop can not accomplish convenient, come in and go out parking stall nearby, rapidly, cause a lot of puzzlement and inconvenience to car owner. Existing navigation system lacks user's traveling in parking lot is guided, and user is stopped to put to no little inconvenience. And common air navigation aid is only to one voice of car owner or image/video information, third dimension and sense directly perceived not.
Four axle rotor aircrafts, are the one of multi-rotor aerocraft, and it has less costly, self flight stability is good, and controllability is good, can hover, certain load etc. can be born, be suitable for lift-launch photographic head and electric automobile is carried out omnibearing stereo navigation by ultrasonic distance measuring module.
Summary of the invention
It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that a kind of electric vehicle three-dimensional navigation system based on four-axle aircraft and air navigation aid that the navigation with third dimension and sense directly perceived can be provided for driver.
To achieve these goals, the electric vehicle three-dimensional navigation system based on four-axle aircraft of the present invention and air navigation aid have following composition:
Should based on the electric vehicle three-dimensional navigation system of four-axle aircraft, it is mainly characterized by, and described system includes:
Four-axle aircraft, in order to fly, to realize the navigation to described electric vehicle around described electric vehicle;
Aircraft mounted control system, it is arranged on described four-axle aircraft, in order to control described four-axle aircraft and cloud computing server and vehicle control syetem carries out data information exchange, and the flight path of the four-axle aircraft described in the Navigation Control policy control sent according to described cloud computing server;
Vehicle control syetem, in order to be arranged on described electric vehicle, in order to carry out data information exchange with described cloud computing server and described aircraft mounted control system, and shows the Navigation Control strategy that described cloud computing server generates;
Cloud computing server, generate Navigation Control strategy in order to the data message sent according to described vehicle control syetem, data message that described aircraft mounted control system is sent and locally stored cartographic information, and this Navigation Control strategy is sent to described aircraft mounted control system.
Further, described aircraft mounted control system includes:
Locating module, in order to obtain the positional information of described four-axle aircraft;
Measurement module, in order to obtain the data message of the surrounding of described four-axle aircraft;
Airborne microcontroller, in order to control the flight of described four-axle aircraft;
Motor drive module, in order to drive the flight of described four-axle aircraft;
Communication module, in order to carry out data information exchange with described cloud computing server and described vehicle control syetem.
Further, described locating module includes three-axis gyroscope, 3-axis acceleration sensor, magnetic resistance and GPS sensor unit.
Further, described measurement module includes obtaining the photographic head of image data information numeral of the surrounding of described four-axle aircraft, barometer and ultrasonic sensor.
Further, described communication module includes:
First twireless radio-frequency communication unit, in order to communicate with described vehicle control syetem;
Gsm communication unit, in order to communicate with described cloud computing server;
Airboarne receiver, in order to communicate with the remote controller of described four-axle aircraft, to receive the control data message that described remote controller transmission comes.
Further, described vehicle control syetem includes vehicle-mounted microcontroller, vehicle-carrying display screen and bluetooth.
Further, described system also includes mobile phone terminal, and described mobile phone terminal communicates with described cloud computing server and described vehicle control syetem respectively.
Further, described four-axle aircraft includes four mechanical arms of decussation, and the cross point of described mechanical arm is provided with main body, and described main body is provided above fixed platform, and described main body is internally provided with body chamber; Described main body be arranged below foot rest, described foot rest is fixed with photographic head, the end of four described mechanical arms is provided with drive motor, and described drive motor is provided with propeller.
The method that the invention still further relates to the navigation of a kind of electric vehicle three-dimensional, it is mainly characterized by, and described method comprises the following steps:
(1) vehicle control syetem described in sends the data message about described electric vehicle to described cloud computing server;
(2) cloud computing server described in sends navigation command to described aircraft mounted control system;
(3) four-axle aircraft described in takes off around described electric vehicle and locates flight, and sends extremely described cloud computing server after the ambient data information of the described electric vehicle described in aircraft mounted control system acquisition;
(4) data message about described electric vehicle that the ambient data information of the electric vehicle that the cloud computing server described in obtains according to described aircraft mounted control system and described vehicle control syetem send generates Navigation Control strategy;
(5) described Navigation Control strategy is sent to described aircraft mounted control system by the cloud computing server described in;
(6) described electric vehicle is carried out three-dimensional navigation by the Navigation Control strategy that the four-axle aircraft described in sends according to described cloud computing server.
Further, described step (2) particularly as follows:
Described cloud computing server sends navigation command by gsm communication unit to described aircraft mounted control system; Or
Remote controller sends navigation command by airboarne receiver to described aircraft mounted control system.
Further, described step (6) specifically includes following steps:
(6.1) four-axle aircraft described in flies around described electric vehicle according to the guidance path in the Navigation Control strategy of described cloud computing server transmission;
(6.2) vehicle control syetem described in shows described guidance path.
Further, described system includes mobile phone terminal, further comprising the steps of after described step (6.2):
(6.3) mobile phone terminal described in communicates with described cloud computing server and described vehicle control syetem respectively, and shows described guidance path at described mobile phone terminal.
Have employed the electric vehicle three-dimensional navigation system based on four-axle aircraft in this invention and air navigation aid, compared with prior art, there is following useful technique effect:
Electric vehicle three-dimensional navigation system based on four-axle aircraft and the air navigation aid of the present invention utilize car networking technology, namely the exchange technology of the network interworking such as electric vehicle and aircraft, electric vehicle and cloud computing server, electric vehicle and mobile phone terminal interconnection solves the problem of existing electric vehicle parking difficulty, sets up complete quickly navigation parking service system. Overcome and need car owner independently to check the problem that parking spot found by road sign, overcoming communication mode adopts power carrier mode to need vehicle body is transformed, the shortcoming that need to install power line carrier modulation demodulation module onboard, only need to utilize general smart mobile phone just can complete location and data transmission.
Electric vehicle three-dimensional navigation system based on four-axle aircraft and the air navigation aid of the present invention can be applicable to parking lot, traffic route in parking lot is more complicated on the one hand, car owner is often unfamiliar with inner part of parking lot distribution situation, stop can not accomplish convenient, come in and go out parking stall nearby, rapidly, to the problem that car owner causes a lot of puzzlement and inconvenience. Instant invention overcomes existing navigation system to lack user's traveling in parking lot is guided, user is stopped to put to no little inconvenience, and common air navigation aid is only the problem inadequate to one voice of car owner or image/video information, third dimension and sense directly perceived. Reach to treat parking position information according to user, corresponding parking lot guide information is exported to user, and user is stopped in parking lot carry out precision navigation by four-axle aircraft, airborne photographic head is utilized to carry out vehicle body correction auxiliary transmission of video, expand artificial visual angle, make user can easily and fast, with regard to near-earth come in and go out parking stall, voice cue module is utilized wirelessly to be transferred to vehicle carried mobile phone terminal and carried out path and road conditions prompting by voice so that parking navigation is more directly perceived and three-dimensional. Improve the interest of parking, recreational and scientific and technological sense simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of the electric vehicle three-dimensional navigation system based on four-axle aircraft of the present invention.
Fig. 2 is the side view of the four-axle aircraft of the present invention.
Fig. 3 is the top view of the four-axle aircraft of the present invention.
Detailed description of the invention
In order to more clearly describe the technology contents of the present invention, conduct further description below in conjunction with specific embodiment.
It is an object of the invention to propose a kind of electric vehicle three-dimensional navigation system based on four-axle aircraft and air navigation aid, solve existing navigation system and lack user's traveling in parking lot is guided, user is stopped to put to no little inconvenience. And common air navigation aid is only the problem inadequate to one voice of car owner or image/video information, third dimension and sense directly perceived. Improve the interest of parking, recreational and scientific and technological sense simultaneously.
Refer to shown in Fig. 1 to Fig. 3, a kind of electric vehicle three-dimensional air navigation aid based on four-axle aircraft and equipment, including vehicle control syetem, cloud computing server, four-axle aircraft and aircraft mounted control system, described vehicle control syetem includes ground on-vehicle microcontroller the 125, second wireless radio-frequency communication module 124, vehicle-carrying display screen 126, remote controller 32 and airboarne receiver 21, airboarne receiver 21 is arranged in body chamber 10, being connected with airborne microcontroller a17, remote controller 32 and airboarne receiver 21 are communicated by radio connection. The priority of described remote controller 32 remote pilot is higher than flight automatically. Described vehicle-mounted microcontroller 125 electrically connects with vehicle-carrying display screen 126, and carries out radio communication by the first wireless radio-frequency communication module a23 and the second wireless radio-frequency communication module 124 with airborne microcontroller a17.
Described vehicle-mounted microcontroller 125 controls module 29 by bluetooth 28 and mobile phone terminal and hands over mutually, and described mobile phone terminal is controlled module 29 and handed over mutually by GSM network communication with cloud computing server 31 by gsm communication unit 30.
Described cloud computing server 31 is this based on the electric vehicle three-dimensional air navigation aid of four-axle aircraft and the scheduling of equipment and processing center, airborne microcontroller a17 is generated Navigation Control strategy by cartographic information that the information such as position that cloud computing server 31 is sent according to ground on-vehicle microcontroller 125, license plate number, vehicle size store in conjunction with cloud computing server 31 and at present Parking situation information, and in real time according to the airborne microcontroller a17 information adjustment sent and optimization guidance path, optimum path planning can be carried out.
Described four-axle aircraft includes into four mechanical arms 3 of decussation, intersecting angle is 90 ��, the cross point of mechanical arm 3 is provided with main body 5, connect and be fixed on four mechanical arms 3, main body 5 is arranged over laying fixed platform 1, main body 5 is internal is provided with body chamber 10, the end of four mechanical arms 3 is fixed with motor 6 respectively, motor 6 is provided with propeller 4, and two propeller 4 forward-reverse spiral oars each other point-blank, mechanical arm 3 is fixed with propeller cowling 2, foot rest 7 is fixedly mounted on the lower section of main body 5 by foot rest fixing head 8, the side of foot rest 7 is provided with photographic head The Cloud Terrace 11, foot rest 7 be connected with battery 9.
Described aircraft mounted control system includes positioning unit, measuring unit, airborne microcontroller a17, voice cue module 27, is all fixedly installed in body chamber 10. wherein, airborne microcontroller a17 adopts STM32F103RBT6, positioning unit includes three-axis gyroscope 12, adopt MPU6050 chip, the data wire SDA and clock line SCL of MPU6050 is connected on SDA and the SCL corresponding for IIC of airborne microcontroller a17, data are passed back airborne microcontroller a17 and by its internal calculation, angled for angular velocity Integral Transformation, magnetic resistance 14 adopts HMC5883L chip, the data wire SDA and clock line SCL of 3-axis acceleration sensor 13 and magnetic resistance 14 connects on corresponding SDA and the SCL of the IIC of airborne microcontroller a17, the stress of three dimensions of detection is passed back airborne microcontroller a17, it is converted to attitude of flight vehicle angle PITCH by quaternary number and Eulerian angles, ROLL, YAW, initial data is filtered processing by airborne microcontroller a17 by Kalman filter algorithm, the current pose of aircraft is obtained the attitude angle of two ways being carried out fusion treatment by blending algorithm, and the conversion being regulated 4 road PWM pulsewidths of output by pid algorithm is controlled motor speed and realizes attitude rectification.
Gsm communication unit a22 it is additionally provided with in described body chamber 10, GPS sensor module 15, motor-drive circuit 20, described gsm communication unit a22 and airborne microcontroller a17 hands over mutually, gsm communication unit 22 is communicatively coupled by GSM network and cloud computing server 31, the input of airborne microcontroller a17 electrically connects with the outfan of GPS sensor module 15, the antenna of described GPS sensor module 15 is arranged on to be laid in fixed platform 1, airborne microcontroller a17 electrically connects with motor-drive circuit 20 and is controlled, motor-drive circuit 20 connects and drive motor 6.
Described positioning unit includes three-axis gyroscope 12,3-axis acceleration sensor 13 and magnetic resistance 14, is connected to SDA and the SCL pin corresponding for IIC of airborne microcontroller a17 respectively through its data wire SDA and clock line SCL.
Described measuring unit includes digital camera 16, barometer 18, ultrasonic sensor 19, digital camera 16 is mounted on photographic head The Cloud Terrace 11, and electrically connect with airborne microcontroller a17, barometer 18 and ultrasonic sensor 19 are connected to data SDA corresponding for IIC and the clock SCL pin of airborne microcontroller a17 respectively through its data wire SDA and clock line SCL, airborne microcontroller a17 merges data, calculate aircraft place elevation information, the fixed height of auxiliary positioning.
Described cloud computing server 31 is this based on the electric vehicle three-dimensional air navigation aid of four-axle aircraft and the scheduling of equipment and processing center, airborne microcontroller a17 is generated Navigation Control strategy by cartographic information that the information such as position that cloud computing server 31 is sent according to ground on-vehicle microcontroller 125, license plate number, vehicle size store in conjunction with cloud computing server 31 and at present Parking situation information, and in real time according to the airborne microcontroller a17 information adjustment sent and optimization guidance path, optimum path planning can be carried out.
Described vehicle-mounted microcontroller 125 controls module 29 by bluetooth 28 and mobile phone terminal and hands over mutually, and described mobile phone terminal is controlled module 29 and handed over mutually by GSM network communication with cloud computing server 31 by gsm communication unit 30.
In the peripheral circuit module of airborne microcontroller a17, STM32F103RBT6 chip pin 8,9,10,11,24 is AD input port, connect the PWM_IN1-PWM_IN5 of the output signal CH1-CH5 of remote control receiver P3, the output port of pin 34,35,58,59 intervalometer, 4 road pwm signals of output connect the electricity of motor electricity tune group P2 and adjust signal input port, and the data that the data transmit-receive pin 2 and 3 of GPS sensor module 15 is added separately to MCU send out spasm foot 17 and 16. Attitude passes three-axis gyroscope 12 in measuring unit circuit and selects MPU6050 chip, clock bus SCL and data/address bus SDA connects clock and data bus pins PB6 and the PB7 of the IIC of airborne microcontroller a17 in Fig. 3 respectively, is built-in with the clock of IIC and data bus pins PB6 and PB7 that the clock bus SCL and data/address bus SDA of digital compass HMC5883L connect the airborne microcontroller a17 of Fig. 1. In wireless radio-frequency communication module circuit, microprocessor 19 can by following pin configuration nRF24L01:CSN pin 2, SCK pin 3, MOSI pin 4, MISO pin 5. Pin 12 and 13 connects inductance and constitutes antenna, and pin 16 is reference current input port. It is the airborne microcontroller a17 pwm signal controlling output that motor performs input in module, and UPE accepts pwm signal, 12V unidirectional current is converted to three-phase alternating current electric drive simultaneously, and controls electric machine rotation or stopping.
Referring to Fig. 2, Fig. 3, described four-axle aircraft includes into four mechanical arms 3 of decussation, intersecting angle is 90 ��, the cross point of mechanical arm 3 is provided with main body 5, connect and be fixed on four mechanical arms 3, main body 5 is arranged over laying fixed platform 1, main body 5 is internal is provided with body chamber 10, the end of four mechanical arms 3 is fixed with motor 6 respectively, motor 6 is provided with propeller 4, and two propeller 4 forward-reverse spiral oars each other point-blank, mechanical arm 3 is fixed with propeller cowling 2, foot rest 7 is fixedly mounted on the lower section of main body 5 by foot rest fixing head 8, the side of foot rest 7 is provided with photographic head The Cloud Terrace 11, foot rest 7 be connected with battery 9.
In the present invention, gsm communication unit is SIM900A, and additionally this plate is also equipped with power management chip, serial port level conversion chip. Gsm module can be divided into again GPRS module, EDGE module, 3G module and pure SMS module according to the message transmission rate provided. The physical interface of this module and user's Mobile solution is 68 paster pads, it is provided that all hardware interface of module and customer service circuit plate: keyboard and SPI show interface; Main serial ports and debugging serial ports; One tunnel audio interface, comprises a mike input and a speaker output; General programmable input/output interface.
Described a kind of electric vehicle three-dimensional air navigation aid based on four-axle aircraft, concretely comprises the following steps:
Step one: system initialization, cloud computer server 31, airborne microcontroller a17, ground on-vehicle microcontroller 125, smart mobile phone 29 initialize in place.
Step 2: the vehicle-mounted smart mobile phone 29 of electric automobile is interacted by bluetooth 28 and vehicle location, vehicle model, running state information, and by smart mobile phone GSM network, information is uploaded to cloud computer server 31, when cloud computer server 31 receives mobile phone terminal 29 electric automobile request parking order, cloud computing server 31 sends takeoff order and navigation task order to the full i.e. airborne microcontroller a17 of electric aircraft 1 in neighbouring base station.
Step 3: the neighbouring base station positional information that completely electric aircraft 1 is sent by cloud computing server 31, license board information, vehicle body size information, bodywork height information arrive target spatial domain and performs navigation task, when arriving target spatial domain, full electric aircraft 1 is communicated and precise positioning by the first wireless radio-frequency communication module a and the second wireless radio-frequency communication module 1, after having positioned, start ultrasonic distance measuring module and carry out range-finding navigation.
Step 4: cloud computing server 31 do not receive mobile phone terminal 1 electric automobile request navigation command or receive electric automobile has stopped termination navigation command time, cloud computing server 31 sends navigation task to aircraft 1 and completes and come back to the base order.
Described a kind of electric vehicle three-dimensional air navigation aid cloud computing server based on four-axle aircraft can be dispatched a frame aircraft simultaneously and also can dispatch multi rack aircraft to electric vehicle navigation simultaneously and navigate to electric vehicle, the data that its concrete condition returns according to gsm communication unit 1 with ask comprehensive descision decision-making. Also can carry out the communication of GSM Netcom between different base station simultaneously, the scheduling of decision-making aircraft, convenient and have timely completed parking navigation.
Described a kind of electric vehicle three-dimensional air navigation aid based on four-axle aircraft, the airborne photographic head utilizing four-axle aircraft in navigation procedure carries out vehicle body correction, auxiliary transmission of video, expand artificial visual angle, make user can easily and fast, with regard to near-earth come in and go out parking stall, voice cue module is utilized wirelessly to be transferred to vehicle carried mobile phone terminal and carried out path and road conditions prompting by voice so that parking navigation is more intuitively changed and three-dimensional.
Described a kind of electric vehicle three-dimensional air navigation aid based on four-axle aircraft, can also realize unmanned, it is navigated by the radio communication of four-axle aircraft Yu Ground Vehicle borne control system, by utilizing the airborne photographic head of four-axle aircraft to carry out image recognition and vehicle body correction adjustment navigation, finally realize unmanned navigation. Improve the interest of parking, recreational and scientific and technological sense simultaneously.
Have employed the electric vehicle three-dimensional navigation system based on four-axle aircraft in this invention and air navigation aid, compared with prior art, there is following useful technique effect:
Electric vehicle three-dimensional navigation system based on four-axle aircraft and the air navigation aid of the present invention utilize car networking technology, namely the exchange technology of the network interworking such as electric vehicle and aircraft, electric vehicle and cloud computing server, electric vehicle and mobile phone terminal interconnection solves the problem of existing electric vehicle parking difficulty, sets up complete quickly navigation parking service system. Overcome and need car owner independently to check the problem that parking spot found by road sign, overcoming communication mode adopts power carrier mode to need vehicle body is transformed, the shortcoming that need to install power line carrier modulation demodulation module onboard, only need to utilize general smart mobile phone just can complete location and data transmission.
Electric vehicle three-dimensional navigation system based on four-axle aircraft and the air navigation aid of the present invention can be applicable to parking lot, traffic route in parking lot is more complicated on the one hand, car owner is often unfamiliar with inner part of parking lot distribution situation, stop can not accomplish convenient, come in and go out parking stall nearby, rapidly, to the problem that car owner causes a lot of puzzlement and inconvenience. Instant invention overcomes existing navigation system to lack user's traveling in parking lot is guided, user is stopped to put to no little inconvenience, and common air navigation aid is only the problem inadequate to one voice of car owner or image/video information, third dimension and sense directly perceived. Reach to treat parking position information according to user, corresponding parking lot guide information is exported to user, and user is stopped in parking lot carry out precision navigation by four-axle aircraft, airborne photographic head is utilized to carry out vehicle body correction auxiliary transmission of video, expand artificial visual angle, make user can easily and fast, with regard to near-earth come in and go out parking stall, voice cue module is utilized wirelessly to be transferred to vehicle carried mobile phone terminal and carried out path and road conditions prompting by voice so that parking navigation is more directly perceived and three-dimensional. Improve the interest of parking, recreational and scientific and technological sense simultaneously.
In this description, the present invention is described with reference to its specific embodiment. But it is clear that still may be made that various amendment and conversion are without departing from the spirit and scope of the present invention. Therefore, specification and drawings is regarded in an illustrative, rather than a restrictive.
Claims (12)
1. the electric vehicle three-dimensional navigation system based on four-axle aircraft, it is characterised in that described system includes:
Four-axle aircraft, in order to fly, to realize the navigation to described electric vehicle around described electric vehicle;
Aircraft mounted control system, it is arranged on described four-axle aircraft, in order to control described four-axle aircraft and cloud computing server and vehicle control syetem carries out data information exchange, and the flight path of the four-axle aircraft described in the Navigation Control policy control sent according to described cloud computing server;
Vehicle control syetem, in order to be arranged on described electric vehicle, in order to carry out data information exchange with described cloud computing server and described aircraft mounted control system, and shows the Navigation Control strategy that described cloud computing server generates;
Cloud computing server, generate Navigation Control strategy in order to the data message sent according to described vehicle control syetem, data message that described aircraft mounted control system is sent and locally stored cartographic information, and this Navigation Control strategy is sent to described aircraft mounted control system.
2. the electric vehicle three-dimensional navigation system based on four-axle aircraft according to claim 1, it is characterised in that described aircraft mounted control system includes:
Locating module, in order to obtain the positional information of described four-axle aircraft;
Measurement module, in order to obtain the data message of the surrounding of described four-axle aircraft;
Airborne microcontroller, in order to control the flight of described four-axle aircraft;
Motor drive module, in order to drive the flight of described four-axle aircraft;
Communication module, in order to carry out data information exchange with described cloud computing server and described vehicle control syetem.
3. the electric vehicle three-dimensional navigation system based on four-axle aircraft according to claim 2, it is characterised in that described locating module includes three-axis gyroscope, 3-axis acceleration sensor, magnetic resistance and GPS sensor unit.
4. the electric vehicle three-dimensional navigation system based on four-axle aircraft according to claim 2, it is characterized in that, described measurement module includes obtaining the photographic head of image data information numeral of the surrounding of described four-axle aircraft, barometer and ultrasonic sensor.
5. the electric vehicle three-dimensional navigation system based on four-axle aircraft according to claim 2, it is characterised in that described communication module includes:
First twireless radio-frequency communication unit, in order to communicate with described vehicle control syetem;
Gsm communication unit, in order to communicate with described cloud computing server;
Airboarne receiver, in order to communicate with the remote controller of described four-axle aircraft, to receive the control data message that described remote controller transmission comes.
6. the electric vehicle three-dimensional navigation system based on four-axle aircraft according to claim 1, it is characterised in that described vehicle control syetem includes vehicle-mounted microcontroller, vehicle-carrying display screen and bluetooth.
7. the electric vehicle three-dimensional navigation system based on four-axle aircraft according to claim 6, it is characterized in that, described system also includes mobile phone terminal, and described mobile phone terminal communicates with described cloud computing server and described vehicle control syetem respectively.
8. the electric vehicle three-dimensional navigation system based on four-axle aircraft according to claim 1, it is characterized in that, described four-axle aircraft includes four mechanical arms of decussation, the cross point of described mechanical arm is provided with main body, described main body is provided above fixed platform, and described main body is internally provided with body chamber; Described main body be arranged below foot rest, described foot rest is fixed with photographic head, the end of four described mechanical arms is provided with drive motor, and described drive motor is provided with propeller.
9. the method realizing the navigation of electric vehicle three-dimensional based on the system described in claim 1, it is characterised in that described method comprises the following steps:
(1) vehicle control syetem described in sends the data message about described electric vehicle to described cloud computing server;
(2) cloud computing server described in sends navigation command to described aircraft mounted control system;
(3) four-axle aircraft described in takes off around described electric vehicle and locates flight, and sends extremely described cloud computing server after the ambient data information of the described electric vehicle described in aircraft mounted control system acquisition;
(4) data message about described electric vehicle that the ambient data information of the electric vehicle that the cloud computing server described in obtains according to described aircraft mounted control system and described vehicle control syetem send generates Navigation Control strategy;
(5) described Navigation Control strategy is sent to described aircraft mounted control system by the cloud computing server described in;
(6) described electric vehicle is carried out three-dimensional navigation by the Navigation Control strategy that the four-axle aircraft described in sends according to described cloud computing server.
10. electric vehicle three-dimensional according to claim 9 navigation method, it is characterised in that described step (2) particularly as follows:
Described cloud computing server sends navigation command by gsm communication unit to described aircraft mounted control system; Or
Remote controller sends navigation command by airboarne receiver to described aircraft mounted control system.
11. the method for electric vehicle three-dimensional according to claim 9 navigation, it is characterised in that described step (6) specifically includes following steps:
(6.1) four-axle aircraft described in flies around described electric vehicle according to the guidance path in the Navigation Control strategy of described cloud computing server transmission;
(6.2) vehicle control syetem described in shows described guidance path.
12. the method for electric vehicle three-dimensional according to claim 11 navigation, it is characterised in that described system includes mobile phone terminal, further comprising the steps of after described step (6.2):
(6.3) mobile phone terminal described in communicates with described cloud computing server and described vehicle control syetem respectively, and shows described guidance path at described mobile phone terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008791.3A CN105652882A (en) | 2015-12-29 | 2015-12-29 | Electric vehicle three-dimensional navigation system and electric vehicle three-dimensional navigation method based on quadcopter |
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| CN108257231A (en) * | 2016-12-28 | 2018-07-06 | 乐视汽车（北京）有限公司 | Parking charge method, system and its electronic equipment |
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Application publication date: 20160608 |