CN110370935B - Image identification pantograph transverse slip control system and method for double-source trackless electric heavy truck - Google Patents

Abstract

A transverse slip control system and method for an image recognition pantograph for a double-source trackless electric heavy truck comprise a photosensitive unit, an image processing unit, a control unit, an execution unit and a target object. The photosensitive unit is connected with the image processing unit. An expansion unit is arranged between the image processing unit and the control unit. The invention collects the position coordinates of the target object and completes the transverse sliding action of the pantograph by the following steps: a. collecting images and outputting image signals to an image processing unit; b. analyzing the image signal and calculating the coordinates of the target object; c. outputting the coordinates of the target object to the expansion unit and transmitting the coordinates of the target object to the control unit by the expansion unit; d. the control unit calculates and outputs execution parameters to the execution unit; e. the execution unit drives the pantograph to slide transversely. The invention can ensure that the pantograph is continuously contacted with the overhead network when the double-source trackless electric heavy truck overtakes or uses an emergency lane of a highway, thereby avoiding the frequent switching of the power transmission network and the vehicle-mounted power supply.

Description

A dual-source trackless electric heavy truck image recognition pantograph lateral slip control system and method

technical field

The invention belongs to the field of automobile research, and in particular relates to an image recognition pantograph lateral slip control system and method for dual-source trackless electric heavy trucks.

Background technique

Dual-source trackless electric heavy-duty trucks have attracted much attention because they can be powered by the grid without completely relying on the grid, and dual-source trackless electric heavy-duty trucks have their own fixed power highways. In view of the high-speed and heavy-duty working conditions of dual-source trackless electric heavy trucks, when overtaking or using the expressway emergency lane, if dual-source trackless electric heavy trucks use traditional collector pole devices, they will not be able to continue to use power from the transmission network due to the deviation from the overhead line network. Cause grid power and vehicle power supply to switch frequently.

Contents of the invention

Aiming at the problems existing in the above-mentioned prior art, the present invention proposes a pantograph lateral slip control system and method using image recognition for dual-source trackless electric heavy trucks. The control system and method provided by the present invention can ensure that the dual-source trackless electric heavy When overtaking or using the emergency lane of the expressway, the pantograph can continue to keep in touch with the overhead line to avoid frequent switching between the transmission grid power and the vehicle power supply.

In order to achieve the above object, the present invention takes the following technical solutions:

A dual-source trackless electric heavy truck image recognition pantograph lateral slip control system includes a photosensitive unit, an image processing unit, a control unit, an execution unit and a target. The photosensitive unit is connected with the image processing unit.

The photosensitive unit is composed of an optical lens and a photosensitive chip, and is used for collecting external images.

The image processing unit is used to analyze the external image and output the position coordinates of the target. The image processing unit uses an ARM microprocessor or a PC platform as a core processing module.

The control unit is used for receiving the position coordinates of the target and transmitting corresponding execution parameters to the execution unit.

The execution unit is configured to complete required actions according to the execution parameters.

An expansion unit is arranged between the image processing unit and the control unit. The extension unit is connected with a supplementary light. The expansion unit communicates with the image processing unit through the serial port, and after the position coordinate information is sent to the expansion unit, it is sent to the control unit through the CAN line, and the control unit and the execution unit also communicate through the CAN line. At the same time, the extension unit can drive the supplementary light switch.

Further, the execution unit includes a yaw motor, and the yaw motor is responsible for the lateral sliding movement of the pantograph.

Further, the target includes one or more rectangular identification bars, and one or more groups of identification blocks of alternate colors are painted on the rectangular identification bars.

The present invention also provides an image recognition pantograph lateral slip control method for dual-source trackless electric heavy trucks. The method is based on the above-mentioned image recognition pantograph lateral slip control system for dual-source trackless electric heavy trucks. Specifically, the target is collected through the following steps: The position coordinates of the object and complete the horizontal sliding action of the pantograph:

a. collecting an external image through the photosensitive unit and outputting the image signal to the image processing unit;

b. The image processing unit analyzes the image signal, judges whether there is a target in the received image, and calculates the coordinates of the target after the target is recognized;

c. Output the coordinates of the target object to the expansion unit, and the expansion unit transmits it to the control unit through the CAN line;

d. The control unit calculates the pantograph lateral sliding strategy according to the coordinates of the target, and outputs execution parameters to the execution unit;

e. The execution unit drives the pantograph to slide laterally according to the execution parameters. At the same time, the image processing unit analyzes the image signal to determine whether the brightness of the image is within a specified range. When the brightness of the image is less than 60LX, the supplementary light is turned on; when the brightness of the image is greater than 80LX, the supplementary light closure.

Further, in the step e, the pantograph is driven to slide laterally by the yaw motor.

The beneficial effect of the invention is to ensure that the pantograph can continue to keep in contact with the overhead wire network when the dual-source trackless electric heavy truck is overtaking or using the emergency lane of the expressway, so as to avoid frequent switching between the transmission network power and the vehicle power supply.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Figure 2 is a schematic diagram of the normal driving state of the dual-source trackless electric heavy truck;

Figure 3 is a schematic diagram of the state of lateral sliding of the pantograph of a dual-source trackless electric heavy truck.

Reference signs: 1-photosensitive unit, 2-image processing unit, 3-expansion unit, 4-control unit, 5-execution unit, 6-target, 7-fill light, 8-collector pole, 9-horizontal Pendulum motor, 10-support on collector pole, 11-slide rail, 12-slider, 13-pantograph, 14-overhead line, 15-power transmission line, 16-dual-source trackless electric heavy truck, 17-ordinary vehicle, 18-overtaking lane, 19-overhead tramway, 20-emergency lane.

Detailed ways

For ease of understanding, the technical solutions of the present invention are further specifically described below in conjunction with the accompanying drawings and through embodiments:

As shown in FIG. 1 , an image recognition pantograph lateral slip control system for dual-source trackless electric heavy trucks includes a photosensitive unit 1 , an image processing unit 2 , a control unit 4 , an execution unit 5 and a target 6 . The photosensitive unit 1 is connected with the image processing unit 2 .

The photosensitive unit 1 is used for collecting external images. The photosensitive unit 1 is composed of an optical lens and a photosensitive chip, and the photosensitive chip can be a CCD type or a CMOS type.

The image processing unit 2 is used to analyze the external image and output the position coordinates of the target object 6 . The image processing unit 2 has an ARM microprocessor as the core processing module.

An expansion unit 3 is arranged between the image processing unit 2 and the control unit 4 . The extension unit 3 is connected with a fill light 7 . The expansion unit 3 communicates with the image processing unit 2 through the serial port. After the position coordinate information is sent to the expansion unit 3, it is sent to the control unit 4 through the CAN line, and the control unit 4 and the execution unit 5 also communicate through the CAN line. At the same time, the expansion unit 3 can drive the supplementary light 7 to switch.

The control unit 4 is used to receive the position coordinates of the target object 6 and transmit corresponding execution parameters to the execution unit 5 .

The execution unit 5 is configured to complete required actions according to the execution parameters.

As shown in Figure 2 and Figure 3, the top of the dual-source trackless electric heavy truck 16 is provided with a collector pole 8, and the top of the collector pole 8 is provided with an upper support 10 on the collector pole, and the upper support 10 on the collector pole is slidably provided with A slide rail 11, a slide block 12 is provided at the end of the slide rail 11, a pantograph 13 is provided above the slide block 12, an overhead line 14 is provided above the pantograph 13, and the overhead line 14 is connected to the transmission line 15 of the grid; A yaw motor 9 is arranged below the support 10 on the pole, and the yaw motor 9 meshes with the slide rail 11. The yaw motor 9 can drive the slide rail 11 to move laterally, thereby driving the pantograph 13 to move laterally through the slider 12.

The execution unit 5 includes a yaw motor 9 which is responsible for the lateral sliding movement of the pantograph 13 . Object 6 is used for system identification. The target object 6 includes one or more rectangular identification strips, and one or more groups of identification blocks of alternate colors are painted on the rectangular identification strips.

The present invention also provides an image recognition pantograph lateral sliding control method for dual-source trackless electric heavy trucks, specifically collecting the position coordinates of the target object 6 and completing the pantograph lateral sliding action through the following steps:

a. collect the external image through the photosensitive unit 1 and output the image signal to the image processing unit 2;

b. The image processing unit 2 analyzes the image signal, judges whether there is a target object 6 in the received image, and calculates the coordinates of the target object 6 after recognizing the target object 6;

c. Output the coordinates of the target object 6 to the expansion unit 3, and the expansion unit 3 transmits it to the control unit 4 through the CAN line;

d. The control unit 4 calculates the pantograph lateral sliding strategy according to the coordinates of the target object 6, and outputs execution parameters to the execution unit 5;

e. The execution unit 5 drives the pantograph 13 to slide laterally through the yaw motor 9 according to the execution parameters. At the same time, the image processing unit 2 analyzes the image signal to determine whether the image brightness is within a specified range. When the image brightness is less than 60LX, the fill light 7 is turned on; when the image brightness is greater than 80LX, the fill light 7 is turned off.

When the dual-source trackless electric heavy truck 16 is running on the trolleyway 19, the slide rail 11 is in a retracted state.

When the dual-source trackless electric heavy truck 16 needs to drive in the overtaking lane 18 or the emergency lane 20, the pantograph slides laterally to achieve good contact with the power grid. Ensure that the pantograph of the dual-source trackless electric heavy truck can continue to keep in contact with the overhead wire network when overtaking or using the emergency lane of the expressway, so as to avoid frequent switching between the transmission grid power and the vehicle power supply.

The foregoing embodiments are only illustrations or explanations to the technical solutions of the present invention, and should not be construed as limitations to the technical solutions of the present invention. Obviously, those skilled in the art can carry out various modifications and variations to the present invention without departing from the spirit and spirit of the present invention. scope. If these modifications and variations fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also includes these modifications and variations.

Claims (2)

1. The image identification pantograph transverse slippage control system for the double-source trackless electric heavy truck comprises a photosensitive unit, an image processing unit, a control unit, an execution unit and a target object, wherein the photosensitive unit is connected with the image processing unit, the photosensitive unit consists of an optical lens and a photosensitive chip, the image processing unit takes an ARM (advanced RISC machine) microprocessor or a PC (personal computer) platform as a core processing module, an expansion unit is arranged between the image processing unit and the control unit, the expansion unit is connected with a light supplementing lamp, the expansion unit is communicated with the image processing unit through a serial port, position coordinate information is sent to the expansion unit and then sent to the control unit through a CAN (controller area network) line, and the control unit is also communicated with the execution unit through the CAN line;

the method is characterized in that: the execution unit comprises a transverse swinging motor (9), a trolley pole (8) is arranged at the top of the double-source trackless electric heavy truck (16), an upper trolley pole support (10) is arranged at the top end of the trolley pole (8), a sliding rail (11) is arranged in the upper trolley pole support (10) in a sliding manner, a sliding block (12) is arranged at the tail end of the sliding rail (11), a pantograph (13) is arranged above the sliding block (12), an overhead line (14) is arranged above the pantograph (13), and the overhead line (14) is connected with a power transmission line (15) of a power grid; the horizontal swing motor (9) is arranged below the trolley pole upper support (10), the horizontal swing motor (9) is meshed with the sliding rails (11), and the horizontal swing motor (9) can drive the sliding rails (11) to move transversely, so that the sliding blocks (12) drive the pantograph (13) to move transversely.

2. The control system of claim 1, wherein the control system is configured to perform the image recognition pantograph lateral slip control method for the dual-source trackless electric heavy truck, wherein the image recognition pantograph lateral slip control method comprises: the method comprises the following specific steps of collecting the position coordinates of a target object and finishing the transverse sliding action of the pantograph:

a. the method comprises the steps that an external image is collected through a photosensitive unit, and an image signal is output to an image processing unit;

b. the image processing unit analyzes the image signal, judges whether a target object exists in the received image, and calculates the coordinate of the target object after identifying the target object;

c. outputting the coordinates of the target object to an extension unit, and transmitting the coordinates to a control unit through a CAN (controller area network) line by the extension unit;

d. the control unit calculates a pantograph transverse sliding strategy according to the coordinates of the target object and outputs execution parameters to the execution unit;

e. the execution unit drives the pantograph to slide transversely according to the execution parameters, and meanwhile, the image processing unit analyzes the image signal and judges whether the image brightness is in a specified range.

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