Electric locomotive parking assistance system

Abstract

The utility model provides an electric locomotive parking assistance system, comprising: an electric locomotive, a gateway and a host computer; a first controller obtains the distance information between the front of the vehicle and the obstacle and obtains the video image information of the front direction of the vehicle; the first controller is connected to the host computer through the first CAN bus module, the CAN bus and the gateway, and the distance information and the video image information of the front direction of the vehicle are transmitted; the second controller obtains the distance information between the rear of the vehicle and the obstacle and obtains the video image information of the rear direction of the vehicle; the second controller transmits the distance information and the video image information of the rear direction of the vehicle; the host computer issues a parking control instruction to the electric locomotive according to the distance information between the front of the vehicle and the obstacle, or according to the distance information between the rear of the vehicle and the obstacle, so that the electric locomotive performs a braking operation. The system can identify obstacles, stoppers, etc. on the travel route; it can remotely control the electric locomotive to travel and slow down and stop, and realize the functions of slowing down and stopping and alarm display.

Description

Technical Field

[0001] The utility model belongs to the technical field of electric locomotives, and in particular relates to a parking assistance system for electric locomotives. Background Art

[0002] Electric locomotives (also called electric flat cars, electric rail cars, etc.) play an important role in the loading operations of port loading buildings. For example, electric locomotives can efficiently and quickly transport goods within the port. For loading buildings, electric locomotives can quickly transport goods from warehouses or docks to loading areas, improving overall operating efficiency. Electric locomotives can run on different tracks and perform operations such as turning, accelerating and decelerating as needed. This allows electric locomotives to adapt to complex port environments and meet different transportation needs.

[0003] Compared with traditional internal combustion locomotives, electric locomotives are powered by electricity, have no emissions, and are pollution-free, meeting environmental protection requirements. At the same time, electric locomotives are more energy efficient, which helps reduce operating costs.

[0004] At present, electric locomotives can be controlled remotely, with control commands sent from the monitoring room to control the operation of the electric locomotive, or the electric locomotive can automatically run according to the specified route based on the preset program. When remotely controlled and automatically running, it is necessary to promptly learn about obstacles in the driving direction and the distance from the parking space when parking. In this way, how to brake in time when encountering obstacles, or how to learn about the distance from the parking space when parking, and ensure the stable operation of the electric locomotive are technical problems that need to be solved urgently. Utility Model Content

[0005] The utility model provides an electric locomotive parking assistance system. The system can remotely control the driving and deceleration and parking of the electric locomotive, and realize functions such as deceleration and parking and alarm display.

[0006] The electric locomotive parking assistance system includes: an electric locomotive, a gateway and a host computer;

[0007] The front of the electric motorcycle is equipped with a first parking assistance component, and the rear of the motorcycle is equipped with a second parking assistance component; the electric motorcycle is equipped with a CAN bus;

[0008] The first parking assist component is provided with a first controller, a first CAN bus module, a first 3D laser ranging and a first binocular camera;

[0009] The second parking assist component is provided with a second controller, a second CAN bus module, a second 3D laser ranging and a second binocular camera;

[0010] The first controller obtains the distance information between the front of the vehicle and the obstacle by communicating with the first 3D laser rangefinder; the first controller obtains the video image information in the direction of the front of the vehicle by communicating with the first binocular camera;

[0011] The first controller is connected to the host computer through the first CAN bus module, the CAN bus and the gateway to transmit the distance information and the video image information of the vehicle head direction;

[0012] The second controller obtains the distance information between the rear of the vehicle and the obstacle by communicating with the second 3D laser rangefinder; the second controller obtains the video image information in the direction of the rear of the vehicle by communicating with the second binocular camera; the second controller is connected to the host computer through the second CAN bus module, the CAN bus and the gateway to transmit the distance information and the video image information in the direction of the rear of the vehicle;

[0013] The host computer sends a parking control instruction to the electric locomotive according to the distance information between the front of the vehicle and the obstacle, or according to the distance information between the rear of the vehicle and the obstacle, so that the electric locomotive performs a braking operation.

[0014] It should be further explained that the electric locomotive is equipped with a positioning module; the host computer communicates with the positioning module based on the CAN bus and the gateway to obtain the position information of the electric locomotive.

[0015] It should be further explained that the first parking assistance component is also provided with a first display screen;

[0016] The second parking assist component is also provided with a second display screen;

[0017] The first controller is connected to the first display screen by communication, so that the first display screen displays the distance information between the front of the vehicle and the obstacle and the video image information in the direction of the front of the vehicle;

[0018] The second controller is connected to the second display screen through communication, so that the second display screen displays the distance information between the rear end of the vehicle and the obstacle and the video image information in the direction of the rear end of the vehicle.

[0019] It should be further explained that the first parking assist component is also provided with a first distance warning device;

[0020] The second parking assist component is also provided with a second distance warning device;

[0021] The first controller is in communication connection with the first distance alarm device, and when the distance information between the front of the vehicle and the obstacle is lower than a preset distance, the first distance alarm device is controlled to issue an alarm prompt;

[0022] The second controller is in communication connection with the second distance warning device, and when the distance information between the rear end of the vehicle and the obstacle is lower than a preset distance, the second distance warning device is controlled to issue an alarm prompt.

[0023] It should be further explained that the first distance alarm device includes: a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a diode D1, a red light emitting diode D2, a yellow light emitting diode D3, a green light emitting diode D4, a transistor Q1 and a speaker U1;

[0024] The first end of the resistor R1, the first end of the resistor R3, the first end of the resistor R4, and the first end of the resistor R5 are respectively connected to the first controller; the second end of the resistor R1 is respectively connected to the first end of the resistor R2 and the base of the transistor Q1; the emitter of the transistor Q1 and the second end of the resistor R2 are grounded;

[0025] The collector of transistor Q1 is connected to the anode of diode D1 and the first end of speaker U1 respectively; the cathode of diode D1, the second end of speaker U1, the anode of red light-emitting diode D2, the anode of yellow light-emitting diode D3, and the anode of green light-emitting diode D4 are connected to power supplies respectively; the cathode of red light-emitting diode D2 is connected to the second end of resistor R3; the cathode of yellow light-emitting diode D3 is connected to the second end of resistor R4; and the cathode of green light-emitting diode D4 is connected to the second end of resistor R5.

[0026] It should be further explained that the electric locomotive is also equipped with a speed sensor; the host computer communicates with the speed sensor based on the CAN bus and the gateway to obtain the speed information of the electric locomotive.

[0027] It should be further explained that the positioning module adopts the NEO-6M GPS positioning module;

[0028] The first controller and the second controller respectively adopt TM4C123GH6PZ17R single chip microcomputer or STM32 microcontroller.

[0029] It should be further explained that the CAN bus is configured with the MCP2515-CAN bus controller chip and the TJA1050 high-speed CAN transceiver chip of NXP Semiconductors.

[0030] It should be further explained that the first parking assistance component is also provided with a first memory; and the second parking assistance component is also provided with a second memory.

[0031] It can be seen from the above technical solutions that the utility model has the following advantages:

[0032] The electric locomotive parking assistance system provided by the utility model realizes the obstacle detection function based on two different methods: 3D laser ranging and binocular camera, which can ensure the accuracy and reliability of obstacle detection. In addition, 3D laser ranging can detect the safety area around the track in the direction of the electric locomotive. The host computer analyzes the environment around the track by processing data and perceives obstacles near the track.

[0033] The binocular camera involved in the utility model has the same detection frequency as the 3D laser ranging measurement, and analyzes and processes environmental information at the same frequency to sense and detect obstacle information above the track. The system can also compare the detection results of the binocular camera and the 3D laser ranging measurement to ensure the accuracy and reliability of obstacle identification, and send the vehicle deceleration strategy to the electric locomotive control system. Finally, the electric locomotive control system completes operations such as deceleration and parking; in addition, the system can also record anti-collision events. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solution of the utility model, the following will briefly introduce the drawings required for the description. Obviously, the drawings described below are only some embodiments of the utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 This is a schematic diagram of an electric motorcycle parking assistance system;

[0036] Figure 2 It is a schematic diagram of an embodiment of an electric vehicle parking assistance system;

[0037] Figure 3 This is the circuit diagram of the first distance alarm device. DETAILED DESCRIPTION

[0038] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the technical scheme of the utility model will be clearly and completely described below in combination with the drawings in the specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the utility model, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0039] like Figure 1 and Figure 2 As shown, the electric locomotive parking assistance system provided by the utility model includes: an electric locomotive, a gateway and a host computer. Among them, the host computer can be connected to the electric locomotive through the gateway, and of course, multiple electric locomotives can be included in the port area. The host computer can be connected to each electric locomotive for communication, so as to realize remote control of the electric locomotive.

[0040] Specifically, the front of the electric scooter is equipped with a first parking assistance component, and the rear of the scooter is equipped with a second parking assistance component; the electric scooter is equipped with a CAN bus; the CAN bus realizes communication between the electronic components of the electric scooter. The first parking assistance component is provided with a first controller, a first CAN bus module, a first 3D laser rangefinder and a first binocular camera. The second parking assistance component is provided with a second controller, a second CAN bus module, a second 3D laser rangefinder and a second binocular camera.

[0041] In this embodiment, the first controller obtains the distance information between the front of the vehicle and the obstacle by communicating with the first 3D laser rangefinder; the first controller obtains the video image information in the direction of the front of the vehicle by communicating with the first binocular camera. The first controller is connected to the host computer through the first CAN bus module, the CAN bus and the gateway to transmit the distance information and the video image information in the direction of the front of the vehicle.

[0042] In this embodiment, the second controller is connected to communicate with the second 3D laser ranging to obtain the distance information between the rear of the vehicle and the obstacle; the second controller is connected to communicate with the second binocular camera to obtain the video image information in the direction of the rear of the vehicle; the second controller is connected to communicate with the host computer through the second CAN bus module, CAN bus and gateway to transmit the distance information and the video image information in the direction of the rear of the vehicle.

[0043] In this embodiment, the first parking assist component is further provided with a first display screen and a first memory; the second parking assist component is further provided with a second display screen and a second memory; the first controller is connected to the first display screen by communication, so that the first display screen displays the distance information between the front of the vehicle and the obstacle and the video image information in the direction of the front of the vehicle; the second controller is connected to the second display screen by communication, so that the second display screen displays the distance information between the rear of the vehicle and the obstacle and the video image information in the direction of the rear of the vehicle. In this way, the people on the electric locomotive can understand the running status of the electric locomotive through the display screen.

[0044] The host computer sends a parking control command to the electric locomotive based on the distance information between the front of the vehicle and the obstacle, or based on the distance information between the rear of the vehicle and the obstacle, so that the electric locomotive performs a braking operation. Of course, this is not limited to braking control, and the host computer can also send corresponding control commands to the electric locomotive based on the specific use environment and the functions to be achieved by the electric locomotive.

[0045] For example, the system can achieve centimeter-level positioning without obstruction by using base station equipment and precise positioning equipment installed in the port. A positioning module can also be configured on the electric locomotive; the host computer communicates with the positioning module based on the CAN bus and the gateway to obtain the location information of the electric locomotive.

[0046] The positioning module uses the NEO-6M GPS positioning module; the first controller and the second controller use the TM4C123GH6PZ17R microcontroller or the STM32 microcontroller respectively. The host computer communicates with the speed sensor based on the CAN bus and the gateway to obtain the speed information of the electric locomotive. The CAN bus is equipped with the MCP2515-CAN bus controller chip and the high-speed CAN transceiver chip TJA1050 of NXP Semiconductors.

[0047] In order to enable the host computer to understand the driving speed of the electric locomotive, a speed sensor is also configured on the electric locomotive.

[0048] Optionally, the charging cable of an electric scooter is generally 2 meters long, and it is difficult to align the position of the pantograph and the charging cable from the remote control video, so a parking assist function needs to be added to facilitate the electric scooter to park smoothly under the parking line while charging.

[0049] During the normal driving of the electric locomotive, the precise positioning equipment needs to transmit the coordinates to the electric locomotive controller in real time. The electric locomotive controller determines the distance to the calibration point. When the distance to the calibration point is less than 2 meters, the speed limit is 2km / h. A new page is created on the display screen of the host computer to prompt the distance to the calibration point in real time. The display screen uses color to indicate that the distance to the calibration point is less than 1 meter, and prompts the driver of the host computer to arrive at the ideal parking area and prepare to park.

[0050] As an embodiment of the utility model, the electric locomotive detects in real time whether there are obstacles in the driving direction, and transmits the distance of the obstacle to the host computer through the CAN gateway. Here, the host computer can give text prompts through sound prompts and "information prompts" in the lower right corner of the display screen.

[0051] The host computer can also display an icon indicating that parking conditions have been met in the status display area of ​​the parking position, prompting the driver to enter the charging parking area.

[0052] Optionally, when the 3D laser radar or binocular camera's detection line of sight is blocked (such as by dirt, extremely bad weather, etc.), the host computer can display the abnormal state, and the abnormal state can be viewed on the display screen, so that the monitoring personnel or the driver can handle it in time. The system can also reserve an interface for upgrading the network control system to provide data support for subsequent upgrades.

[0053] In the utility model, the first parking assistance component is also provided with a first distance alarm device; the second parking assistance component is also provided with a second distance alarm device; the first controller is communicatively connected with the first distance alarm device, and when the distance information between the front of the vehicle and the obstacle is lower than the preset distance, the first distance alarm device is controlled to issue an alarm prompt; the second controller is communicatively connected with the second distance alarm device, and when the distance information between the rear of the vehicle and the obstacle is lower than the preset distance, the second distance alarm device is controlled to issue an alarm prompt.

[0054] Alternatively, if Figure 3 As shown, the first distance alarm device and the second distance alarm device may respectively include: resistor R1, resistor R2, resistor R3, resistor R4, resistor R5, diode D1, red light emitting diode D2, yellow light emitting diode D3, green light emitting diode D4, transistor Q1 and speaker U1.

[0055] The first end of resistor R1, the first end of resistor R3, the first end of resistor R4, and the first end of resistor R5 are respectively connected to the first controller; the second end of resistor R1 is respectively connected to the first end of resistor R2 and the base of transistor Q1; the emitter of transistor Q1 and the second end of resistor R2 are grounded; the collector of transistor Q1 is respectively connected to the anode of diode D1 and the first end of speaker U1; the cathode of diode D1, the second end of speaker U1, the anode of red light-emitting diode D2, the anode of yellow light-emitting diode D3, and the anode of green light-emitting diode D4 are respectively connected to the power supply; the cathode of red light-emitting diode D2 is connected to the second end of resistor R3; the cathode of yellow light-emitting diode D3 is connected to the second end of resistor R4; the cathode of green light-emitting diode D4 is connected to the second end of resistor R5.

[0056] The diode D1 prevents the peak voltage from being generated at both ends of the buzzer and damaging the transistor Q1; the transistor Q1 plays the role of on-off, and then can control the speaker U1 to sound according to the control instruction of the first controller. That is to say, when the base of the transistor Q1 is at a high level, the transistor Q1 is saturated and turned on, making the speaker U1 sound; and when the base of the transistor Q1 is at a low level, the transistor Q1 is turned off, and the speaker U1 stops sounding. The red light-emitting diode D2, the yellow light-emitting diode D3, and the green light-emitting diode D4 can also be controlled to emit light according to different sensing distances to serve as a prompt.

[0057] Based on the above electric locomotive parking assistance system, 3D laser ranging and binocular cameras are installed at the front and rear of the electric locomotive respectively to independently perceive the external environment. The host computer and the electric locomotive establish data interaction through the CAN bus and the gateway. By obtaining the surrounding environment data, the corresponding protection strategy is set according to the speed of the electric locomotive. Finally, the electric locomotive is controlled, and the electric locomotive completes deceleration, parking or emergency braking control.

[0058] The system of the utility model provides obstacle detection functions based on two different principles: 3D laser ranging and binocular camera, so as to ensure the accuracy and reliability of obstacle detection.

[0059] Among them, 3D laser ranging can detect the safe area around the track in the direction of the electric locomotive. The host computer analyzes the environment around the track by processing data and senses obstacles near the track.

[0060] The binocular camera and 3D laser ranging have the same detection frequency, and analyze and process environmental information at the same frequency to sense and detect obstacle information above the track.

[0061] The system can also compare the binocular camera and 3D laser ranging detection results to ensure the accuracy and reliability of obstacle recognition, and send the vehicle deceleration strategy to the electric locomotive control system. The electric locomotive control system will eventually complete the deceleration and parking operations; in addition, the system can also record the collision avoidance events.

[0062] The technology described in this utility model can be implemented in hardware, software, firmware or any combination thereof. The various features described as modules, units or components can be implemented together in an integrated logic device or separately as discrete but interoperable logic devices or other hardware devices. In some cases, various features of electronic circuits can be implemented as one or more integrated circuit devices, such as integrated circuit chips or chipsets.

[0063] If implemented in hardware, the present invention relates to a device, such as a processor or an integrated circuit device, such as an integrated circuit chip or chipset. Alternatively or additionally, if implemented in software or firmware, the technology may be implemented at least in part by a computer-readable data storage medium, including instructions that, when executed, cause a processor to perform one or more of the above methods. For example, a computer-readable data storage medium may store instructions such as those executed by a processor.

[0064] The memory may include computer storage media such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic or optical data storage media, and the like. In some embodiments, an article of manufacture may include one or more computer-readable storage media.

[0065] In some embodiments, the computer-readable storage medium may include a non-volatile medium. The term "non-transitory" storage medium may indicate that the storage medium is not contained in a carrier or propagating signal. In some embodiments, a non-transitory storage medium may store data that may change over time (e.g., in RAM or cache).

[0066] The first controller and the second controller may include one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other integrated circuits, or discrete logic circuits. Therefore, the term "processor" may refer to any of the aforementioned structures or any other structures that are more suitable for implementing the technology described herein when used herein. In addition, in some aspects, the functions described in the present disclosure may be provided in software modules and hardware modules.

[0067] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present utility model and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the utility model described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0068] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electric vehicle parking assistance system, characterized in that: include: Electric locomotive, gateway and host computer; The front of the electric motorcycle is equipped with a first parking assistance component, and the rear of the motorcycle is equipped with a second parking assistance component; the electric motorcycle is equipped with a CAN bus; The first parking assist component is provided with a first controller, a first CAN bus module, a first 3D laser ranging and a first binocular camera; The second parking assist component is provided with a second controller, a second CAN bus module, a second 3D laser ranging and a second binocular camera; The first controller obtains the distance information between the front of the vehicle and the obstacle by communicating with the first 3D laser rangefinder; the first controller obtains the video image information in the direction of the front of the vehicle by communicating with the first binocular camera; The first controller is connected to the host computer through the first CAN bus module, the CAN bus and the gateway to transmit the distance information and the video image information of the vehicle head direction; The second controller obtains the distance information between the rear of the vehicle and the obstacle by communicating with the second 3D laser rangefinder; the second controller obtains the video image information in the direction of the rear of the vehicle by communicating with the second binocular camera; the second controller is connected to the host computer through the second CAN bus module, the CAN bus and the gateway to transmit the distance information and the video image information in the direction of the rear of the vehicle; The host computer sends a parking control instruction to the electric locomotive according to the distance information between the front of the vehicle and the obstacle, or according to the distance information between the rear of the vehicle and the obstacle, so that the electric locomotive performs a braking operation.

2. The electric vehicle parking assistance system according to claim 1, characterized in that: The electric locomotive is equipped with a positioning module; the host computer communicates with the positioning module based on the CAN bus and the gateway to obtain the position information of the electric locomotive.

3. The electric vehicle parking assistance system according to claim 1, characterized in that: The first parking assist component is also provided with a first display screen; The second parking assist component is also provided with a second display screen; The first controller is connected to the first display screen by communication, so that the first display screen displays the distance information between the front of the vehicle and the obstacle and the video image information in the direction of the front of the vehicle; The second controller is connected to the second display screen through communication, so that the second display screen displays the distance information between the rear end of the vehicle and the obstacle and the video image information in the direction of the rear end of the vehicle.

4. The electric vehicle parking assistance system according to claim 1, characterized in that: The first parking assist component is also provided with a first distance warning device; The second parking assist component is also provided with a second distance warning device; The first controller is in communication connection with the first distance alarm device, and when the distance information between the front of the vehicle and the obstacle is lower than a preset distance, the first distance alarm device is controlled to issue an alarm prompt; The second controller is in communication connection with the second distance warning device, and when the distance information between the rear end of the vehicle and the obstacle is lower than a preset distance, the second distance warning device is controlled to issue an alarm prompt.

5. The electric vehicle parking assistance system according to claim 4, characterized in that: The first distance alarm device includes: a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a diode D1, a red light emitting diode D2, a yellow light emitting diode D3, a green light emitting diode D4, a transistor Q1 and a speaker U1; The first end of the resistor R1, the first end of the resistor R3, the first end of the resistor R4, and the first end of the resistor R5 are respectively connected to the first controller; the second end of the resistor R1 is respectively connected to the first end of the resistor R2 and the base of the transistor Q1; the emitter of the transistor Q1 and the second end of the resistor R2 are grounded; The collector of transistor Q1 is connected to the anode of diode D1 and the first end of speaker U1 respectively; the cathode of diode D1, the second end of speaker U1, the anode of red light-emitting diode D2, the anode of yellow light-emitting diode D3, and the anode of green light-emitting diode D4 are connected to power supplies respectively; the cathode of red light-emitting diode D2 is connected to the second end of resistor R3; the cathode of yellow light-emitting diode D3 is connected to the second end of resistor R4; and the cathode of green light-emitting diode D4 is connected to the second end of resistor R5.

6. The electric vehicle parking assistance system according to claim 4, characterized in that: The electric locomotive is also equipped with a speed sensor; The host computer communicates with the speed sensor based on the CAN bus and the gateway to obtain the speed information of the electric locomotive.

7. The electric vehicle parking assistance system according to claim 2, characterized in that: The positioning module adopts NEO-6M GPS positioning module; The first controller and the second controller respectively adopt TM4C123GH6PZ17R single chip microcomputer or STM32 microcontroller.

8. The electric vehicle parking assistance system according to claim 1 or 2, characterized in that: The CAN bus is configured with the MCP2515-CAN bus controller chip and the NXP Semiconductors TJA1050 high-speed CAN transceiver chip.

9. The electric vehicle parking assistance system according to claim 1 or 2, characterized in that: The first parking assist component is also provided with a first memory; The second parking aid component is also provided with a second memory.

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