CN109878355A - A kind of automatic charging vehicle and its operation method and automatic charging system - Google Patents
A kind of automatic charging vehicle and its operation method and automatic charging system Download PDFInfo
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- CN109878355A CN109878355A CN201910265395.0A CN201910265395A CN109878355A CN 109878355 A CN109878355 A CN 109878355A CN 201910265395 A CN201910265395 A CN 201910265395A CN 109878355 A CN109878355 A CN 109878355A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- 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
- G05D1/02—Control of position or course in two dimensions
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of automatic charging vehicles, comprising: automatically walk module is configured as advancing to charging equipment according to the route between automatic charging vehicle and charging equipment；Power module is configured as storing and providing electric energy；And automatic butt and separator, it is configured as the docking executed between the first connector and the second connector that can be in electrical contact with the first connector and separates, wherein the first connector and the second connector are used for transmission electric energy.The invention further relates to a kind of method for running automatic charging vehicle and a kind of automatic charging systems.By the invention it is possible to realize automatically walk and automatic butt, thus greatly improve charge efficiency and reduce charging cost.
Description
Technical field
Present invention relates in general to electric vehicle fields, in particular to a kind of automatic charging vehicle.In addition, of the invention
Further relate to a kind of method for running such automatic charging vehicle.
Background technique
Due to environmental protection, many advantages, such as energy conservation, vehicle be light and national preferential policy, electric vehicle is in recent years by more
Carry out the favor of more consumers.In the long run, the popularization of electric vehicle is to reduce greenhouse gas emission and city environmental pollution
Effective measures.However, the larger obstacle that electric vehicle is promoted at present is charging problems.
In order to solve the charging problems of electric vehicle, charging pile is all set up in many parking lots.Such charging pile is
The immovable fixation means being mounted in electric vehicle Reserved Parking, therefore electric vehicle needs are found in this way in parking lot
Reserved Parking.With increasing for electric vehicle, electric vehicle Reserved Parking is more and more nervous, this brings not to electric vehicle trip
Just.In addition, setting up electric vehicle Reserved Parking needs larger construction cost or improvement cost, this to Reserved Parking it is universal bring compared with
Big resistance.
Currently, there is charging vehicle to solve charging problem.Charging vehicle refers to can be to the movement of electric vehicle charging
Trolley.One technological difficulties of charging vehicle are to execute charging with how being fully automated.However, the limitation of current charging vehicle
It is, needs that artificially charging vehicle is moved near electric vehicle, then carries out that electric vehicle is artificially connected to charging
Stake.Due to not having automatically walk and automatic butt function, so that such charging vehicle is related to excessively high human cost, Er Qieren
Work position fixing process is not only time-consuming but also there are large errors, causes charge efficiency lower.
Summary of the invention
From the prior art, the task of the present invention is providing a kind of automatic charging vehicle and its operation method, by this from
Dynamic charging vehicle and/or this method, may be implemented automatically walk and automatic butt, thus greatly improve charge efficiency and reduce and fill
Electric cost.
In the first aspect of the present invention, which is solved by a kind of automatic charging vehicle, which includes:
Automatically walk module is configured as being advanced to according to the route between automatic charging vehicle and charging equipment wait fill
Electric equipment；
Power module is configured as storing and providing electric energy；And
Automatic butt and separator, be configured as execute the first connector with can with the first connector be in electrical contact
Docking and separation between second connector, wherein the first connector and the second connector are used for transmission electric energy.
It should be pointed out that the present invention also can be applied to it although the present invention is illustrated by taking electric vehicle as an example
Its field, such as the stored energy source in the places such as building, hospital, school, energy can be supplied to these places at any time.
In the present invention, electric vehicle covers the electricity consumptions vehicles such as electric car, battery-operated motor cycle and electric bicycle.
It is provided in an expansion scheme of the invention, automatic charging vehicle also has locating module, is configured to determine that
Route between automatic charging vehicle and charging equipment.By the expansion scheme, route determination can be carried out by charging vehicle itself.
But in other embodiments, can also by user equipment mobile application or remote server determine route information.
In a preferred embodiment of the invention, automatically walk module further include:
Automatic Pilot module is configured as according to the route determination mobility operation；
Vehicle chassis is configured as executing the mobility operation；And
Laser radar sensor and/or ultrasonic radar sensor, wherein automatic Pilot module is according to the laser radar
The sensor signal of sensor and/or ultrasonic radar sensor determines that the barrier in the route redefines mobility operation
And/or update the route.Mobility operation is for example including traveling, steering, brake, stopping etc..Route determination process is for example are as follows:
By GPS or electronic map program, (optimal) route from charging vehicle current location to vehicle to be charged can be calculated, or stopping
Also various electronic markers, such as RF tag or wireless signal launch point can be set in parking lot, allow charging vehicle accurately
Find corresponding parking stall.Mobility operation or the real-time update process of route are for example are as follows: pass through laser radar sensor and/or ultrasonic wave
Radar sensor can for example obtain the radar image on surrounding or route；Then route can be learnt by analyzing radar image
It is upper that whether there are obstacles, such as personnel, movement or temporary obstructions；In the case where there is the barrier that not can bypass, lead to
Cross the other routes of GPS or the calculating of electronic map program from charging vehicle current location to vehicle to be charged；Or it can bypass barrier
In the case where hindering object, the mobility operation for turning to, waiting for parking etc. additionally or alternatively is determined.The barrier that not can bypass for example including
The fixed obstacle of block most road, and can bypass barrier for example including pedestrian, barrier on the move etc..Pass through
The preferred embodiment, may be implemented the real-time update of route, to obtain better robustness and fault-tolerance.
It is provided in another expansion scheme of the invention, automatic charging vehicle further include:
Accounting module, the accounting module include ammeter, wherein the ammeter be configured as measurement discharge process in to
The electric flux that charging equipment provides, and controller is additionally configured to calculate charging expense according to rate and the electric flux；With
And
Remote communication module is configured as remotely receiving charging instruction and remotely sends charging expense.
By the expansion scheme, it may be implemented remotely to place an order and long-range charging, thus altogether dispense with necessity of human input.
Ammeter for example can be the intelligent electric meter of metering electric energy, and it is logical that communication module for example can be Wi F i module, bluetooth module, honeycomb
Believe module etc..Remote communication module can also additionally transmit other signals, such as charging signals, discharge signal, operation are completed
Signal, fault-signal, low battery signal etc..
It is provided in a preferred embodiment of the invention, power module includes:
Transformation of electrical energy unit is configured to the AC energy obtained from power grid being converted into direct current energy and energy
It is enough that the direct current energy stored by energy-storage battery group is converted into AC energy or direct current energy；
Energy-storage battery group is configured to be electrically charged and be discharged in the discharged condition in the charge state；
Charge and discharge electric connecting terminal is configured as connection charge power supply or charging equipment or load；
Charge switch, including the first charge switch and the second charge switch, wherein the first charge switch is arranged in charge and discharge
In adapter path between connecting pin and the input terminal of transformation of electrical energy unit, and the second charge switch is arranged in transformation of electrical energy list
In adapter path between the output end and energy-storage battery group of member, wherein be closed in the first charge switch and the second charge switch
In the case of can charge to energy-storage battery group；And
Discharge switch, including the first discharge switch and the second discharge switch, wherein the first discharge switch is arranged in energy storage electricity
In adapter path between the input terminal of Chi Zuyu transformation of electrical energy unit, and the second discharge switch is arranged in transformation of electrical energy unit
Output end and charge and discharge electric connecting terminal between adapter path in, wherein being closed in the first discharge switch and the second discharge switch
In the case of can discharge energy-storage battery group.
By the preferred embodiment, eliminates using multiple transformation of electrical energy units and carry out the electrically operated needs of charge and discharge, but
Single transformation of electrical energy unit can be used and charge and discharge both operations, This reduces both device costs, also reduce road
Line cost, while also reducing the space requirement of charging/discharging apparatus allows charging/discharging apparatus towards low cost, densification direction
Development；In addition, needing a port only to carry out the electrically operated the two of charge and discharge, port number is thus reduced, so that cost is reduced, used
Family simple operation.
It provides in another preferred embodiment of the invention, the power module further includes controller, is configured as executing
Following movement:
The first charge switch and the second charging are closed in the case where receiving indicates the charging signals for executing charging operations
Switch；And
The first discharge switch and the second electric discharge are closed in the case where receiving indicates the discharge signal for executing discharge operation
Switch.
By the preferred embodiment, the long-range charge and discharge that automation may be implemented is electrically operated, thus removes live human input from
It needs.Controller can be realized with software, hardware and/or firmware.Controller also can integrate in transformation of electrical energy unit.It fills
Electric signal and discharge signal can for example be received by remote communication module, and send what expression operation was completed by the module
Feedback signal.
In an expansion scheme of the invention, automatic charging vehicle further includes auxiliary power module, the accessory power supply mould
Block is configured to automatic Pilot module, accounting module, remote communication module, automatically walk module and/or automatic butt and separation
Device provides electric energy.Pass through the expansion scheme, it is possible to reduce the quantity of battery, to simplify shared by the structure of charging vehicle and diminution
Space.
It is provided in a preferred embodiment of the invention, the automatic butt and separator include:
Aggressive device, with executing agency, claw and the first connector, wherein the claw is in aggressive device and passively
Can be stretched out under the drive of executing agency from aggressive device in the case that device is undocked and be engaged with passive device and
It retracts under the drive of executing agency so that the first connector of aggressive device is docked with the second connector of passive device, and institute
Stating claw can be under the drive of executing agency by the first of passive device in the case where aggressive device is docked with passive device
Connector is separated with the second connector of aggressive device；And
Passive device, has the second connector that can cooperate with the first connector, and the passive device can be with can
The mode of release is engaged with claw.
In the preferred embodiment, stretched out by the claw of aggressive device with can to realize docking with passive device clamping lock
To realize reliable docking in the case where being accurately aimed at without plug and socket, because biggish capture model may be implemented in claw
Enclose with easy clamping lock, and claw have better flexibility and mobility.
It provides in another preferred embodiment of the invention, aggressive device further includes transverse motion mechanism and longitudinal movement machine
Structure, wherein transverse motion mechanism includes transverse movement guide rail and laterally driven synchronous belt and longitudinal motion mechanism includes longitudinal fortune
Guide rail and zigzag tread patterns synchronous belt are moved, and executing agency includes lateral executing agency and longitudinal executing agency, wherein claw energy
It is enough to be driven respectively by lateral executing agency and longitudinal executing agency by synchronous cross band and longitudinal synchronous belt so as to along transverse direction
Motion guide rail and longitudinal movement guide rail laterally and longitudinally move respectively.It is laterally and vertical by setting in the preferred embodiment
To mobile mechanism, the horizontal and vertical displacement of claw may be implemented, to provide adaptive alignment ability and be conducive to separate
Operation.It should be noted here that in the present invention, " transverse direction " and " longitudinal direction " is the direction of two Relative verticals, and is not necessarily meant to refer to
Horizontal and vertical direction.For example, " transverse direction " refers to the direction of the length transverse to claw, and " longitudinal direction " is the length side of claw
To.
In the second aspect of the present invention, foregoing task passes through a kind of for running the side of automatic charging vehicle according to the present invention
Method solves, this method comprises:
Determine that automatic charging vehicle is set with to be charged by the mobile application in automatically walk module or server or user equipment
Route between standby；
According to the route running to charging equipment, wherein the charging equipment is connect with the second connector；
Docking between the first connector and the second connector is executed by automatic butt and separator；
It is charged by electric power source pair of module charging equipment；And
Separating between the first connector and the second connector is being executed by automatic butt and separator after charging complete.
It is provided in an expansion scheme of the invention, this method further include:
It is determined by automatically walk module according to the sensor signal of laser radar sensor and/or ultrasonic radar sensor
Barrier in the route；And
By automatically walk module exist can not cut-through object in the case where update the route and can bypass barrier
Mobility operation is redefined in the case where hindering object.
By the expansion scheme, adaptive route adjustment may be implemented, to improve the robustness and fault-tolerance of system.
It is provided in a preferred embodiment of the invention, automatic butt and separator execute the first connector and second and connect
The docking connect between device includes:
Claw is stretched out by automatic butt and separator；
By automatic butt and the mobile claw of separator it is engaged with the second connector of passive device；
Claw is retracted by automatic butt and separator；And
The first connector is docked with the second connector by automatic butt and separator.
In the preferred embodiment, by stretching out claw can be not necessarily to insert to realize docking with passive device clamping lock
Head and socket realize reliable docking in the case where being accurately aimed at, because biggish capture range and readily may be implemented in claw
Clamping lock, and claw has better flexibility and mobility.
It is provided in an expansion scheme of the invention, this method further include:
Lower single instrction is received from user by the mobile application on user equipment；
Charge information is received from automatic charging vehicle by mobile application after charging complete；And
Charge information is shown from mobile application to user.
By the expansion scheme, may be implemented on the mobile apparatus place an order and operation for paying the fee, be achieved in preferably remote
Process automation operation.
It provides in another preferred embodiment of the invention, the automatic charging vehicle further includes auxiliary power module, described auxiliary
The power module is helped to include:
Input terminal is configured as receiving inputing power；
Conversion module is configured as converting inputing power；
Absorbing circuit is configured as absorbing energy that driving motor is generated in braking and when descending to prevent accessory power supply
There is overvoltage in the output terminal of module；And
Output terminal is configured as output electric energy.
By the preferred embodiment, automatic charging vehicle or auxiliary power module are no longer needed using large volume of lead acid storage battery
Pond is taken up space to simplify the structure of charging vehicle and reduce.
In the third aspect of the present invention, foregoing task is solved by a kind of automatic charging system, which includes:
Automatic charging vehicle, comprising:
Automatically walk module is configured as being advanced to according to the route between automatic charging vehicle and charging equipment wait fill
Electric equipment；
Power module is configured as storing and providing electric energy；
Automatic butt and separator, be configured as execute the first connector with can with the first connector be in electrical contact
Docking and separation between second connector, wherein the first connector and the second connector are used for transmission electric energy；And
Remote communication module is configured as with Server remote communicating；
Mobile application on user equipment is configured as executing following movement:
It receives user credential from user and user credential is sent to server and authenticate；
Lower single instrction is received from user and lower single instrction is sent to server, and the lower single instrction includes charging equipment
Position and charge volume；
Charge information is received from server after charging complete；And
Charge information is shown to user；And
Server is configured as executing following movement:
User credential is authenticated；
Send lower single instrction to corresponding automatic charging vehicle；
It determines the route between automatic charging vehicle and charging equipment and the route is sent to automatic charging vehicle；And
Charge information is calculated after charging complete and the charge information is sent to mobile application.
The present invention at least have it is following the utility model has the advantages that (1) by the invention it is possible to realize automatically walk and automatic butt with
And automatic charging, human input is thus greatly reduced, is thus conducive to the universal of automatic charging vehicle, and due to cloud in recent years
It calculates and the rise of artificial intelligence is, it can be achieved that the accurate positioning of automatic charging vehicle and the control of accurate automation remote；(2) pass through
Both operations are charged and discharged using single transformation of electrical energy unit, eliminates using multiple transformation of electrical energy units and is filled
The needs of discharge operation, This reduces both device costs, also reduce line cost, while also reducing the sky of charging/discharging apparatus
Between demand, allow charging/discharging apparatus towards low cost, densification direction develop, moreover, because this structure, the present invention only need
A port is both electrically operated to carry out charge and discharge, thus reduces port number, so that cost reduces, user's operation is simplified；
(3) in the present invention, it is stretched out by the claw of aggressive device can be not necessarily to passive device clamping lock to realize docking
Plug and socket realizes reliable docking in the case where being accurately aimed at, because claw may be implemented biggish capture range and be easy
Clamping lock, and claw have better flexibility and mobility.
Detailed description of the invention
With reference to specific embodiment, the present invention is further explained with reference to the accompanying drawing.
Fig. 1 shows the schematic diagram of automatic charging system according to the present invention；
Fig. 2 shows the schematic diagrames of automatic charging vehicle according to the present invention；
Fig. 3 a- Fig. 3 c shows the schematic diagram of automatic butt according to the present invention and separator；
Fig. 3 d shows the sectional view of the passive device of automatic butt according to the present invention and separator；
Fig. 4 shows the schematic diagram of power module according to the present invention；And
Fig. 5 shows the schematic diagram of auxiliary power module according to the present invention.
Specific embodiment
It should be pointed out that each component in each attached drawing may be shown in which be exaggerated in order to illustrate, and it is not necessarily ratio
Example is correctly.In the drawings, identical appended drawing reference is equipped with to the identical component of identical or function.
In the present invention, unless otherwise indicated, " on being arranged in ... ", " being arranged in ... top " and " on being arranged in ... "
Do not exclude the case where there are intermediaries therebetween.
In the present invention, each embodiment is intended only to illustrate the solution of the present invention, and is understood not to restrictive.
In the present invention, unless otherwise indicated, quantifier "one", " one " and the scene for not excluding element.
It is also noted herein that in an embodiment of the present invention, for it is clear, for the sake of simplicity, might show only one
Sub-unit or component, but those skilled in the art are it is understood that under the teachings of the present invention, it can be according to concrete scene
Need to add required component or component.
It is also noted herein that within the scope of the invention, the wording such as " identical ", " equal ", " being equal to " are not meant to
The two numerical value is absolutely equal, but allows certain reasonable error, that is to say, that the wording also contemplated " substantially phase
Together ", " being essentially equal ", " being substantially equal to ".
In addition, the number of the step of each method of the invention limit the method step execute sequence.Unless special
It does not point out, various method steps can be executed with different order.
It should also be noted that although the present invention be with motor vehicles charging scene shown in, but the invention is not restricted to this,
But it can be also used for the docking of other purposes.And in the present invention, the position of plug and socket can be interchanged, and other
The connector of form is also conceivable.
Finally, in the present invention, term " sensor " should be understood as covering all sensors of certain class sensor,
Such as camera may include monocular cam, binocular camera, depth camera etc.；Laser radar may include single line laser thunder
It reaches, multi-line laser radar etc..
Fig. 1 shows the schematic diagram of automatic charging system 100 according to the present invention.
As shown in Figure 1, automatic charging system 100 is answered including the movement in automatic charging vehicle 102, user's mobile device 102
With 103 and server 105.Automatic charging vehicle 101 can by radio reception device, such as Wi-Fi router 106 access because
Special net 104, to be communicated with server 105.Automatic charging vehicle 101 can also can pass through other radio reception devices and service
Device 105 communicates, or connect directly with the communication of server 105, such as by cellular radio.User equipment 102 also accesses internet
104 with server 105 to communicate.In order to improve safety, between user equipment 102 and server 105 and automatic charging
Communication between vehicle 101 and server 105 can be coded communication.User equipment 102 can be such as smart phone, plate meter
The mobile device of calculation machine, laptop computer etc is also possible to the fixed equipments such as desktop computer.In other embodiments, it services
Communication between device 105, automatic charging vehicle 101 and user equipment 102 is realized by enterprise network, dedicated network, local area network etc..
Each component of automatic charging system 100 is described below:
Automatic charging vehicle 101, comprising:
Automatically walk module (not shown), is configured as according to automatic charging vehicle 101 and charging equipment, such as electric vehicle
Route between advances to charging equipment.Automatically walk module is for example including automatic Pilot module, vehicle chassis and swashs
Optical radar sensor and/or ultrasonic radar sensor, wherein automatic Pilot module is configured as according to the route determination row
Operation is sailed, vehicle chassis is configured as executing the mobility operation, and automatic Pilot module is sensed according to the laser radar
The sensor signal of device and/or ultrasonic radar sensor determine the barrier in the route redefine mobility operation and/
Or update the route.Mobility operation or the real-time update process of route are for example are as follows: by laser radar sensor and/or surpass
Sound radar sensor can for example obtain radar or ultrasound image on surrounding or route；It then can by analysis described image
To learn that whether there are obstacles on route, such as personnel, movement or temporary obstructions；There is the barrier that not can bypass
In the case of, other routes from charging vehicle current location to vehicle to be charged are calculated by GPS or electronic map program；Or
In the case where can bypass barrier, the mobility operation for turning to, waiting for parking etc. additionally or alternatively is determined.The barrier that not can bypass
Fixed obstacle for example including block most road, and can bypass barrier for example including pedestrian, barrier on the move
Etc..The automatic Pilot module for example may include positioning navigation module, path planning module and control execution module.
The positioning navigation module such as through the following steps a-e executes location navigation:
A. positioning navigation module utilizes laser radar point cloud data during the motion and assists with other biographies such as odometer
Sensor information, carries out the determination of car body position and course, and creates map and carry out real-time update.
B. preset magnet-wire in garage floor, positioning navigation module detects travel line by magnetic sensor, and assist with
The sensors such as laser radar, camera, ultrasonic radar carry out other environment sensing operations.
C. multiple wireless signal launch points are preset in garage, positioning navigation module passes through fixed RF label and mobile radio
The geometrical relationship of distance between label calculates the real-time position information of vehicle, and assists with laser radar, camera, ultrasonic wave
The sensors such as radar carry out other environment sensing operations.
D. lane wire tag is preset in garage floor, positioning navigation module perceives lane line position by camera, carries out
Path tracing operation, lane wire tag herein are not limited to the lane line on conventional road, should include other are continuous, from
It is scattered, regular, irregular that the label of navigation information can be provided.
E. in garage predetermined trajectory, charging vehicle is moved on guide rail by devices such as guide rail bracket, idler wheels, and guide rail herein is not
Be confined to be laid on the guide rail on ground, should include other can connect with mobile charging stake and provide it is mobile guide it is wall-mounted,
Hanging guide rail.
F. positioning navigation module perceives ambient enviroment image, point cloud data, and passes through channel radio from camera, laser radar
T unit transmits it to control centre, and control centre is according to the received environmental information of institute, remote control intelligent mobile charging pile
To reference position.
G. positioning navigation module carries out location navigation according to the GPS location information provided and electronic map, and assist with
The sensors such as laser radar, camera, ultrasonic radar carry out other environment sensing operations.
Path planning module for example may include:
Global path decision-making module is cooked up one and is kept away according to the priori cartographic information that location navigation submodule provides
Open known barrier, connect starting point and target point can pass；
Local path decision-making module passes through laser radar, camera shooting according to the routing information that global path planning provides
The sensors such as head, ultrasonic radar, millimetre-wave radar, infrared range-measurement system, the letter such as barrier that real-time perception traveling occurs on the way
Breath, and execute avoidance operation.Avoidance operation includes: the path of deceleration, parking, modification global path planning offer, gives up the overall situation
New path is simultaneously planned again in the path of path planning offer.
Power module is configured as storing and providing electric energy.Power module through the invention, can be using single electricity
Can converter unit realize both charge and discharge, and single port can be used to carry out charge and discharge.About power module into
One step details, please refers to Fig. 4 and its description.
Automatic butt and separator, be configured as execute the first connector with can with the first connector be in electrical contact
Docking and separation between second connector, wherein the first connector and the second connector are used for transmission electric energy.It is of the invention from
Dynamic docking and separator use claw realization accurately and reliably to dock and separate.About automatic butt and separator into
One step details please refers to Fig. 3 a- Fig. 3 d.
Remote communication module is configured as with Server remote communicating.Remote communication module for example can be wirelessly
Communication module, such as Wi-F i module, bluetooth module, Z i gBee module, infrared communication module.
Optional accounting module is configured as carrying out charging, charging to the expense that the charging because of charging equipment generates
Module for example may include intelligent electric meter.
Mobile application 103 on user equipment is configured as executing following movement:
It receives user credential from user and user credential is sent to server and authenticate or authenticate.User credential is for example
It can be character password, voice, fingerprint etc..
Lower single instrction is received from user in the case of successful certification and lower single instrction is sent to server 105, it is described
Lower single instrction includes position and the charge volume of charging equipment.The position for example may include parking lot parking stall number or
Specific map location information.
Charge information is received from server 105 after charging complete.
Charge information is shown to user.Charge information can for example be shown on mobile application 103.
Server 105 is configured as executing following movement:
User credential is authenticated.
Send lower single instrction to corresponding automatic charging vehicle 101.For example, server 105 both can be directly to automatic charging
Vehicle 101 sends lower single instrction, can also be sent to it the position of design parameter, such as charging time, charging equipment.
It determines the route between automatic charging vehicle 101 and charging equipment and the route is sent to automatic charging vehicle
101.Route determination can both be executed by special service provider, can also be calculated by server 105.Route determination process example
Such as are as follows: by GPS or electronic map program, (optimal) route from charging vehicle current location to vehicle to be charged can be calculated, or
Various electronic markers, such as RF tag or wireless signal launch point also can be set in person in parking lot, so that charging vehicle 101 can
To accurately find corresponding parking stall by identifying the electronic marker.
Charge information is calculated after charging complete and the charge information is sent to mobile application 103.User is in movement
Confirmed and paid using after receiving charge information on 103.Fig. 2 shows showing for automatic charging vehicle 101 according to the present invention
It is intended to.
As shown in Fig. 2, automatic charging vehicle 101 mainly includes automatically walk module 206, docking and separator 205, power supply
Module (including energy-storage battery 202 and charge control box 203) and car body are constituted.
The workflow of automatic charging vehicle 101 is described below.
User places an order on mobile application 103, and server 105 is believed according to user's order placement information, automatic charging vehicle 101 itself
Breath etc. assigns charging instruction to automatic charging vehicle 101 by dispatching algorithm.
The master control borad 209 of automatic charging vehicle 101 receives charging instruction, is Maked Path by automatically walk module 206 with row
Go to target point, i.e. charging equipment.
In the process of walking, such as 2 laser radars 201 and such as 8 204 real-time monitoring road roadblocks of ultrasonic radar
Hinder object situation, if discovery forward path is blocked, then automatically walk module 206 understands planning path again, until reaching target
Point.
After reaching target point, automatic butt and separator 205 are connected with charging equipment, such as electric car automatically
It connects, wherein preparation is correctly completed, power supply mould after the charge control box 203 of power module determines each component successful connection
The energy-storage battery 202 of block starts electric discharge to charge to charging equipment.
Charge control box 203 detects the data in charging process, and data are synchronized to service in real time by master control borad 209
Device 105 and/or cloud, after the electric discharge of energy-storage battery 202 completion/or reaching ownership goal electricity, automatic butt and separation dress
205 are set automatically with electric car connection breaking, and are waited master control borad (9) to assign instruction, are such as returned recovery room and mend electricity to charging vehicle 101
(in order to avoid obscuring with the charging of charging equipment, being alternatively referred to as " mending electricity " to the charging of charging vehicle) or go next target
Point charges to charging equipment.
When any one of above process part is broken down, process can be stopped by emergency stop device 208.
The present invention at least have it is following the utility model has the advantages that (1) by the invention it is possible to realize automatically walk and automatic butt with
And automatic charging, human input is thus greatly reduced, is thus conducive to the universal of automatic charging vehicle, and due to cloud in recent years
It calculates and the rise of artificial intelligence is, it can be achieved that the accurate positioning of automatic charging vehicle and the control of accurate automation remote；(2) pass through
Both operations are charged and discharged using single transformation of electrical energy unit, eliminates using multiple transformation of electrical energy units and is filled
The needs of discharge operation, This reduces both device costs, also reduce line cost, while also reducing the sky of charging/discharging apparatus
Between demand, allow charging/discharging apparatus towards low cost, densification direction develop, moreover, because this structure, the present invention only need
A port is both electrically operated to carry out charge and discharge, thus reduces port number, so that cost reduces, user's operation is simplified；
(3) in the present invention, it is stretched out by the claw of aggressive device can be not necessarily to passive device clamping lock to realize docking
Plug and socket realizes reliable docking in the case where being accurately aimed at, because claw may be implemented biggish capture range and be easy
Clamping lock, and claw have better flexibility and mobility.
Fig. 3 a- Fig. 3 c shows the schematic diagram of automatic butt according to the present invention and separator 205, and wherein Fig. 3 a is shown
The schematic diagram of automatic butt according to the present invention and separator 205, Fig. 3 b show automatic butt according to the present invention and
The schematic diagram of the aggressive device 301 of separator 205, Fig. 3 c show automatic butt according to the present invention and separator 205
Aggressive device 301 executing agency schematic diagram；And Fig. 4 shows automatic butt according to the present invention and separator
The sectional view of 205 passive device 302.
Fig. 3 a shows the schematic diagram of automatic butt according to the present invention and separator 205.
As shown in Figure 1, automatic butt and separator 205 include aggressive device 301 and passive device 302.Aggressive device
301 have executing agency (being not shown, be detailed in Fig. 3 b) and claw 303.Here, claw 303 includes two claws, for stablizing
Crawl.Claw 303 is configured to V-arrangement indent herein, so that when cooperating with passive device 302, realization is looked for the heart automatically and is registrated.
Aggressive device 100 optionally includes connector, such as plug 304, and passive device 302 has the company that can be matched with aggressive device
Device, such as socket 305 are connect, wherein the connection between plug and socket is realized, to realize charging, electric discharge etc. in docking operation
Operation.Passive device 302 for example may be mounted at mobile charging stake, for realizing docking between aggressive device 301.Quilt
Dynamic device 102 has tolerance device for providing to the resistance to of the relative movement between passive device 302 and aggressive device 301
By property, such as: pitching movement, the yawing rotation, low-angle of the socket of passive device 302 are realized by the connection of ball axis and casing
These three tolerances of rolling movement；By thrust spring, that realizes socket moves forward and backward Allowance Design；By jacking spring, realize
The Allowance Design that plug moves up and down.
Mobile charging stake installs electronic component by back plastic casing and realizes temperature alarming and control, passes through center circle
The screw hole of disk installs passive device, to realize the removable of passive device, installs charging cable by surrounding wire casing.
Docking and isolated process are as follows: claw 303 is in the case where aggressive device 301 and passive device 302 are undocked
It is engaged from the stretching of aggressive device 301 under the drive of executing agency and with passive device 302 and under the drive of executing agency
It retracts so that aggressive device 301 is docked with passive device 302, and the claw 303 is in aggressive device 301 and passive device
302 docked in the case where passive device 302 can be separated under the drive of executing agency with aggressive device 301, such as push away
From or detach or disconnect.Here, " occlusion " refers to Mechanical Contact and clamping lock, enable claw 303 when retracting aggressive device
It is relatively fixed with passive device, and the clamping lock can be unclamped in separation.The drive process of executing agency is for example are as follows: first
First, two claws 303 are laterally mobile to open to both sides (i.e. transverse to its length direction), so that between two claws 303
Space can accommodate passive device 302 or its socket 305, then longitudinally (i.e. in its longitudinal direction) move with will be passive
Device 302 or its socket 305 surround, most latter two claw 103 laterally move inward with passive device 302 or its socket
305 clamping locks.The moving range of claw 303 can be set to it is larger, with to exist in aggressive device 301 and passive device 302
Still reliable docking is realized when compared with big shearing.It should be noted here that the number of claw 303 is only exemplary, other
In embodiment, claw, such as one or three claws of other numbers can be set.
Fig. 3 b shows the schematic diagram of the aggressive device 301 of automatic butt according to the present invention and separator.
The device that aggressive device 301 is moveable, actively docks with passive device 302.In the present invention, aggressive device
301 can in extremely limited space (such as 380mm*293mm* 165mm), maximumlly realize it is a wide range of capture with it is right
It connects, may be implemented to realize capture in certain lateral extent (such as ± 93mm) centered on plug and docks.
As shown in Figure 3b, aggressive device 301 includes following component (some of components are optional):
Shell 403 is configured as accommodating each component of aggressive device 401.Shell 403 can by hard material, such as
Plastics, metal are made to provide some strength.
Claw 303, there are two claws 303 to realize more stable docking for configuration herein.Claw 303, which has, to be connected to
The support arm 406 of its end.Support arm 406 is used to carry the concave cephalad for clamping lock of claw 403.The concave cephalad of claw 403
It is connect by support arm with transverse movement guide rail 401 and longitudinal movement guide rail 402, to realize the horizontal and vertical movement of claw 403.
Movement mechanism, including transverse motion mechanism and longitudinal motion mechanism, wherein transverse motion mechanism includes laterally transporting
Dynamic guide rail 401 and lateral driver device 408, and longitudinal motion mechanism includes longitudinal movement guide rail 402 and longitudinal driving device
407.Driving device can be motor, such as stepper motor.Horizontal and vertical guide rail 401 and 402 is arranged in pairs to be two respectively
A claw 303 provides guidance.Lateral driver device 408 and longitudinal driving device 407 by laterally driven synchronous belt and are indulged respectively
The horizontal and vertical movement of claw is driven to driving synchronous belt (not shown).Movement mechanism optionally is provided with transverse movement stroke
Switch 404 and longitudinal movement travel switch 405 are with the range for limiting horizontal and vertical movement.Travel switch 404 and 405
It is such as arranged in pairs in the end or intermediate somewhere of respective track.Trigger point of the travel switch as signal controls each to fortune
Dynamic stroke protects system safety operation, motor driving is avoided to damage structural member.
Plug 410 is configured to dock with the socket of passive device.Plug 410 is for example centrally disposed in
Between two claws 303.Whether plug 410 optionally has docking probe 409 with successfully right for test plug and socket
It connects.Docking probe 409 can be Magnetic Sensor, proximity sensor, Hall sensor, pressure sensor etc., wherein inserting
After head docks successfully with socket, sensor provides corresponding signal.
Controller 411, such as be configured as positioning aggressive device 301, so that aggressive device 301 and passive
Device 302 is substantially aligned with.The position fixing process can for example be realized by GPS signal, image procossing and ranging.In addition, control
Device 411 processed can also optionally execute abnormal conditions processing, docking or cut-off signal it is long-range receive and processing, subscription authentication,
The operation such as charging accounting.
Power supply 412, for example including multiple rechargeable batteries or battery.Power supply 412 is configured as to the machine of docking
Dynamic Vehicular charging, or optionally can also be to each component of aggressive device 301 and/or passive device 302, especially driving dress
It sets and is powered.Power supply 412 is optionally, on the contrary, automatic butt and separator 205 can also be by automatic charging vehicles herein
101 power module is powered.
Fig. 3 b shows the executing agency 500 of the aggressive device 301 of automatic butt according to the present invention and separator
Schematic diagram.
Executing agency 500 is for providing the horizontal and vertical locomitivity of claw 303, and wherein transverse movement is to pass through motor
Synchronous pulley rotation is driven, using the relative motion between synchronous belt upper layer and lower layer, support arm and claw movement are driven, to realize card
The holding and opening of pawl are to automatic centering；Longitudinal movement can be realized the stretching and withdrawal of claw, be pair of plug and socket
It connects and separates and power is provided.
Each component (some of components are optional) of executing agency 500 is described below:
Longitudinal motion mechanism comprising longitudinal movement guide rail 402, longitudinal movement travel switch 405, longitudinal driving device
407, zigzag tread patterns synchronous belt 504 and rail brackets 503.Longitudinal motion mechanism is used to provide for claw 303 longitudinal, i.e. flat
Row is in the locomitivity of claw length direction.For this purpose, longitudinal driving device 407, such as 504 turns of motor driven zigzag tread patterns synchronous belt
Dynamic, zigzag tread patterns synchronous belt 504 drives claw 303 to move along longitudinal movement guide rail 402 again.Longitudinal movement travel switch 405
It is arranged in the corresponding position (such as end or intermediate somewhere) on longitudinal movement guide rail 402, to limit the range of vertical shift.It leads
Rail bracket 503 is for supporting longitudinal movement guide rail 402.
Transverse motion mechanism comprising transverse movement guide rail 408, laterally driven synchronous belt (not shown), transverse movement
Travel switch 404, transverse movement guide rail mounting plate 502, lateral driver device (not shown).Transverse motion mechanism is used to be claw
303 are provided laterally, i.e. transverse to the locomitivity of (such as perpendicular to) claw length direction.For this purpose, lateral driver device, such as motor
Laterally driven synchronous belt is driven to rotate, laterally driven synchronous belt drives claw 303 to move along transverse movement guide rail 408 again.It is horizontal
It is arranged in the corresponding position (such as end or intermediate somewhere) on transverse movement guide rail 408 to movement travel switch 404, with limitation
The range of transverse shift.Transverse movement guide rail mounting plate 502 is for supporting transverse movement guide rail 408.
Fig. 3 d shows the sectional view of the passive device 302 of automatic butt according to the present invention and separator.
Passive device 302 uses Arm Flexible design scheme, can increase the tolerance to tolerance, and can reduce knot
The complexity of structure.In the present invention, socket 305 has 5 freedom degrees, is respectively as follows:
(1) (2) socket 305 carries out pitching movement (moving up and down in figure) between ball axis 607 and limit casing 604
With yawing rotation (movement on i.e. vertical attached drawing direction)；
(3) low-angle rolling movement of the socket 305 around central axis；
(4) elastic telescopic for utilizing thrust spring 609, realizes moving forward and backward for socket 305；
(5) using the elastic telescopic of jacking spring 610, the up and down motion of socket 305 is realized.
By the way that these freedom degrees are arranged, it can be achieved that height adaptive between plug and socket docks, and structure letter
Single, processing cost substantially reduces.
Each component (some of components are optional) of passive device 302 is described below:
Socket 305 is used to connect with the plug of aggressive device 301 to transmit electric energy, such as be charged and discharged.Other shapes
The connector of formula is also conceivable.In addition, aggressive device 301 can also use socket, and passive device 302 is using slotting
Head.Socket 305 is fixed by plug fixing seat 606, wherein for example shape cooperates and is fixed to each other therebetween, and plug
Fixing seat 606 is fixedly connected further through fixing piece, such as screw or nut with guide pipe 605.
Tolerance device is used to provide multiple freedom degrees for socket 305.Tolerance component includes following assemblies.Ball axis 607
It is socketed on socket 305 to provide certain mobility for socket 305.The opening of ball axis 607 for example can horizontal and
There is certain size, to provide the activity limitation to socket 305 on vertical direction.Horn mouth 608 is contacted or is connect with ball axis 607
It closes.There is horn mouth 608 horn-like or conical shape to be moved forward and backward with the thrust for receiving socket 305 with realizing,
Middle horn mouth 605 has the protrusion for pushing thrust spring 608.The other end of thrust spring 609 is resisted against thrust spring
Reaction force is provided on guide holder 603 with the elastic force for thrust spring 609.Thrust spring guide holder 603 is again solid with guidance set
The fixation that reservation 611 is contacted or engaged to realize each guidance set.Be oriented to fixing seat 611 in vertical direction with jacking spring
610 contacts are to push jacking spring 610 to realize the up and down motion on the direction of guidance set 301.Jack spring 610
The other end can be contacted with the end of corresponding component to provide the reaction force of elastic force.Limit casing 604 be socketed in ball axis 607,
It fixes in a part of horn mouth 608 and thrust spring guide holder 603 and corresponding thereto, it is solid to be provided for these components
Determine portion and receiving portion.
Installation and bearing assembly, are used to provide erectility and bearing.External mounting base 602 is arranged in outside, with
For providing external erectility.Tooling bracket 612 is arranged in the lower part of passive device 302, for supporting passive device
302 each component.Sliding foot 612 on tooling bracket 612 is for providing the mobility of passive device 302.
It is stretched out by the claw 303 of aggressive device 301 can be not necessarily to passive device clamping lock to realize docking
Plug and socket realizes reliable docking in the case where being accurately aimed at because claw 303 may be implemented biggish capture range and
Easy clamping lock (for example, passive device and therewith clamping lock or unlock are captured by horizontal and vertical movement)；It is of the invention from
The passive device 302 of dynamic docking and separator 205 has multiple freedom degrees, thus can realize the tolerance in multiple directions, from
And be conducive to smoothly dock；In the present invention, claw 302 use concave inward structure, can easily with passive 302 clamping lock of device in place
And can realize that readily unlock is without additional set-up procedure, to realize reliable docking and separation.
Fig. 4 shows the schematic diagram of power module 700 according to the present invention.Power module 700 can be configured as to
Charging equipment, such as electric vehicle charging.In one embodiment, power module 700 includes one or more large-capacity batteries
To supply electric vehicle charging.
As shown in figure 4, power module 700 includes following component:
Transformation of electrical energy unit 701 is configured to the AC energy obtained from power grid being converted into direct current energy
And the direct current energy stored by energy-storage battery group 702 can be converted into AC energy or direct current energy.Transformation of electrical energy unit
701 for example with AC/DC converter (such as three-phase AC/DC converter) and DC/AC or DC/DC converter.
Energy-storage battery group 702 is configured to be electrically charged in the charge state and be put in the discharged condition
Electricity.Energy-storage battery group 102 may include single battery or multiple batteries.In the case where multiple batteries, the battery can be gone here and there
Join or is connected in parallel.Energy-storage battery group 702 for example can be battery or lithium ion battery.
Charge and discharge electric connecting terminal 703 is configured as connection charge power supply or charging equipment or load.Charge power supply
Or charging equipment for example can be charge power supply, such as power grid, battery.Load can be various electrical appliances, such as move
Equipment or electric appliance.
Charge switch, including the first charge switch 701a and the second charge switch 701b, wherein the first charge switch
701a is arranged in the connection line between charge and discharge electric connecting terminal 703 and the input terminal IN of transformation of electrical energy unit 701, and second
Charge switch 701b is arranged in the connection line between the output end OUT of transformation of electrical energy unit 701 and energy-storage battery group 702,
It wherein can be by being for example connected to charging connection in the case where the first charge switch 701a and the second charge switch 701b is closed
Power grid on end 703 charges (referring to charging current direction) to energy-storage battery group 702.
Discharge switch, including the first discharge switch 702a and the second discharge switch 702b, wherein the first discharge switch
702a is arranged in the connection line between energy-storage battery group 702 and the input terminal IN of transformation of electrical energy unit 701, and second
Discharge switch 702a is arranged in the connection line between the output end OUT of transformation of electrical energy unit and charge and discharge electric connecting terminal 703,
In the first discharge switch 702a and the second discharge switch closure 702b in the case where can discharge energy-storage battery group, example
Such as to supply the battery being connected on charge and discharge electric connecting terminal 703 charging or to the load supplying being connected thereto.First charging is opened
Close 701a, the second charge switch 701b, the first discharge switch 702a and the second discharge switch 702b are contactor, such as relay,
It is achieved in the switch on and off of electronization.
The workflow of power module 700 of the invention is described below.
Charging process: it artificially or is under the control of the controller closed the charging of the first charge switch 701a and second and opens
Pass 701b, alternating current or DC current enter transformation of electrical energy unit 701 from AC network or other power supplys, and are converted into suitable
In the electric current and voltage that charge to energy-storage battery group 702.
Discharge process: it artificially or is under the control of the controller closed the electric discharge of the second discharge switch 702a and second and opens
Close 702b, electric current energy-storage battery group 702 enter transformation of electrical energy unit 701, and be converted into be suitable for be connected to charge and discharge electrical connection
Electric loading power supply or battery on end 703 charge or are fed into AC network to power to power grid.
By the power module 700, eliminates using multiple transformation of electrical energy units and carry out the electrically operated needs of charge and discharge, and
It is that single transformation of electrical energy unit 701 can be used to charge and discharge both operations, This reduces both device costs, also reduce
Line cost, while also reducing the space requirement of charging/discharging apparatus allows charging/discharging apparatus towards low cost, densification
Direction is developed；In addition, needing a port only to carry out the electrically operated the two of charge and discharge, port number is thus reduced, so that cost drops
Low, user's operation is simplified.
Fig. 5 shows the schematic diagram of auxiliary power module 800 according to the present invention.Auxiliary power module 800 includes input
Terminal 801, conversion module 802, output terminal 803 and absorbing circuit 804.The auxiliary power module 800 for example can be by storing up
Energy battery pack is powered via input terminal 801, the low-voltage dc power supply (such as 48V) that the auxiliary power module 800 exports
It is automatic Pilot module, accounting module, remote communication module, automatically walk module and/or automatic right via output terminal 803
It connects and powers with separator etc..Automatically walk module includes at least one motor driver 805 and at least one driving motor
806.Absorbing circuit 804 is configured as absorbing the energy that driving motor 806 is generated in braking and/or descending, prevents auxiliary electricity
803 over-voltage of output terminal of source module 800.DC chopper circuit or other active/passives can be used in over-voltage absorption module 804
Over-pressure safety device.By the expansion scheme, automatic charging vehicle or auxiliary power module 800 are no longer needed using large volume of
Lead-acid accumulator is taken up space to simplify the structure of charging vehicle and reduce.
Although some embodiments of the present invention are described in present specification, those skilled in the art
Member is it is understood that these embodiments are merely possible to shown in example.Those skilled in the art under the teachings of the present invention may be used
To expect numerous variant schemes, alternative solution and improvement project without beyond the scope of this invention.The appended claims purport
It is limiting the scope of the invention, and is covering the method in the range of these claims itself and its equivalents and knot whereby
Structure.
Claims (16)
1. a kind of automatic charging vehicle, comprising:
Automatically walk module is configured as advancing to be charged set according to the route between automatic charging vehicle and charging equipment
It is standby；
Power module is configured as storing and providing electric energy；And
Automatic butt and separator are configured as execute the first connector with can be in electrical contact with the first connector second
Docking and separation between connector, wherein the first connector and the second connector are used for transmission electric energy.
2. automatic charging vehicle according to claim 1, also there is locating module, be configured to determine that automatic charging vehicle with
Route between charging equipment.
3. automatic charging vehicle according to claim 1, wherein automatically walk module includes:
Automatic Pilot module is configured as according to the route determination mobility operation；
Vehicle chassis is configured as executing the mobility operation；And
Laser radar sensor and/or ultrasonic radar sensor, wherein automatic Pilot module is sensed according to the laser radar
The sensor signal of device and/or ultrasonic radar sensor determine the barrier in the route redefine mobility operation and/
Or update the route.
4. automatic charging vehicle according to claim 3, wherein automatic Pilot module includes:
Positioning navigation module is configured to determine that the position of automatic charging vehicle and the position of charging equipment；
Path planning module is configured as being determined according to the position of automatic charging vehicle and the position of charging equipment from filling automatically
Electric car is to the route between charging equipment；And
Execution module is controlled, is configurable to generate control instruction, the control instruction is for controlling automatic charging vehicle described in
Route running.
5. automatic charging vehicle according to claim 1, further includes:
Accounting module, the accounting module include ammeter, wherein the ammeter is configured as in measurement discharge process to be charged
The electric flux that equipment provides, and controller is additionally configured to calculate charging expense according to rate and the electric flux；And
Remote communication module is configured as remotely receiving charging instruction and remotely sends charging expense.
6. automatic charging vehicle according to claim 1, wherein power module includes:
Transformation of electrical energy unit is configured to for the AC energy obtained from power grid to be converted into direct current energy and can incite somebody to action
AC energy or direct current energy are converted by the direct current energy that energy-storage battery group stores；
Energy-storage battery group is configured to be electrically charged and be discharged in the discharged condition in the charge state；
Charge and discharge electric connecting terminal is configured as connection charge power supply or charging equipment or load；
Charge switch, including the first charge switch and the second charge switch, wherein the first charge switch is arranged in charge and discharge electrical connection
In adapter path between end and the input terminal of transformation of electrical energy unit, and the second charge switch is arranged in transformation of electrical energy unit
In adapter path between output end and energy-storage battery group, wherein the case where the first charge switch and the second charge switch are closed
Under can charge to energy-storage battery group；And
Discharge switch, including the first discharge switch and the second discharge switch, wherein the first discharge switch is arranged in energy-storage battery group
In adapter path between the input terminal of transformation of electrical energy unit, and the second discharge switch is arranged in the defeated of transformation of electrical energy unit
In adapter path between outlet and charge and discharge electric connecting terminal, wherein the case where the first discharge switch and the second discharge switch are closed
Under can discharge energy-storage battery group.
7. automatic charging vehicle according to claim 6 is configured as holding wherein the power module further includes controller
The following movement of row:
The first charge switch and the second charge switch are closed in the case where receiving indicates the charging signals for executing charging operations；
And
The first discharge switch and the second discharge switch are closed in the case where receiving indicates the discharge signal for executing discharge operation.
8. automatic charging vehicle according to claim 1, wherein the automatic butt and separator include:
Aggressive device, with executing agency, claw and the first connector, wherein the claw is in aggressive device and passive device
It can be stretched out under the drive of executing agency from aggressive device in the case where undocked and be engaged and executing with passive device
It retracts under the drive of mechanism so that the first connector of aggressive device is docked with the second connector of passive device, and the card
Pawl can be connect under the drive of executing agency by the first of passive device in the case where aggressive device is docked with passive device
Device is separated with the second connector of aggressive device；And
Passive device has the second connector that can cooperate with the first connector, and the passive device can be can unclamp
Mode be engaged with claw.
9. automatic charging vehicle according to claim 8 is set, wherein aggressive device further includes transverse motion mechanism and longitudinal fortune
Motivation structure, wherein transverse motion mechanism includes transverse movement guide rail and laterally driven synchronous belt and longitudinal motion mechanism includes vertical
To motion guide rail and zigzag tread patterns synchronous belt, and executing agency includes lateral executing agency and longitudinal executing agency, wherein blocking
Pawl can respectively by lateral executing agency and longitudinal executing agency by synchronous cross band and longitudinal synchronous belt drive so as to along
Transverse movement guide rail and longitudinal movement guide rail laterally and longitudinally move respectively.
10. automatic charging vehicle according to claim 1, further includes auxiliary power module, the auxiliary power module includes:
Power conversion module is automatically walk module, automatic butt and separation for converting the electric energy of energy-storage battery group
Device, automatic Pilot module, accounting module, and/or remote communication module power supply；And
Over-voltage absorption module, for absorbing the energy that automatic charging vehicle is generated in braking and/or descending to avoid power supply conversion
The output end of module generates overvoltage.
11. automatic charging vehicle according to claim 1, further includes auxiliary power module, the auxiliary power module includes:
Input terminal is configured as receiving inputing power；
Conversion module is configured as converting inputing power；
Absorbing circuit is configured as absorbing the energy that generates in braking and/or descending of driving motor to prevent accessory power supply
There is overvoltage in the output terminal of module；And
Output terminal is configured as output electric energy.
12. a kind of for running according to claim 1 to the method for automatic charging vehicle described in one of 11, comprising:
Route between automatic charging vehicle and charging equipment is determined by server；
According to the route running to charging equipment, wherein the charging equipment is electrically connected with the second connector；
Docking between the first connector and the second connector is executed by automatic butt and separator；
It is charged by electric power source pair of module charging equipment；And
Separating between the first connector and the second connector is being executed by automatic butt and separator after charging complete.
13. according to the method for claim 12, further includes:
Described in being determined as automatically walk module according to the sensor signal of laser radar sensor and/or ultrasonic radar sensor
Barrier in route；And
Exist can not cut-through object in the case where update the route and in the case where can bypass barrier again really
Determine mobility operation.
14. according to the method for claim 12, wherein executing the first connector and second by automatic butt and separator
Docking between connector includes:
Claw is stretched out by automatic butt and separator；
By automatic butt and the mobile claw of separator it is engaged with the second connector of passive device；
Claw is retracted by automatic butt and separator；And
The first connector is docked with the second connector by automatic butt and separator.
15. according to the method for claim 12, wherein this method further include:
Lower single instrction is received from user by the mobile application on user equipment；
Charge information is received from automatic charging vehicle by mobile application after charging complete；And
Charge information is shown from mobile application to user.
16. a kind of automatic charging system, comprising:
Automatic charging vehicle, comprising:
Automatically walk module is configured as advancing to be charged set according to the route between automatic charging vehicle and charging equipment
It is standby；
Power module is configured as storing and providing electric energy；
Automatic butt and separator are configured as execute the first connector with can be in electrical contact with the first connector second
Docking and separation between connector, wherein the first connector and the second connector are used for transmission electric energy；And
Remote communication module is configured as with Server remote communicating；
Mobile application on user equipment is configured as executing following movement:
It receives user credential from user and user credential is sent to server and authenticate；
Lower single instrction is received from user and lower single instrction is sent to server, and the lower single instrction includes the position of charging equipment
It sets and charge volume；
Charge information is received from server after charging complete；And
Charge information is shown to user；And
Server is configured as executing following movement:
User credential is authenticated；
Send lower single instrction to corresponding automatic charging vehicle；
It determines the route between automatic charging vehicle and charging equipment and the route is sent to automatic charging vehicle；And
Charge information is calculated after charging complete and the charge information is sent to mobile application.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910265395.0A CN109878355B (en) | 2018-12-28 | 2019-04-03 | Automatic charging vehicle, operation method thereof and automatic charging system |
| EP20782197.6A EP3950409A4 (en) | 2019-04-03 | 2020-03-11 | Automatic charging vehicle and operating method therefor, and automatic charging system |
| PCT/CN2020/078735 WO2020199873A1 (en) | 2018-12-28 | 2020-03-11 | Automatic charging vehicle and operating method therefor, and automatic charging system |
| US17/429,947 US12043132B2 (en) | 2019-04-03 | 2020-03-11 | Automatic charging vehicle and its operating method and automatic charging system |
| SG11202109977VA SG11202109977VA (en) | 2018-12-28 | 2020-03-11 | Automatic charging vehicle and its operating method and automatic charging system |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018116222965 | 2018-12-28 | ||
| CN201811622296 | 2018-12-28 | ||
| CN201910265395.0A CN109878355B (en) | 2018-12-28 | 2019-04-03 | Automatic charging vehicle, operation method thereof and automatic charging system |
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| Publication Number | Publication Date |
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| CN109878355A true CN109878355A (en) | 2019-06-14 |
| CN109878355B CN109878355B (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910265395.0A Active CN109878355B (en) | 2018-12-28 | 2019-04-03 | Automatic charging vehicle, operation method thereof and automatic charging system |
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| Country | Link |
|---|---|
| CN (1) | CN109878355B (en) |
| SG (1) | SG11202109977VA (en) |
| WO (1) | WO2020199873A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109878355B (en) | 2023-12-29 |
| SG11202109977VA (en) | 2021-10-28 |
| WO2020199873A1 (en) | 2020-10-08 |
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