CN116039420A - Omnidirectional Beiwei robot equipment and method for wireless energy storage and charging - Google Patents
Omnidirectional Beiwei robot equipment and method for wireless energy storage and charging Download PDFInfo
- Publication number
- CN116039420A CN116039420A CN202310306287.XA CN202310306287A CN116039420A CN 116039420 A CN116039420 A CN 116039420A CN 202310306287 A CN202310306287 A CN 202310306287A CN 116039420 A CN116039420 A CN 116039420A
- Authority
- CN
- China
- Prior art keywords
- wireless
- charging
- transmitting
- omnidirectional
- energy storage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004146 energy storage Methods 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000007906 compression Methods 0.000 claims description 83
- 230000006835 compression Effects 0.000 claims description 79
- 238000007599 discharging Methods 0.000 claims description 25
- 241000209140 Triticum Species 0.000 claims description 19
- 235000021307 Triticum Nutrition 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 7
- 230000000703 anti-shock Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 230000000877 morphologic effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B60L53/12—Inductive 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive 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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/68—Off-site monitoring or control, e.g. remote control
-
- 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
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides an omnidirectional Beiwei robot device and a method for wireless energy storage and charging, which belong to the field of wireless charging, wherein the omnidirectional Beiwei robot comprises an anti-vibration chassis and an energy storage and charging control device which is detachably arranged on the anti-vibration chassis and provides a charging power supply for an electric automobile, the bottom of the anti-vibration chassis is movably connected with a wireless transmitting and receiving device, and the bottom surface of the anti-vibration chassis is also provided with an omnidirectional steering device.
Description
Technical Field
The invention relates to the technical field of wireless energy storage and wireless charging, in particular to omnidirectional Beiwei robot equipment and method for wireless energy storage and charging.
Background
Under the guidance of realizing the strategic targets of carbon-to-carbon neutralization and double carbon in China, new energy electric vehicles are developed in all countries around the world. The construction of new energy charging facilities has become a bottleneck in the development of electric vehicles.
The wireless charging technology is applied to the field of new energy electric vehicles in the future necessarily development direction, has the advantages of convenience in use, good safety, high automation degree, online energy, no abrasion, long service life and the like, and becomes an effective means and a practical way for solving the charging problem of the electric vehicles, so that the wireless charging technology is more suitable for the interactive development requirement of the intelligent electric vehicles and the intelligent power grid. With the popularization of automatic driving of electric vehicles, full-automatic wireless charging of the electric vehicles is also becoming a steel requirement. The wireless charging and wireless mobile energy storage are natural and absolute in the field of new energy, and the full-automatic wireless mobile energy storage network meets huge market demands in the near future.
The fully automatic wireless mobile energy storage and charging equipment needs to be supported by various technologies, including wireless energy storage technology, wireless charging technology, fully automatic robot technology and the like. Because the full-automatic wireless mobile energy storage and charging equipment needs to work in relatively narrow spaces, such as parking garages, crowded parking lots and the like, and has high requirements on carrying capacity, the energy storage battery pack is generally heavy in ton, and meanwhile, road surface devices such as deceleration strips and the like are needed. The general robot chassis cannot meet the requirements.
Mecanum wheels (called Mecanum wheels for short) are patents of the company Mecanum, sweden. Is an invention of swedish scientist Mecanum for more than 100 years. This omni-directional movement is based on the principle of a center wheel having a plurality of wheel axles located at the periphery of the wheel, the angled peripheral wheel axles translating a portion of the wheel steering force above a wheel normal force. Depending on the direction and speed of the respective wheel, the final combination of these forces creates a resultant force vector in any desired direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. A plurality of small rollers are obliquely distributed on the rim of the wheel, so that the wheel can slide transversely. The generatrix of the small rollers is very specific, and when the wheel rotates around the fixed wheel spindle, the envelope of each small roller is a cylindrical surface, so that the wheel can roll forward continuously. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnibearing wheel. The combination of 4 independent wheels can realize the omnibearing moving function more flexibly and conveniently. Omnidirectional movement is the greatest advantage of wheat wheels. The disadvantages of wheat wheels are mainly represented by: 1. because of the discontinuity between the rollers, there is always continuous micro vibration in the wheat wheel movement process, and the requirements on the road surface are high. 2. The wheat wheel realizes omnidirectional movement by adding a roller without power, namely each wheel needs a separate power system, namely an independent motor drive to realize omnidirectional movement.
A static wireless charging method and device (application number 201910406001.9) for a mobile robot is disclosed, wherein the static wireless charging method comprises a ground transmitting end and a vehicle-mounted receiving end; the ground transmitting end is arranged in a static charging area of the mobile robot, and the vehicle-mounted receiving end is arranged on the mobile robot; the ground transmitting end is used for converting electric energy into high-frequency current, a high-frequency electromagnetic field is generated around the coil through the transmitting coil, the receiving coil in the high-frequency electromagnetic field and a capacitor in the receiving system induce the high-frequency current in a magnetic coupling resonance mode, rectification, filtering and voltage regulation are completed through an internal circuit of the receiving system, the voltage type required by the vehicle-mounted receiving end is generated for the charging management system to use, the energy storage device is charged, and the energy storage device supplies power to the electric equipment. The invention also discloses a power transmission method of the wireless charging device for the mobile robot. According to the invention, by adopting the technical scheme of two transmitting coils connected in series, the constant power and efficiency output of the receiving coil in a preset position and a certain deviation range are ensured, and the safe, stable, reliable and efficient wireless transmission of electric energy is realized in a magnetic coupling resonance mode. The invention discloses a method and a device for wireless charging of a mobile robot, which adopt the technical scheme that two transmitting coils are connected in series to wirelessly charge the mobile robot.
A wireless charging system (application number: cn201810579177. X) "of a mobile robot is disclosed to include: the mobile robot is provided with a chargeable power supply and a wireless charging receiving end; the mobile robot comprises a working area, wherein the working area is used for queuing and waiting when the mobile robot executes a task, and a wireless charging transmitting end is arranged in the working area; the mobile robot is provided with a wireless charging transmitting end, and the wireless charging transmitting end is arranged in the charging area; the mobile robot performs wireless charging operations while the work area is queued and/or while traveling through a charging area in the travel path area. Through the scheme of this application, mobile robot's work efficiency has been improved. The wireless charging system aims at the mobile robot, and is not used for storing energy of the mobile robot and wirelessly charging a new energy automobile.
A wireless charging system and method for a mobile robot (application number CN 201810297048.1) is disclosed, which comprises a transmitting module, a receiving module and a closed feedback regulating device; the closed feedback adjusting device comprises a voltage sampler, a wireless communication transmitting device and a wireless communication receiving device, wherein the voltage sampler is connected with the receiving module, the wireless communication receiving device is connected with the transmitting module, and a silicon controlled rectifier alternating current voltage regulator is arranged in the transmitting module. The invention carries out closed-loop regulation on the voltage in the charging process by arranging the closed feedback regulating device. The system is a wireless charging system for the mobile robot, and is not used for storing energy of the mobile robot and wirelessly charging a new energy automobile.
The utility model provides an outdoor mobile robot wireless charging system and method and flow "disclose including installing laser radar and the ultrasonic sensor on the robot and be used for the wireless charging device who charges for the robot, wireless charging device is including installing the transmitting coil outside and installing the receiving coil on the robot chassis, transmitting coil connects the power and designs and have charging circuit, transmitting coil installs the reflector panel that is used for carrying out the robot location around, receiving coil designs the charge management circuit that is used for detecting charging current, still install the power module that is used for detecting the robot residual capacity in the robot. The system is a wireless charging system for the mobile robot, and is not used for storing energy of the mobile robot and wirelessly charging a new energy automobile.
A wireless charging method and system (application number: 2020105745938) of an outdoor robot are disclosed, wherein the method comprises the steps that a charging platform sends broadcast codes in one or more wireless charging areas through infrared signals, the broadcast codes comprise signals indicating that the wireless charging areas are idle, the robot receives the broadcast codes under the condition that the robot passes through an infrared signal radiation area corresponding to the wireless charging areas, whether the robot is charged or not is determined, and if the robot is charged, the robot moves to the wireless charging areas of the charging platform linearly according to the infrared signals. According to the embodiment of the invention, information interaction is performed through the infrared signals, the accuracy of positioning can be ensured based on the linearity of infrared light transmission, the cost of the infrared transmitter and the infrared receiver is low, the cost of charging equipment can be reduced, meanwhile, the communication distance of the infrared signals is wide, the coverage range of the infrared signals can be enlarged, and the applicability and expansibility of products are improved. The main technical scheme is that the robot is informed of wireless charging to a designated area by sending broadcast codes in one or more wireless charging areas through infrared signals.
To sum up, to realize the full-automatic wireless mobile energy storage and charging equipment, the existing wireless charging technology, the robot chassis technology and the omnidirectional Mecanum wheel technology have various defects, and are mainly expressed in the following aspects: 1. the existing robot heavy-duty chassis technology cannot completely realize omnidirectional movement, such as in-situ 360-degree rotation, 90-degree transverse travel, 60-degree travel and other high-difficulty travel; 2. the existing omnidirectional Mecanum wheel technology does not have anti-seismic performance; 3. the existing omnidirectional Mecanum wheel technology does not have the driving function of an in-wheel motor; 4. the existing omnidirectional Mecanum wheel technology has relatively poor loading performance and cannot be used for an energy storage robot with high loading requirements; 5. the existing wireless charging technology of the mobile robot mainly aims at wireless charging of the robot, and the wireless charging of the robot to the electric automobile cannot be realized; 6. the existing wireless charging technical schemes are focused on solving how to find a transmitting end installed on the ground or a wall surface and align the transmitting end with various positioning and guiding technologies, such as radar, laser radar, infrared and other methods, of a receiving end installed on a robot; and how to quickly find the receiving end on the new energy automobile by various positioning and guiding technologies and quickly aim at the receiving end to charge or discharge the receiving end is lacking.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide omnidirectional Beiwei robot equipment and a method for wireless energy storage and charging so as to solve the technical problems in the technical background.
The aim of the invention is realized by the following technical scheme:
the omnidirectional Beiwei robot equipment for wireless energy storage and charging comprises an omnidirectional Beiwei robot, wherein the omnidirectional Beiwei robot comprises an anti-seismic chassis and an energy storage and charging control device which is detachably arranged on the anti-seismic chassis and provides a charging power supply for an electric automobile, the bottom of the anti-seismic chassis is movably connected with a wireless transmitting and receiving device, and the bottom surface of the anti-seismic chassis is also provided with an omnidirectional steering device;
the wireless transmitting and receiving device comprises a telescopic bracket and a compression-resistant transmitting plate arranged on the telescopic bracket, a bracket control motor for stretching the telescopic bracket is arranged on the telescopic bracket, a photoelectric positioning guide device and a control module are arranged on the compression-resistant transmitting plate, a wheat wheel driving control device and a compression-resistant transmitting plate controller which are electrically connected with the control module are arranged on an anti-vibration chassis, the compression-resistant transmitting plate is electrically connected with an energy storage and charging control device through the control module, and the omnidirectional Beijing robot wirelessly charges a vehicle through the compression-resistant transmitting plate.
In the above summary, further, the energy storage and charging control device includes a housing, an energy storage battery pack BMS, an energy storage battery pack charging control loop, an energy storage integrated control management unit, a charging control device, a wireless charging and discharging control device and an energy storage battery pack discharging control loop, the surface of the housing is also provided with an energy storage battery pack wireless charging receiving board, the upper surface of the anti-vibration chassis is provided with a housing fixing hole, and the housing of the energy storage and charging control device is detachably mounted on the anti-vibration chassis through the housing fixing hole.
In the above summary, the omni-directional steering device is a second mecanum wheel, and the second mecanum wheel includes a wheat wheel roller, a wheat wheel hub motor, and a wheat wheel anti-vibration spring.
In the above summary, the omni-directional steering device is a Beiwei omni-directional wheel, the Beiwei omni-directional wheel includes a bottom fork rotating shaft, a bottom fork hinged through the bottom fork rotating shaft and a support, a spring damper is arranged between the bottom fork and the support, a hub motor is mounted on the bottom fork through a wheel shaft, a Beiwei omni-directional wheel tire is mounted on the hub motor, a steering motor is mounted on the support, the output end of the steering motor is connected with a steering gear, a turntable is meshed on the steering gear, and the Beiwei omni-directional wheel is fixedly mounted on the anti-seismic chassis through the turntable.
In the above summary, further, a supporting hook structure is disposed on the bottom surface of the anti-seismic chassis, the outer surface of the compression-resistant transmitting plate of the wireless transmitting and receiving device is matched with the supporting hook structure, and the wireless transmitting and receiving device is movably clamped on the bottom surface of the anti-seismic chassis through the supporting hook structure.
In the above summary, further, a telescopic rod is disposed in the supporting hook structure, a telescopic end of the telescopic rod is fixed on the compression-resistant transmitting plate, and the wireless transmitting and receiving device is movably connected in the supporting hook structure through the telescopic rod.
In the above summary of the invention, further, the anti-vibration chassis is further provided with a power battery pack and a wireless charging receiving device of the power battery pack, and the surface of the anti-vibration chassis is further provided with a wireless charging receiving plate of the power battery pack electrically connected with the wireless charging receiving device of the power battery pack.
In the above summary, further, the compression-resistant transmitting board of the wireless transmitting and receiving device is electrically connected with the energy storage and charging control device through a cable, the bottom of the anti-seismic chassis is further provided with an automatic storage box for storing the cable, and the telescopic bracket is further provided with a cable fixing hole.
In the above summary of the invention, further, the anti-seismic chassis is further provided with an illuminating lamp and a license plate recognition camera, the side surface of the housing is provided with a first advertisement screen and a second advertisement screen, and the upper surface of the housing is further provided with a lifting ring.
The invention also provides a method for the omnidirectional Beiwei robot device for wireless energy storage and charging, which comprises the following steps:
s1, a user customizes mobile wireless charging service through mobile phone APP software, the mobile phone APP software transmits an instruction to a mobile wireless charging background, the wireless charging background positions a parking garage or a parking lot where a vehicle is located through wireless positioning software, the vehicle is controlled to start a wireless charging mode, an automobile wireless communication and wireless charging and discharging control loop unit is started, and the wireless positioning software sends wireless positioning information of the vehicle;
s2, a control module of the omnidirectional Beijing opera robot parked near the parking garage or the parking lot controls the wheat wheel driving control device according to the wireless positioning information to enable the omnidirectional Beijing opera robot to move to the position of the vehicle and keep a distance from the vehicle, wherein the wireless transmitting and receiving device can be detached;
s3, the photoelectric positioning and guiding device searches and aims at a wireless charging receiving plate or a receiving coil of the vehicle according to the guiding information and starts to wirelessly charge the vehicle, and the method specifically comprises the following steps of:
s31, the compression-resistant transmitting board controller controls the telescopic bracket of the wireless transmitting and receiving device to stretch out, the first Mecanum wheel contacts the ground and props up the compression-resistant transmitting board, the compression-resistant transmitting board is unhooked from the anti-vibration chassis, the wireless transmitting and receiving device stretches out and breaks away from the anti-vibration chassis through the first Mecanum wheel, after the telescopic bracket of the wireless transmitting and receiving device contracts to a running height, the wireless transmitting and receiving device runs and drills into the lower part of the automobile chassis, the photoelectric positioning guide device searches and aligns to the wireless charging receiving board or the receiving coil of the vehicle according to the guide information, meanwhile, the automatic storage box releases a cable according to the instruction of the compression-resistant transmitting board controller, the telescopic bracket of the wireless transmitting and receiving device stretches out to the charging height, so that the compression-resistant transmitting board contacts with the wireless charging receiving board or the receiving and transmitting coil of the vehicle, and a wireless charging flow is started;
S32, the compression-resistant transmitting plate controller controls the telescopic rod to extend the wireless transmitting and receiving device to the lower portion of the automobile chassis, the photoelectric positioning and guiding device searches and aims at a wireless charging receiving plate or receiving coil of the automobile according to guiding information, the telescopic bracket of the wireless transmitting and receiving device extends to a charging height, the compression-resistant transmitting plate is in contact with the wireless charging receiving plate or receiving and transmitting coil of the automobile, and a wireless charging process is started;
s4, after wireless charging is finished, the compression-resistant transmitting plate controller controls the compression-resistant transmitting plate controller to be re-hung below the vibration-resistant chassis of the omnidirectional Beiwei robot, and the method specifically comprises the following steps of:
s41, controlling a telescopic bracket of the wireless transmitting and receiving device to retract to a running height and then returning to the side of the omnidirectional Beiwei robot by the compression-resistant transmitting plate controller, controlling the telescopic bracket to adjust to a hanging height by the compression-resistant transmitting plate controller, and enabling the wireless transmitting and receiving device to be automatically hung below an anti-seismic chassis of the omnidirectional Beiwei robot;
s42, the compression-resistant transmitting plate controller controls the telescopic support of the wireless transmitting and receiving device to retract to the hanging height, and then controls the telescopic rod to retract and enables the wireless transmitting and receiving device to automatically hang back below the anti-seismic chassis of the omnidirectional Beiwei robot;
S5, automatically returning the omnidirectional Beiwei robot to a parking place of the robot equipment, automatically connecting an energy storage battery wireless charging receiving plate and a power battery pack wireless charging receiving plate to a transmitting plate of the parking place of the robot equipment, and wirelessly charging the energy storage battery pack and the power battery pack;
and S6, automatically stopping charging the wireless charging receiving device of the power battery pack after the power battery pack is fully charged, and automatically stopping charging the energy storage battery pack after the energy storage battery pack is fully charged by the charging control loop of the energy storage battery pack.
In the above summary, in step S4, if the vehicle moves or the wireless transmitting and receiving device detects that the vehicle moves during the charging process, the charging is stopped immediately, and the compression-resistant transmitting board controller controls the telescopic bracket of the wireless transmitting and receiving device to shrink to the compression-resistant height, and the process is performed after the vehicle leaves and the wireless charging is finished.
In the above summary, further, the user may customize the mobile wireless discharging service through the mobile phone APP software, which specifically includes:
the user customizes mobile wireless discharging service through mobile phone APP software, the mobile phone APP software transmits instructions to a mobile wireless charging background, the wireless charging background controls a vehicle to start a wireless discharging mode, an automobile wireless communication and wireless charging and discharging control loop unit is started, and after a compression-resistant transmitting plate of a wireless transmitting and receiving device is contacted with a wireless charging receiving plate or a receiving and transmitting coil of the vehicle, a battery management system BMS of the vehicle starts a vehicle discharging process to discharge for the wireless transmitting and receiving device of the omnidirectional Beiwei robot.
The beneficial effects of the invention are as follows:
(1) The invention discloses an anti-vibration chassis, which is characterized in that an omni-directional steering device is arranged on the bottom surface of the anti-vibration chassis, the omni-directional steering device comprises a second Mecanum wheel or a Bei-Wei omni wheel, the second Mecanum wheel comprises a wheat wheel roller, a wheat wheel hub motor and a wheat wheel anti-vibration spring, the Bei-Wei omni wheel comprises a bottom fork rotating shaft, a bottom fork hinged through the bottom fork rotating shaft and a support, a spring damper is arranged between the bottom fork and the support, a hub motor is arranged on the bottom fork through a wheel shaft, a Bei-Wei omni wheel tire is arranged on the hub motor, a steering motor is arranged on the support, the output end of the steering motor is connected with a steering gear, a turntable is meshed on the steering gear, the Bei-Wei omni wheel is fixedly arranged on the anti-vibration chassis through the turntable, through the scheme, the omni-directional movement of the robot under the heavy load condition, such as the in-place 360-degree rotating ring, 90-degree traversing, 60-degree running and other arbitrary directions can be realized, meanwhile, the anti-vibration performance of the omni-directional Bei-Wei robot can not realize high heavy load, and the stable running of the omni-Wei robot in the heavy load condition.
(2) The energy storage and charging control device is detachably mounted on the anti-vibration chassis, and the lifting ring is further arranged on the upper surface of the shell, so that the energy storage and charging control device can be rapidly detached from the anti-vibration chassis of the robot and replaced, and the rapid operation of wireless mobile energy storage is guaranteed.
(3) The wireless mobile energy storage and charging equipment realizes full-automatic wireless charging of the electric automobile by the wireless mobile energy storage robot, meets the charging requirement of users of the new energy electric automobile, and is particularly characterized in that the omnidirectional steering device and the wireless transmitting and receiving device of the omnidirectional Beiwei robot are controlled by the wheat wheel driving control device and the compression-resistant transmitting plate controller, and then are combined with the positioning guidance of the photoelectric positioning guidance device to quickly find the receiving end on the new energy automobile and quickly aim at the receiving end to charge or discharge the receiving end.
(4) The omnidirectional Beiwei robot method for wireless energy storage and charging provided by the invention enables the technical scheme of the intelligent mobile transmitting plate to be implemented, so that the wireless mobile energy storage charging robot can actively find the electric automobile to be charged and perform full-automatic wireless charging on the electric automobile, the pain points of 'car finding piles', 'car waiting piles', 'charging queuing for a plurality of hours' in the charging market are ended, and the brand-new situation of the full-automatic 'car finding piles' service in the charging market is opened.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the anti-seismic chassis of the present invention;
FIG. 3 is a schematic view of the bottom structure of the anti-vibration chassis of the present invention;
fig. 4 is a schematic diagram of a wireless transmitting and receiving device according to the present invention;
FIG. 5 is a schematic diagram of the connection structure between the wireless transmitting and receiving device and the anti-seismic chassis;
fig. 6 is a schematic diagram of a morphological structure of a wireless transmitting and receiving device according to the present invention;
fig. 7 is a schematic diagram of another morphological structure of the wireless transmitting and receiving device of the present invention;
FIG. 8 is a schematic diagram of another connection structure between the wireless transmitting and receiving device and the anti-seismic chassis according to the present invention;
FIG. 9 is a schematic diagram of a second Mecanum wheel according to the present invention;
fig. 10 is a schematic diagram of a Beiwei omni-wheel structure.
In the figure, a 1-omnidirectional Beiwei robot, a 1.1-vibration-resistant chassis, a 2-wheat wheel driving control device, a 3-compression-resistant transmitting plate controller, a 4-power battery pack, a 5-power battery pack wireless charging receiving device, a 6-power battery pack wireless charging receiving plate, 7-belt second Mecanum wheels, 7.1-wheat wheel vibration-resistant springs, 7.2-wheat wheel hub motors, 7.3-wheat wheel rollers, 7.4-Beiwei omnidirectional wheels, 7.5-turntables, 7.6-steering gears, 7.7-steering motors, 7.8-spring shock absorbers, 7.9-hub motors, 7.10-Beiwei omnidirectional wheel tires, 7.11-wheel shafts, 7.12-flat forks, 7.13-flat fork shafts, 7.14-brackets, 8-lifting hook structures and 9-wireless transmitting receiving devices, 9.1-a first Mecanum wheel, 9.2-a photoelectric positioning and guiding device, 9.3-a compression-resistant transmitting plate, 9.4-a telescopic bracket, 9.5-a control module, 9.6-a bracket control motor, 9.7-a cable fixing hole, 9.8-a cable, 9.9-a telescopic rod, 10-an automatic storage box, 11-a shell fixing hole, 12-an illuminating lamp, 13-a license plate recognition camera, 20-a shell, 21-a wireless charging and discharging control device, 22-a lifting ring, 23-an energy storage battery pack discharging control loop, 24-an energy storage battery pack, 25-an energy storage battery pack BMS, 26-an energy storage battery pack charging control loop, 27-an energy storage comprehensive control management unit, 28-a charging control device and 29-an energy storage battery wireless charging receiving plate, 30-first advertisement screen, 33-second advertisement screen.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
Example 1:
an omnidirectional Beiwei robot device for wireless energy storage and charging is shown in fig. 1-10, and comprises an omnidirectional Beiwei robot 1, wherein the omnidirectional Beiwei robot 1 comprises an anti-seismic chassis 1.1 and an energy storage and charging control device which is detachably arranged on the anti-seismic chassis 1.1 and provides a charging power supply for an electric automobile, the bottom of the anti-seismic chassis 1.1 is movably connected with a wireless transmitting and receiving device 9, and the bottom surface of the anti-seismic chassis 1.1 is also provided with an omnidirectional steering device.
The wireless transmitting and receiving device 9 comprises a telescopic support 9.4 and a compression-resistant transmitting plate 9.3 arranged on the telescopic support 9.4, a first Mecanum wheel 9.1 and a support control motor 9.6 for controlling the telescopic support 9.4 to stretch out and draw back are arranged on the telescopic support 9.4, a photoelectric positioning guide device 9.2 and a control module 9.5 are arranged on the compression-resistant transmitting plate 9.3, a wheat wheel driving control device 2 and a compression-resistant transmitting plate controller 3 which are electrically connected with the control module 9.5 are arranged on the anti-vibration chassis 1.1, the compression-resistant transmitting plate 9.3 is electrically connected with the energy storage and charging control device through the control module 9.5, the omnidirectional Beiwei robot 1 is used for wirelessly charging a vehicle through the compression-resistant transmitting plate 9.3, specifically, the compression-resistant transmitting plate 9.3 of the wireless transmitting and receiving device 9 is electrically connected with the energy storage and charging control device through a cable 9.8, an automatic storage box 10 for storing the cable 9.8 is further arranged at the bottom of the anti-vibration chassis 1.1, a cable fixing hole for fixing the 9.8 is further arranged on the telescopic support 9.4, and a camera lamp 12.1 is further arranged on the telescopic support 9.4.
More specifically, the energy storage and charging control device comprises a shell 20 and an energy storage battery pack 24, an energy storage battery pack BMS25, an energy storage battery pack charging control loop 26, an energy storage integrated control management unit 27, a charging control device 28, a wireless charging and discharging control device 21 and an energy storage battery pack discharging control loop 23 which are arranged in the shell 20, a wireless charging receiving plate 29 of the energy storage battery pack is further arranged on the surface of the shell 20, a shell fixing hole 11 is arranged on the upper surface of the anti-vibration chassis 1.1, the shell 20 of the energy storage and charging control device is detachably arranged on the anti-vibration chassis 1.1 through the shell fixing hole 11, a lifting ring 22 is further arranged on the upper surface of the shell 20, and the disassembly and replacement of the energy storage and charging control device are facilitated, and a first advertisement screen 30 and a second advertisement screen 33 are arranged on the side surface of the shell 20.
Referring to fig. 9, the omni-directional steering device is a second mecanum wheel 7, the second mecanum wheel 7 includes a wheel roller 7.3, a wheel hub motor 7.2 and a wheel anti-vibration spring 7.1, the wheel hub motor 7.2 provides forward power for the second mecanum wheel 7, and the wheel anti-vibration spring 7.1 can enhance the bearing capacity and anti-vibration capability of the second mecanum wheel 7.
With continued reference to fig. 10, the omni-directional steering device may further be a Beiwei omni-wheel 7.4, specifically, the Beiwei omni-wheel 7.4 includes a bottom fork shaft 7.13, a bottom fork 7.12 hinged to the bottom fork shaft 7.13 through the bottom fork shaft 7.13, and a support 7.14, a spring damper 7.8 is disposed between the bottom fork 7.12 and the support 7.14, a hub motor 7.9 is mounted on the bottom fork 7.12 through a wheel shaft 7.11, a Beiwei omni-wheel tire 7.10 is mounted on the hub motor 7.9, a steering motor 7.7 is disposed on the support 7.14, a steering gear 7.6 is connected to an output end of the steering motor 7.7, a turntable 7.5 is meshed on the steering gear 7.6, the Beiwei omni-wheel 7.4 is fixedly mounted on the chassis 1.1 through the turntable 7.5, when the bottom fork 7.12 needs to be steered, the wheat wheel driving control device 2 controls the steering motor 7.7 to rotate, thereby driving the steering gear 7.6 to rotate along with the turntable 7.5, and the vibration damper 7.8 is meshed with the turntable 7.6, and the vibration damper is compressed along the support 1.8 when the steering gear 7.6 is meshed with the turntable 1.
The bottom surface of antidetonation chassis 1.1 is equipped with and holds up trip structure 8, the resistance to compression transmitting plate 9.3 of wireless transmission receiving arrangement 9 the surface with hold up trip structure 8 mutually support, wireless transmission receiving arrangement 9 pass through hold up trip structure 8 movable joint in antidetonation chassis 1.1 bottom surface, specifically in the implementation process, hold up trip structure 8 and can also be equipped with telescopic link 9.9 in, the telescopic link 9.9's telescopic link is fixed on resistance to compression transmitting plate 9.3, wireless transmission receiving arrangement 9 passes through telescopic link 9.9 swing joint in hold up trip structure 8.
Be provided with the power battery package 4 that provides power for qxcomm technology's robot 1 in the antidetonation chassis 1.1, still be provided with the wireless receiving arrangement that charges of power battery package 5 in the antidetonation chassis 1.1, antidetonation chassis 1.1 surface still be provided with the wireless receiving arrangement 5 electric connection's of power battery package wireless receiving plate 6 that charges of power battery package, through setting up the wireless receiving arrangement 5 of power battery package and the wireless receiving plate 6 that charges of power battery package, can realize the wireless charging to power battery package 4.
In the running process, the energy storage and charging control device is fixedly arranged on the anti-vibration chassis 1.1 through the shell fixing holes 11 to form the omnidirectional Beiwei robot 1, the omnidirectional Beiwei robot 1 automatically runs to the position of the vehicle to be charged according to the positioning information sent by the charging vehicle, then the wireless transmitting and receiving device 9 is released after unhooking, and the wireless transmitting and receiving device 9 runs and drills into the vehicle chassis to be in contact with a wireless charging receiving plate or a receiving and transmitting coil of the vehicle, so that the vehicle is wirelessly charged.
Specifically, in the above process, when the control module 9.5 receives the wireless behavior signal sent by the vehicle, the wheat wheel driving control device 2 controls the second microphone wheel 7 or the Beijing omni wheel 7.4 to travel to the vehicle position, in the traveling process, the target vehicle can be identified through the illuminating lamp 12 and the Beijing identification camera 13, when the omni-directional Beijing robot 1 travels to the target vehicle position, the anti-compression transmitting board controller 3 controls the wireless transmitting and receiving device 9 to unhook and drive out of the supporting hook structure 8, the anti-compression transmitting board 9.3 rises to the traveling height and drills into the vehicle chassis, the wireless transmitting and receiving device 9 controls the anti-compression transmitting board 9.3 to align with the wireless charging receiving board or the receiving and transmitting coil of the vehicle through the photoelectric positioning guide device 9.2, finally, the compression-resistant transmitting plate 9.3 is controlled to rise to the charging height and is contacted with a wireless charging receiving plate or a receiving transmitting coil of a vehicle to start a charging process, after the charging is finished, the compression-resistant transmitting plate 9.3 is lowered from the charging height to the driving height and is driven away from the chassis of the vehicle, the compression-resistant transmitting plate 9.3 is adjusted to the hanging-back height and is driven to the supporting hook structure 8 and is hung back and clamped on the supporting hook structure 8, finally the omnidirectional Beiwei robot 1 is driven to a robot equipment parking place through a control module, and the wireless charging receiving plate 6 of a power battery pack and the wireless charging receiving plate of an energy storage battery are utilized to carry out wireless charging on the wireless transmitting receiving device 9 and the energy storage and charging control device 29.
It should be noted that, in the above process, the supporting hook structure 8 may be further provided with a telescopic rod 9.9, the telescopic rod 9.9 is used to unhook the wireless transmitting and receiving device 9 from the supporting hook structure 8, when the omnidirectional environment robot 1 travels to the target vehicle position, the telescopic rod 9.9 is controlled to extend to directly extend the wireless transmitting and receiving device 9 into the vehicle chassis, and the compressive transmitting plate 9.3 is aligned with the wireless charging receiving plate or receiving transmitting coil of the vehicle through guiding the information guided by the photoelectric positioning guiding device 9.2.
Example 2:
in this embodiment, there is also provided a method for an omnidirectional beacon robot device for wireless energy storage and charging, including the following steps:
s1, a user customizes mobile wireless charging service through mobile phone APP software, the mobile phone APP software transmits an instruction to a mobile wireless charging background, the wireless charging background positions a parking garage or a parking lot where a vehicle is located through wireless positioning software, the vehicle is controlled to start a wireless charging mode, an automobile wireless communication and wireless charging and discharging control loop unit is started, and the wireless positioning software sends wireless positioning information of the vehicle;
S2, a control module of the omnidirectional Beijing opera robot 1 parked near a parking garage or a parking lot controls the wheat wheel driving control device 2 according to wireless positioning information to enable the omnidirectional Beijing opera robot 1 to move to the position of a vehicle and keep a distance from the vehicle, wherein the wireless transmitting and receiving device 9 can be detached;
s3, the photoelectric positioning and guiding device 9.2 searches and aims at a wireless charging receiving plate or a receiving coil of the vehicle according to the guiding information and starts to wirelessly charge the vehicle, and the method specifically comprises the following steps:
s31, the compression-resistant transmitting board controller 3 controls the telescopic support 9.4 of the wireless transmitting and receiving device 9 to stretch out, the first Mecanum wheel 9.1 contacts the ground and supports the compression-resistant transmitting board 9.3, the compression-resistant transmitting board 9.3 is unhooked from the anti-vibration chassis 1.1, the wireless transmitting and receiving device 9 stretches out and breaks away from the anti-vibration chassis 1.1 through the first Mecanum wheel 9.1, after the telescopic support 9.4 of the wireless transmitting and receiving device 9 is contracted to the running height, the wireless transmitting and receiving device 9 runs and drills into the lower part of the automobile chassis, the photoelectric positioning guide device 9.2 searches and aligns to the wireless charging receiving board or receiving coil of the automobile according to the guide information, meanwhile, the automatic storage box 10 releases a cable according to the instruction of the compression-resistant transmitting board controller 3, the telescopic support 9.4 of the wireless transmitting and receiving device 9 stretches out to the charging height, the compression-resistant transmitting board 9.3 contacts with the wireless charging receiving board or receiving coil of the automobile, and the wireless charging flow is started;
S32, the compression-resistant transmitting plate controller 3 controls the telescopic rod 9.9 to extend the wireless transmitting and receiving device 9 to the lower part of the automobile chassis, the photoelectric positioning and guiding device 9.2 searches and aims at a wireless charging receiving plate or receiving coil of the automobile according to guiding information, the telescopic bracket 9.4 of the wireless transmitting and receiving device 9 extends to the charging height, so that the compression-resistant transmitting plate is in contact with the wireless charging receiving plate or receiving transmitting coil of the automobile, and a wireless charging process is started;
s4, after wireless charging is finished, the compression-resistant transmitting plate controller controls the compression-resistant transmitting plate controller to be re-hung below the vibration-resistant chassis of the omnidirectional Beiwei robot, and the method specifically comprises the following steps of:
s41, the compression-resistant transmitting plate controller 3 controls the telescopic support 9.4 of the wireless transmitting and receiving device 9 to retract to the running height and then return to the side of the omnidirectional Beiwei robot 1, and the compression-resistant transmitting plate controller 3 controls the telescopic support 9.4 to adjust to the hanging height and enables the wireless transmitting and receiving device 9 to automatically hang below the anti-seismic chassis 1.1 of the omnidirectional Beiwei robot 1;
s42, the compression-resistant transmitting plate controller 3 controls the telescopic support 9.4 of the wireless transmitting and receiving device 9 to retract to the hanging height, and the compression-resistant transmitting plate controller 3 controls the telescopic rod 9.9 to retract and enables the wireless transmitting and receiving device 9 to automatically hang below the anti-seismic chassis 1.1 of the omnidirectional Beiwei robot 1;
S5, the omnidirectional Beiwei robot 1 automatically returns to a robot equipment parking garage position, and the energy storage battery wireless charging receiving plate 29 and the power battery pack wireless charging receiving plate 6 are automatically connected to a transmitting plate of the robot equipment parking garage in an opposite mode, so that the energy storage battery pack 24 and the power battery pack 4 are wirelessly charged;
and S6, automatically stopping charging by the wireless charging receiving device 5 of the power battery pack after the power battery pack 4 is fully charged, and automatically stopping charging by the charging control loop 26 of the energy storage battery pack after the energy storage battery pack 24 is fully charged.
In the above summary, in step S4, if the vehicle moves or the wireless transmitting and receiving device 9 detects the movement of the vehicle during the charging process, the charging is stopped immediately, and the compression-resistant transmitting board controller 3 controls the telescopic bracket 9.4 of the wireless transmitting and receiving device 9 to shrink to the compression-resistant height, and the wireless charging is performed after the vehicle leaves.
Example 3:
in this embodiment, a method for wireless energy storage and charging of an omnidirectional pevia robot device is also provided, and the secondary method includes the steps of wireless discharging of an electric vehicle to the omnidirectional pevia robot 1, specifically including the following steps:
the user customizes mobile wireless discharging service through mobile phone APP software, the mobile phone APP software transmits instructions to a mobile wireless charging background, the wireless charging background controls a vehicle to start a wireless discharging mode, an automobile wireless communication and wireless charging and discharging control loop unit is started, and after a compression-resistant transmitting plate of a wireless transmitting and receiving device is contacted with a wireless charging receiving plate or a receiving and transmitting coil of the vehicle, a battery management system BMS of the vehicle starts a vehicle discharging process to discharge for the wireless transmitting and receiving device of the omnidirectional Beiwei robot.
It should be further noted that, in the above embodiments, the telescopic bracket 9.4 of the wireless transmitting and receiving device 9 may change various height forms during the working process, and the "running height", "charging height", "compression-resistant height" and "hanging-back height" of the telescopic bracket 9.4 are respectively as follows: 1. "compression height": the telescopic support 9.4 is fully retracted and covers the first Mecanum wheel 9.1, the outer shell of the compression-resistant transmitting plate 9.3 is grounded, and the height of single-wheel pressure of the vehicle can be resisted; 2. travel height ": the telescopic bracket 9.4 is retracted to the first Mecanum wheel 9.1 to leak, and the wireless transmitting and receiving device 9 can move in all directions under the vehicle; 3. "charging height": the telescopic bracket 9.4 is aligned with the vehicle wireless charging receiving plate or receiving coil and then is adjusted to the height of the vehicle wireless charging receiving plate or receiving coil for wireless charging; 4. "hanging height": the wireless transmitting and receiving device 9 automatically hangs back to the height of the vibration-resistant chassis 1.1 of the omnidirectional Beiwei robot 1. As shown in fig. 5 to 7, the heights of the telescopic brackets 9.4 are "running height", "compression height" and "charging height", respectively.
The foregoing examples merely illustrate specific embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention.
It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (12)
1. The omnidirectional Beiwei robot equipment for wireless energy storage and charging is characterized by comprising an omnidirectional Beiwei robot, wherein the omnidirectional Beiwei robot comprises an anti-seismic chassis and an energy storage and charging control device which is detachably arranged on the anti-seismic chassis and provides a charging power supply for an electric automobile, the bottom of the anti-seismic chassis is movably connected with a wireless transmitting and receiving device, and the bottom surface of the anti-seismic chassis is also provided with an omnidirectional steering device; the wireless transmitting and receiving device comprises a telescopic bracket and a compression-resistant transmitting plate arranged on the telescopic bracket, a bracket control motor for stretching the telescopic bracket is arranged on the telescopic bracket, a photoelectric positioning guide device and a control module are arranged on the compression-resistant transmitting plate, a wheat wheel driving control device and a compression-resistant transmitting plate controller which are electrically connected with the control module are arranged on an anti-vibration chassis, the compression-resistant transmitting plate is electrically connected with an energy storage and charging control device through the control module, and the omnidirectional Beijing robot wirelessly charges a vehicle through the compression-resistant transmitting plate.
2. The omnidirectional Beiwei robot device for wireless energy storage and charging according to claim 1, wherein the energy storage and charging control device comprises a shell, an energy storage battery pack BMS, an energy storage battery pack charging control loop, an energy storage integrated control management unit, a charging control device, a wireless charging and discharging control device and an energy storage battery pack discharging control loop which are arranged in the shell, a wireless charging receiving plate of the energy storage battery pack is further arranged on the surface of the shell, a shell fixing hole is arranged on the upper surface of the anti-vibration chassis, and the shell of the energy storage and charging control device is detachably arranged on the anti-vibration chassis through the shell fixing hole.
3. An omnidirectional banwei robot apparatus for wireless energy storage and charging of claim 2, wherein said omnidirectional steering device is a second mecanum wheel comprising a roulette roller, a roulette wheel hub motor and a roulette anti-shock spring.
4. The omnidirectional Beijing robot device for wireless energy storage and charging according to claim 3, wherein the omnidirectional steering device is a Beijing omnidirectional wheel, the Beijing omnidirectional wheel comprises a bottom fork rotating shaft, a bottom fork and a support, the bottom fork and the support are hinged through the bottom fork rotating shaft, a spring damper is arranged between the bottom fork and the support, a hub motor is arranged on the bottom fork through a wheel shaft, a Beijing omnidirectional wheel tire is arranged on the hub motor, a steering motor is arranged on the support, the output end of the steering motor is connected with a steering gear, a rotary disc is meshed on the steering gear, and the Beijing omnidirectional wheel is fixedly arranged on an anti-seismic chassis through the rotary disc.
5. The omnidirectional Beiwei robot device for wireless energy storage and charging of claim 4, wherein the bottom surface of the anti-vibration chassis is provided with a supporting hook structure, the outer surface of the compression resistant transmitting plate of the wireless transmitting and receiving device is matched with the supporting hook structure, and the wireless transmitting and receiving device is movably clamped on the bottom surface of the anti-vibration chassis through the supporting hook structure.
6. The omnidirectional Beiwei robot device for wireless energy storage and charging of claim 5, wherein a telescopic rod is arranged in the lifting hook structure, the telescopic end of the telescopic rod is fixed on the compression-resistant transmitting plate, and the wireless transmitting and receiving device is movably connected in the lifting hook structure through the telescopic rod.
7. The omnidirectional Beiwei robot device for wireless energy storage and charging of claim 6, wherein a power battery pack and a wireless power battery pack charging receiving device are further arranged in the anti-vibration chassis, and a wireless power battery pack charging receiving plate electrically connected with the wireless power battery pack charging receiving device is further arranged on the surface of the anti-vibration chassis.
8. The omnidirectional Beiwei robot device for wireless energy storage and charging of claim 7, wherein the compression resistant transmitting plate of the wireless transmitting and receiving device is electrically connected with the energy storage and charging control device through a cable, the bottom of the anti-vibration chassis is further provided with an automatic storage box for storing the cable, and the telescopic bracket is further provided with a cable fixing hole.
9. The omnidirectional Beiwei robot device for wireless energy storage and charging of claim 8, wherein the anti-vibration chassis is further provided with an illuminating lamp and a brand recognition camera, the side surface of the shell is provided with a first advertisement screen and a second advertisement screen, and the upper surface of the shell is further provided with a lifting ring.
10. A method of an omnidirectional buwei robot apparatus for wireless energy storage and charging as claimed in claim 9, comprising the steps of: s1, a user customizes mobile wireless charging service through mobile phone APP software, the mobile phone APP software transmits an instruction to a mobile wireless charging background, the wireless charging background positions a parking garage or a parking lot where a vehicle is located through wireless positioning software, the vehicle is controlled to start a wireless charging mode, an automobile wireless communication and wireless charging and discharging control loop unit is started, and the wireless positioning software sends wireless positioning information of the vehicle; s2, a control module of the omnidirectional Beijing opera robot parked near the parking garage or the parking lot controls the wheat wheel driving control device according to the wireless positioning information to enable the omnidirectional Beijing opera robot to move to the position of the vehicle and keep a distance from the vehicle, wherein the wireless transmitting and receiving device can be detached; s3, the photoelectric positioning and guiding device searches and aims at a wireless charging receiving plate or a receiving coil of the vehicle according to the guiding information and starts to wirelessly charge the vehicle, and the method specifically comprises the following steps of: s31, the compression-resistant transmitting board controller controls the telescopic bracket of the wireless transmitting and receiving device to stretch out, the first Mecanum wheel contacts the ground and props up the compression-resistant transmitting board, the compression-resistant transmitting board is unhooked from the anti-vibration chassis, the wireless transmitting and receiving device stretches out and breaks away from the anti-vibration chassis through the first Mecanum wheel, after the telescopic bracket of the wireless transmitting and receiving device contracts to a running height, the wireless transmitting and receiving device runs and drills into the lower part of the automobile chassis, the photoelectric positioning guide device searches and aligns to the wireless charging receiving board or the receiving coil of the vehicle according to the guide information, meanwhile, the automatic storage box releases a cable according to the instruction of the compression-resistant transmitting board controller, the telescopic bracket of the wireless transmitting and receiving device stretches out to the charging height, so that the compression-resistant transmitting board contacts with the wireless charging receiving board or the receiving and transmitting coil of the vehicle, and a wireless charging flow is started; s32, the compression-resistant transmitting plate controller controls the telescopic rod to extend the wireless transmitting and receiving device to the lower portion of the automobile chassis, the photoelectric positioning and guiding device searches and aims at a wireless charging receiving plate or receiving coil of the automobile according to guiding information, the telescopic bracket of the wireless transmitting and receiving device extends to a charging height, the compression-resistant transmitting plate is in contact with the wireless charging receiving plate or receiving and transmitting coil of the automobile, and a wireless charging process is started; s4, after wireless charging is finished, the compression-resistant transmitting plate controller controls the compression-resistant transmitting plate controller to be re-hung below the vibration-resistant chassis of the omnidirectional Beiwei robot, and the method specifically comprises the following steps of: s41, controlling a telescopic bracket of the wireless transmitting and receiving device to retract to a running height and then returning to the side of the omnidirectional Beiwei robot by the compression-resistant transmitting plate controller, controlling the telescopic bracket to adjust to a hanging height by the compression-resistant transmitting plate controller, and enabling the wireless transmitting and receiving device to be automatically hung below an anti-seismic chassis of the omnidirectional Beiwei robot; s42, the compression-resistant transmitting plate controller controls the telescopic support of the wireless transmitting and receiving device to retract to the hanging height, and then controls the telescopic rod to retract and enables the wireless transmitting and receiving device to automatically hang back below the anti-seismic chassis of the omnidirectional Beiwei robot; s5, automatically returning the omnidirectional Beiwei robot to a parking place of the robot equipment, automatically connecting an energy storage battery wireless charging receiving plate and a power battery pack wireless charging receiving plate to a transmitting plate of the parking place of the robot equipment, and wirelessly charging the energy storage battery pack and the power battery pack; and S6, automatically stopping charging the wireless charging receiving device of the power battery pack after the power battery pack is fully charged, and automatically stopping charging the energy storage battery pack after the energy storage battery pack is fully charged by the charging control loop of the energy storage battery pack.
11. The method of claim 10, wherein in step S4, if the vehicle is moving or the wireless transmitting and receiving device detects the movement of the vehicle during the charging, the charging is stopped immediately, and the compression-resistant transmitting plate controller controls the telescopic support of the wireless transmitting and receiving device to shrink to the compression-resistant height, and the wireless charging is performed after the vehicle leaves.
12. The method of an omnidirectional bang-wei robot apparatus for wireless energy storage and charging of claim 10, wherein the user can customize the mobile wireless discharge service by the APP software of the mobile phone, comprising: the user customizes mobile wireless discharging service through mobile phone APP software, the mobile phone APP software transmits instructions to a mobile wireless charging background, the wireless charging background controls a vehicle to start a wireless discharging mode, an automobile wireless communication and wireless charging and discharging control loop unit is started, and after a compression-resistant transmitting plate of a wireless transmitting and receiving device is contacted with a wireless charging receiving plate or a receiving and transmitting coil of the vehicle, a battery management system BMS of the vehicle starts a vehicle discharging process to discharge for the wireless transmitting and receiving device of the omnidirectional Beiwei robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310306287.XA CN116039420A (en) | 2023-03-27 | 2023-03-27 | Omnidirectional Beiwei robot equipment and method for wireless energy storage and charging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310306287.XA CN116039420A (en) | 2023-03-27 | 2023-03-27 | Omnidirectional Beiwei robot equipment and method for wireless energy storage and charging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116039420A true CN116039420A (en) | 2023-05-02 |
Family
ID=86118445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310306287.XA Pending CN116039420A (en) | 2023-03-27 | 2023-03-27 | Omnidirectional Beiwei robot equipment and method for wireless energy storage and charging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116039420A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117067949A (en) * | 2023-09-01 | 2023-11-17 | 内蒙古科技大学 | Non-contact self-electricity-supplementing wireless charging mobile robot and method for electric automobile |
| CN118651102A (en) * | 2024-08-15 | 2024-09-17 | 威泊(上海)新能源科技股份有限公司 | Robot convenient for positioning, charging and energy storage and charging method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620214A (en) * | 2016-03-15 | 2016-06-01 | 苏州睿梵工业设计有限公司 | Damping device and carrier trolley using damping device |
| CN109747456A (en) * | 2017-11-07 | 2019-05-14 | 福特全球技术公司 | mobile energy storage device |
| CN210011608U (en) * | 2019-05-07 | 2020-02-04 | 青岛鲁渝能源科技有限公司 | Wireless charging device and system |
| WO2020199873A1 (en) * | 2018-12-28 | 2020-10-08 | 远景能源有限公司 | Automatic charging vehicle and operating method therefor, and automatic charging system |
| CN212353652U (en) * | 2020-04-09 | 2021-01-15 | 安徽佑赛科技股份有限公司 | Wireless charging power supply coil adjusting device for vehicle |
| CN112319599A (en) * | 2020-08-04 | 2021-02-05 | 中国船舶重工集团公司第七一三研究所 | High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform |
| CN112874236A (en) * | 2021-03-10 | 2021-06-01 | 安徽大学 | Spring shock attenuation chassis based on mecanum wheel |
| CN213322550U (en) * | 2020-09-15 | 2021-06-01 | 安徽意欧斯物流机器人有限公司 | AGV horizontal steering wheel damper |
| CN213322705U (en) * | 2020-09-11 | 2021-06-01 | 安徽机电职业技术学院 | Wireless charging device for automobile |
| CN113525113A (en) * | 2021-07-05 | 2021-10-22 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Electric vehicle wireless charging device, charging control method, electronic device and storage medium |
| CN113635994A (en) * | 2020-04-27 | 2021-11-12 | 广东博智林机器人有限公司 | Omnidirectional movement chassis and AGV dolly |
-
2023
- 2023-03-27 CN CN202310306287.XA patent/CN116039420A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620214A (en) * | 2016-03-15 | 2016-06-01 | 苏州睿梵工业设计有限公司 | Damping device and carrier trolley using damping device |
| CN109747456A (en) * | 2017-11-07 | 2019-05-14 | 福特全球技术公司 | mobile energy storage device |
| WO2020199873A1 (en) * | 2018-12-28 | 2020-10-08 | 远景能源有限公司 | Automatic charging vehicle and operating method therefor, and automatic charging system |
| CN210011608U (en) * | 2019-05-07 | 2020-02-04 | 青岛鲁渝能源科技有限公司 | Wireless charging device and system |
| CN212353652U (en) * | 2020-04-09 | 2021-01-15 | 安徽佑赛科技股份有限公司 | Wireless charging power supply coil adjusting device for vehicle |
| CN113635994A (en) * | 2020-04-27 | 2021-11-12 | 广东博智林机器人有限公司 | Omnidirectional movement chassis and AGV dolly |
| CN112319599A (en) * | 2020-08-04 | 2021-02-05 | 中国船舶重工集团公司第七一三研究所 | High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform |
| CN213322705U (en) * | 2020-09-11 | 2021-06-01 | 安徽机电职业技术学院 | Wireless charging device for automobile |
| CN213322550U (en) * | 2020-09-15 | 2021-06-01 | 安徽意欧斯物流机器人有限公司 | AGV horizontal steering wheel damper |
| CN112874236A (en) * | 2021-03-10 | 2021-06-01 | 安徽大学 | Spring shock attenuation chassis based on mecanum wheel |
| CN113525113A (en) * | 2021-07-05 | 2021-10-22 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Electric vehicle wireless charging device, charging control method, electronic device and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 薛秀丽等: "驱动电机及控制技术", 电子科技大学出版社, pages: 129 - 132 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117067949A (en) * | 2023-09-01 | 2023-11-17 | 内蒙古科技大学 | Non-contact self-electricity-supplementing wireless charging mobile robot and method for electric automobile |
| CN118651102A (en) * | 2024-08-15 | 2024-09-17 | 威泊(上海)新能源科技股份有限公司 | Robot convenient for positioning, charging and energy storage and charging method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116039420A (en) | Omnidirectional Beiwei robot equipment and method for wireless energy storage and charging | |
| US9345177B2 (en) | Wireless power supply system | |
| US20170080815A1 (en) | Inductive Power Transfer Pad, System for Inductive Power Transfer and Method of Operating Inductive Power Transfer Pad | |
| US20110031047A1 (en) | In-motion inductive charging system having a wheel-mounted secondary coil | |
| CN105186611A (en) | Inductive charging vehicle having automatic positioning | |
| CN113147497A (en) | Intelligent charging and battery replacing system for new energy electric automobile | |
| CN115230645A (en) | Commercial vehicle chassis battery replacement station and battery replacement method | |
| CN105122592A (en) | Power-feeding device, contactless power-feeding system, and sac unit | |
| CN110027417A (en) | Wireless charging device, system and wireless charging control method | |
| CN110733376B (en) | Autonomous loading and unloading system for vehicle power battery and matching method | |
| CN106921196B (en) | Ground moving charging robot based on magnetic suspension outer rotor flywheel energy storage | |
| CN206250796U (en) | A kind of wireless electric vehicle charging device | |
| CN208289880U (en) | A kind of AGV vehicle equipped with gripper library | |
| JP2015154539A (en) | Non-contact power supply device | |
| CN105966259A (en) | Wireless energy supply system based on wheels in traveling process of electric automobile | |
| CN210011608U (en) | Wireless charging device and system | |
| KR20220044007A (en) | Battery swapping method for electric truck | |
| CN115476824A (en) | Heavy truck power exchanging station | |
| CN216659643U (en) | Electric automobile dilatation system | |
| CN110656800A (en) | Chargeable lead screw roller bearing intelligence garage | |
| CN113635790A (en) | Electric automobile wheel hub motor wireless power transmission system based on coil structure under spring | |
| CN108049677A (en) | A kind of intelligent parking lot | |
| CN215751963U (en) | Wireless charging structure of AGV floor truck for parking garage | |
| CN113978296B (en) | Intelligent charging system of stereo garage and control method | |
| WO2024138947A1 (en) | Battery swapping system and battery swapping method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20230502 |