CN104124736A - On-board charging unit and automatic charging method applying the same - Google Patents
On-board charging unit and automatic charging method applying the same Download PDFInfo
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- CN104124736A CN104124736A CN201410359051.3A CN201410359051A CN104124736A CN 104124736 A CN104124736 A CN 104124736A CN 201410359051 A CN201410359051 A CN 201410359051A CN 104124736 A CN104124736 A CN 104124736A
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- charging
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- car body
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Disclosed is an on-board charging unit. The on-board charging unit comprises a controller, a position detector, a mechanical arm and a charging mechanism, wherein the controller is connected the position detector, the mechanical arm and the charging mechanism through signals respectively, the position detector is used for collecting charging jacks around a vehicle body and position information of the mechanical arm and the charging mechanism, the mechanical arm is connected with the vehicle body, the charging mechanism is slidingly arranged on the mechanical arm, the front end of the charging mechanism is provided with a charging plug, and the controller controls the charging mechanism to slide on the mechanical arm to a position enabling the charging plug to correspond to the charging jacks and controls the mechanical arm to drive the mechanism to plug the charging plug into the charging jacks. The on-board charging unit can automatically determine the position of the charging jacks through the cooperation of the controller, the position detector and the mechanism arm, can automatically extend the mechanical arm to connect the jacks for charging and automatically retract the mechanical arm after charging, integrates existing mature industrial technologies and is low in costs and convenient to use.
Description
Technical field
The present invention relates to automotive engineering, particularly about a kind of vehicle-mounted charging device and utilize the method for this device automatic charging.
Background technology
Because being subject to the restriction of current electrokinetic cell energy density, the only about 100km left and right of mileage of cruising of pure electric automobile at present.And according to correlation study, people's mileage of a day is approximately 60km, this just means that filling once electricity can not meet the driving needs of two days, and needs charge to vehicle every day.But, very inconvenience of manual charging every day, and can there is the problem of forgetting charging and affect stroke.
Wireless charging is considered to the developing direction of following electric motor car charging technique, but wireless charging is still under test at present, still have a lot of technical barriers to be solved, such as charge coil will very coincide and just have higher charge efficiency with the axle center that is subject to electric coil, if the two concentricity is inadequate, can greatly reduce charge efficiency, and reach very to coincide, the driving ability to car owner be proposed to very high requirement, in operation, have certain difficulty.
Patent CN 103425073A provides a kind of charging plug automatic telescopic control system, but it is applied on charging pile, though can reach the object complex structure of automatic charging, production cost is higher, and only can be used for charging pile charging, make charging electric vehicle have certain ineffective activity.
Summary of the invention
In view of this, the vehicle-mounted charging device that provides a kind of production cost relatively low is provided the object of the invention.
For reaching above-mentioned advantage, the invention provides a kind of vehicle-mounted charging device, described vehicle-mounted charging device comprises controller, position detecting device, mechanical arm and charging mechanism, described controller respectively with described position detecting device, described mechanical arm and described charging mechanism signal connect, described position detecting device is for gathering near the charging jack of car body and the positional information of described mechanical arm and described charging mechanism, described mechanical arm is connected with car body, for drive described charging mechanism near or away from charging jack position move, described charging mechanism is slidably arranged on described mechanical arm, and the front end of described charging mechanism is provided with a charging plug, described in described controller control, charging mechanism slides into the position that makes described charging plug corresponding with described charging jack on described mechanical arm, and control described mechanical arm and drive described charging mechanism that described charging plug is inserted in described charging jack.
In one embodiment of the invention, described charging mechanism also comprises a correction motor, described correction motor is connected with described charging plug, described correction motor receives the signal of described controller and drives described charging plug to carry out angle modification, and the angle of described charging plug and the angle of described charging jack are coincide.
In one embodiment of the invention, described mechanical arm comprises an outer boom and a swing-around trajectory, described outer boom is connected with described car body, drive described swing-around trajectory along moving perpendicular to the direction of described car body, described swing-around trajectory can be rotated around described outer boom, and described charging mechanism is slidably located on described swing-around trajectory.
In one embodiment of the invention, the surface of described outer boom is provided with tooth bar along its length, described car body is provided with overhanging drive motors in tooth bar one side of described outer boom, described overhanging drive motors is connected with described controller signals, and described overhanging drive motors has the gear coordinating with described tooth bar.
In one embodiment of the invention, one end of described swing-around trajectory is provided with rotating disk, described rotating disk is connected by a rotary drive motor with one end of described outer boom, described rotary drive motor is connected with described controller signals, and described swing-around trajectory is rotated taking described outer boom as axle under the drive of described rotary drive motor.
In one embodiment of the invention, described swing-around trajectory comprises leading screw and guide rail, described leading screw and described guide rail parallel, described charging mechanism has the slide being slidably sheathed on described leading screw and described guide rail, described rotating disk is provided with leading screw drive motors, described leading screw rotates under the driving of described leading screw drive motors, drives described charging mechanism to move back and forth along described guide rail.
In one embodiment of the invention, described position detecting device is camera, and described controller is according to the positional information of near the charging jack image acquisition car body of described camera collection and described mechanical arm and described charging mechanism.
In one embodiment of the invention, described vehicle-mounted charging device also comprises energy diagnostic system, and described energy diagnostic system is connected with described controller signals, and described energy diagnostic system is for diagnosing the energy state of electric automobile.
The present invention also provides a kind of automatic recharging method, and described automatic recharging method comprises:
Controller receives charging desired signal, and whether startup camera has charging jack near searching car body;
When camera detects that charging is when jack, controller control mechanical arm stretches out car body, camera mechanical arm stretch out process in feed back the positional information of mechanical arm;
Camera feedack shows when mechanical arm arrives assigned address that the running of controller control leading screw drive motors drives charging mechanism to move to the front of charging jack;
Camera detects the angle information of charging plug of charging mechanism, controller according to the angle of described angle information control correction motor correction charging plug until coincide with the angle of charging jack;
The overhanging drive motors running of controller control, makes mechanical arm promote charging mechanism and advances, and charging plug is inserted in charging jack and charged;
Controller receives charging end signal, controls mechanical arm and returns in car body.
In one embodiment of the invention, the step that described in described controller control, mechanical arm stretches out car body comprises:
The overhanging drive motors running of controller control, drive outer boom to stretch out car body, camera detects the extended position of outer boom and sends the information detecting to controller, whether controller arrives assigned address according to the outer boom of the contrast judgement of the positional information of outer boom and system intialization information, in the time that outer boom arrives assigned address, overhanging drive motors shuts down;
The rotation of controller control rotary drive motor driven rotary track, camera detects the position of swing-around trajectory and sends the information detecting to controller, controller is according to the camera feedack correction anglec of rotation, until swing-around trajectory turns to the front of charging jack.
In sum, vehicle-mounted charging device provided by the invention, coordinate with mechanical arm by controller, position detecting device, can judge voluntarily charging jack position, and stretch out voluntarily mechanical arm and connect jack and charge, automatic drawing back mechanical arm after charging, has integrated the industrial technology of existing maturation, cost is low, easy to use.
Brief description of the drawings
Fig. 1 is the overall structure schematic diagram of vehicle-mounted charging device in one embodiment of the invention.
Fig. 2 is the working state schematic representation of vehicle-mounted charging device in one embodiment of the invention.
Fig. 3 is schematic diagram when vehicle-mounted charging device is positioned at another angle in one embodiment of the invention.
Fig. 4 is the structural representation of the charging mechanism of vehicle-mounted charging device in one embodiment of the invention.
Embodiment
Technological means and effect of taking for reaching predetermined goal of the invention for further setting forth the present invention, below in conjunction with accompanying drawing and preferred embodiment, to according to the specific embodiment of the present invention, structure, feature and effect thereof, be described in detail as follows.
Fig. 1 is the overall structure schematic diagram of vehicle-mounted charging device in one embodiment of the invention.Fig. 2 is the working state schematic representation of vehicle-mounted charging device in one embodiment of the invention.As depicted in figs. 1 and 2, vehicle-mounted charging device 10 of the present invention comprises controller 11, position detecting device 12, mechanical arm 13, charging mechanism 14 and energy diagnostic system (not shown).
Wherein, controller 11 is connected with position detecting device 12, mechanical arm 13, charging mechanism 14 and energy diagnostic system signal respectively.This energy diagnostic system is for diagnosing the energy state of electric automobile, and sends charging desired signal to controller 11 at the energy of electric automobile during lower than a predetermined value.Position detecting device 12 can be camera, radar, infrared sensor etc., the present embodiment is preferably camera, it is for gathering the image of near charging jack 31 car body 20 and mechanical arm 13 and charging mechanism 14, by controller 11 according near the charging jack 31 image acquisition car body 20 gathering and mechanical arm 13 positional information with charging mechanism 14.Mechanical arm 13 is connected with car body 20, for drive charging mechanism 14 near or away from charging jack 31 position move, charging mechanism 14 is slidably arranged on mechanical arm 13, the front end of charging mechanism 14 is provided with a charging plug 141, controller 11 is controlled charging mechanism 14 and on mechanical arm 13, is slid into and make charging plug 141 and the corresponding position of charging jack 31, and controls mechanical arm 13 and drive charging mechanism 14 that charging plug 141 is inserted in charging jack 31.
It should be noted that, vehicle-mounted charge apparatus 10 of the present invention can be installed on the optional position of car body 20, as long as can meet the charging demand of automobile, preferred, in the present embodiment, vehicle-mounted charge apparatus 10 is installed on the head of car body 20.In addition, charging jack 31 can be located on body of wall or charging pile, and in the present embodiment, charging jack 31 is located on body of wall 30, and is the commercially available family expenses 220V three-phase socket that meets national standard.
Incorporated by reference to Fig. 3, mechanical arm 13 comprises outer boom 131 and swing-around trajectory 132, outer boom 131 is connected with car body 20, the surface of outer boom 131 is provided with tooth bar 131a along its length, car body 20 outside tooth bar 131a mono-side of boom 131 is provided with overhanging drive motors 133, overhanging drive motors 133 has the gear 133a coordinating with tooth bar 131a, this overhanging drive motors 133 is connected with controller 11 signals, in the time that overhanging drive motors 133 turns round, gear 133a makes outer boom 131 stretch out car body 20 or regain in car body 20 with carry-over bar 131a edge perpendicular to the side of car body 20 forward or backward.
Connect above-mentioned, one end of swing-around trajectory 132 is provided with rotating disk 132a, rotating disk 132a is connected by rotary drive motor 134 with one end of outer boom 131, this rotary drive motor 134 is fixed to one end of outer boom 131 by holder 134a, rotary drive motor 134 is connected with controller 11 signals, swing-around trajectory 132 can be under the drive of rotary drive motor 134 beyond boom 131 be rotated for axle.Further, swing-around trajectory 132 comprises leading screw 132b and guide rail 132c, leading screw 132b is parallel with guide rail 132c and be all connected with rotating disk 132a, charging mechanism 14 has the slide 142 being slidably sheathed on leading screw 132b and guide rail 132c, rotating disk 132a is provided with leading screw drive motors 132d, leading screw 132b rotates under the driving of leading screw drive motors 132d, thereby drives charging mechanism 14 to move back and forth along guide rail 132c.
As shown in Figure 4, owing to may causing charging plug 141 inconsistent with the angle of charging jack 31 after swing-around trajectory 132 rotations, therefore, charging mechanism 14 also further comprises revises motor 143, revises motor 143 and is connected with charging plug 141 and for charging plug 141 is carried out to angle modification.In the time that the angle generation between charging plug 141 and charging jack 31 departs from, revise motor 143 and receive the signal of controller 11 and drive charging plug 141 to rotate, its angle and the angle of charging jack 31 are coincide.
In the present embodiment, overhanging drive motors 133, rotary drive motor 134, leading screw drive motors 132d and correction motor 143 are micro-step motor.Understandable, in other embodiments of the invention, these motors can be also other motors that can meet above-mentioned instructions for use.In addition, in other embodiments of the invention, charging plug 141 and charging jack 31 also can be respectively charge coil that can wireless charging and be subject to electric coil, and mechanical arm 13 also can be multi-section combined, flexibility and the accuracy of rotating flexible to increase.
, will specifically introduce the automatic recharging method that utilizes above-mentioned vehicle-mounted charge apparatus 10 below, the method comprises the steps:
First, utilize the energy state of energy diagnostic system diagnosis electric automobile, in the time that energy source of car is not enough, energy diagnostic system sends charging desired signal to controller 11, controller 11 receives after charging desired signal, and whether enable position checkout gear 12 has charging jack 31 near searching car body 20.
Position detecting device 12 detects car body 20 environmental aspect around, and the information detecting is fed back to controller 11.In the time that controller 11 has charging jack 31 near according to the information judgement detecting, control mechanical arm 13 and stretch out car body 20, position detecting device 12 mechanical arm 13 stretch out process in the positional information of Real-time Collection and feedback mechanical arm 13.Particularly, controller 11 is first controlled overhanging drive motors 133 and is turned round, thereby drive the protruding car body 20 of outer boom 131, the position of boom 131 outside position detecting device 12 detection in real time in this process, and its positional information is fed back to controller 11, whether controller 11 arrives assigned address according to the outer boom 131 of the contrast judgement of the positional information of outer boom 131 and system intialization information, in the time that outer boom 131 arrives assigned address (as apart from body of wall 30 specific ranges), controller 11 stops the running of overhanging drive motors 133, and control rotary drive motor 134 driven rotary tracks 132 and rotate, position detecting device 12 detects in real time the position of swing-around trajectory 132 and sends the information detecting to controller 11 in this process, the signal correction anglec of rotation that controller 11 feeds back according to position detecting device 12, until swing-around trajectory 132 turns to the front of charging jack 31.
The signal feeding back when position detecting device 12 shows when swing-around trajectory 132 has turned to the front of charging jack 31, controller 11 is controlled rotary drive motor 134 and is stopped operating, and control leading screw drive motors 132d running, make charging mechanism 14 move to the front of charging jack 31, the signal feeding back when position detecting device 12 shows that when charging mechanism 14 has moved to the front of charging jack 31, controller 11 stops the running of leading screw drive motors 132d.Then, controller 11 judges the angle of charging plug 141 according to position detecting device 12 feedacks, and controls correction motor 143 and revise the angle of charging plug 141 until coincide with the angle of charging jack 31.
In the time that the angle of charging plug 141 is coincide with the angle of charging jack 31, controller 11 is controlled overhanging drive motors 133 and is turned round, making mechanical arm 12 promote charging mechanism 14 advances, thereby charging plug 141 is inserted in charging jack 31 and charged, simultaneously, energy diagnostic system judges the energy state of electric automobile, sends charging end signal in the time that the identification of energy diagnostic system has been charged.
Controller 11, in the time receiving charging end signal, is controlled mechanical arm 12 and charging mechanism 14 and is return in car body 20, charges complete.
In sum, vehicle-mounted charging device of the present invention has following beneficial effect:
1. the present invention adopts machine vision camera technology, electrical micro-machine technology and simple mechanical arm structure, and technical field is comparatively universal, and production cost is lower, easy to use;
2. the present invention only needs supporting commercially available charging socket, can use at domestic garage and public charging station, and charging flexibility is higher;
3. the present invention is low to the accuracy requirement of parking spot, as long as car is parked near charging jack.
The above, it is only preferred embodiment of the present invention, not the present invention is done to any pro forma restriction, although the present invention discloses as above with preferred embodiment, but not in order to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, when can utilizing the technology contents of above-mentioned announcement to make a little change or being modified to the equivalent embodiment of equivalent variations, in every case be not depart from technical solution of the present invention content, any simple modification of above embodiment being done according to technical spirit of the present invention, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. a vehicle-mounted charging device, it is characterized in that: described vehicle-mounted charging device comprises controller, position detecting device, mechanical arm and charging mechanism, described controller respectively with described position detecting device, described mechanical arm and described charging mechanism signal connect, described position detecting device is for gathering near the charging jack of car body and the positional information of described mechanical arm and described charging mechanism, described mechanical arm is connected with car body, for drive described charging mechanism near or away from charging jack position move, described charging mechanism is slidably arranged on described mechanical arm, and the front end of described charging mechanism is provided with a charging plug, described in described controller control, charging mechanism slides into the position that makes described charging plug corresponding with described charging jack on described mechanical arm, and control described mechanical arm and drive described charging mechanism that described charging plug is inserted in described charging jack.
2. vehicle-mounted charging device as claimed in claim 1, it is characterized in that: described charging mechanism also comprises a correction motor, described correction motor is connected with described charging plug, described correction motor receives the signal of described controller and drives described charging plug to carry out angle modification, and the angle of described charging plug and the angle of described charging jack are coincide.
3. vehicle-mounted charging device as claimed in claim 1, it is characterized in that: described mechanical arm comprises an outer boom and a swing-around trajectory, described outer boom is connected with described car body, drive described swing-around trajectory along moving perpendicular to the direction of described car body, described swing-around trajectory can be rotated around described outer boom, and described charging mechanism is slidably located on described swing-around trajectory.
4. vehicle-mounted charging device as claimed in claim 3, it is characterized in that: the surface of described outer boom is provided with tooth bar along its length, described car body is provided with overhanging drive motors in tooth bar one side of described outer boom, described overhanging drive motors is connected with described controller signals, and described overhanging drive motors has the gear coordinating with described tooth bar.
5. vehicle-mounted charging device as claimed in claim 3, it is characterized in that: one end of described swing-around trajectory is provided with rotating disk, described rotating disk is connected by a rotary drive motor with one end of described outer boom, described rotary drive motor is connected with described controller signals, and described swing-around trajectory is rotated taking described outer boom as axle under the drive of described rotary drive motor.
6. vehicle-mounted charging device as claimed in claim 3, it is characterized in that: described swing-around trajectory comprises leading screw and guide rail, described leading screw and described guide rail parallel, described charging mechanism has the slide being slidably sheathed on described leading screw and described guide rail, described rotating disk is provided with leading screw drive motors, described leading screw rotates under the driving of described leading screw drive motors, drives described charging mechanism to move back and forth along described guide rail.
7. vehicle-mounted charging device as claimed in claim 1, it is characterized in that: described position detecting device is camera, described controller is according to the positional information of near the charging jack image acquisition car body of described camera collection and described mechanical arm and described charging mechanism.
8. vehicle-mounted charging device as claimed in claim 1, it is characterized in that: described vehicle-mounted charging device also comprises energy diagnostic system, described energy diagnostic system is connected with described controller signals, and described energy diagnostic system is for diagnosing the energy state of electric automobile.
9. an automatic recharging method, is characterized in that: described automatic recharging method comprises:
Controller receives charging desired signal, and whether startup camera has charging jack near searching car body;
When camera detects that charging is when jack, controller control mechanical arm stretches out car body, camera mechanical arm stretch out process in feed back the positional information of mechanical arm;
Camera feedack shows when mechanical arm arrives assigned address that the running of controller control leading screw drive motors drives charging mechanism to move to the front of charging jack;
Camera detects the angle information of charging plug of charging mechanism, controller according to the angle of described angle information control correction motor correction charging plug until coincide with the angle of charging jack;
The overhanging drive motors running of controller control, makes mechanical arm promote charging mechanism and advances, and charging plug is inserted in charging jack and charged;
Controller receives charging end signal, controls mechanical arm and returns in car body.
10. automatic recharging method as claimed in claim 9, is characterized in that: the step that described in described controller control, mechanical arm stretches out car body comprises:
The overhanging drive motors running of controller control, drive outer boom to stretch out car body, camera detects the extended position of outer boom and sends the information detecting to controller, whether controller arrives assigned address according to the outer boom of the contrast judgement of the positional information of outer boom and system intialization information, in the time that outer boom arrives assigned address, overhanging drive motors shuts down;
The rotation of controller control rotary drive motor driven rotary track, camera detects the position of swing-around trajectory and sends the information detecting to controller, controller is according to the camera feedack correction anglec of rotation, until swing-around trajectory turns to the front of charging jack.
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| CN201410359051.3A CN104124736B (en) | 2014-07-25 | 2014-07-25 | Vehicle-mounted charging device and the method using the device automatic charging |
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| CN201410359051.3A CN104124736B (en) | 2014-07-25 | 2014-07-25 | Vehicle-mounted charging device and the method using the device automatic charging |
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| CN104124736B CN104124736B (en) | 2018-01-19 |
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| CN105305161A (en) * | 2015-11-23 | 2016-02-03 | 重庆红亿机械有限公司 | Movable type telescoping power transmission device |
| CN105629977A (en) * | 2016-03-06 | 2016-06-01 | 王保亮 | Fully automatic navigation-type pilotless electric vehicle using method |
| CN105620306A (en) * | 2016-03-06 | 2016-06-01 | 王保亮 | Residual electricity quantity detection based automatic charging electric vehicle |
| CN105691230A (en) * | 2016-03-06 | 2016-06-22 | 王保亮 | Full-automatic navigation type unmanned electric car |
| CN105751912A (en) * | 2016-03-06 | 2016-07-13 | 张敏 | Automatic charging type unmanned electric automobile |
| CN105785993A (en) * | 2016-03-06 | 2016-07-20 | 王保亮 | Multifunctional unmanned electric vehicle |
| CN105774584A (en) * | 2016-03-06 | 2016-07-20 | 张敏 | Use method of automatic charging unmanned electric automobile |
| CN105871001A (en) * | 2016-04-12 | 2016-08-17 | 西安天鹰防务科技有限公司 | In-site automatic charging device of unmanned aerial vehicle on vehicle-mounted lifting platform |
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| CN105629977A (en) * | 2016-03-06 | 2016-06-01 | 王保亮 | Fully automatic navigation-type pilotless electric vehicle using method |
| CN105620306A (en) * | 2016-03-06 | 2016-06-01 | 王保亮 | Residual electricity quantity detection based automatic charging electric vehicle |
| CN105691230A (en) * | 2016-03-06 | 2016-06-22 | 王保亮 | Full-automatic navigation type unmanned electric car |
| CN105751912A (en) * | 2016-03-06 | 2016-07-13 | 张敏 | Automatic charging type unmanned electric automobile |
| CN105785993A (en) * | 2016-03-06 | 2016-07-20 | 王保亮 | Multifunctional unmanned electric vehicle |
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| CN106114261B (en) * | 2016-07-12 | 2018-06-19 | 深圳市科陆电子科技股份有限公司 | Wheel lock with charging signaling transfer point |
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| CN107086419A (en) * | 2017-02-21 | 2017-08-22 | 浙江骐远智能科技有限公司 | A kind of electronic returning public bicycles automatic charging coupling arrangement |
| CN110015067A (en) * | 2017-09-11 | 2019-07-16 | 比亚迪股份有限公司 | Automatic alignment apparatus, method and the charging pile of Vehicular charging mouth |
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| CN109318735A (en) * | 2018-11-29 | 2019-02-12 | 上海上汽安悦充电科技有限公司 | A kind of floating type charging connecting device |
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