CN111391689A - Charging pile, charging system and charging method for unmanned vehicle - Google Patents
Charging pile, charging system and charging method for unmanned vehicle Download PDFInfo
- Publication number
- CN111391689A CN111391689A CN202010447123.5A CN202010447123A CN111391689A CN 111391689 A CN111391689 A CN 111391689A CN 202010447123 A CN202010447123 A CN 202010447123A CN 111391689 A CN111391689 A CN 111391689A
- Authority
- CN
- China
- Prior art keywords
- charging
- unmanned vehicle
- guide rail
- interface
- driving device
- 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
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
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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 a charging pile, a charging system and a charging method for an unmanned vehicle, wherein the charging pile comprises a charging interface, a lifting device and a translation device; the lifting device is used for driving the charging interface to lift along the vertical direction; the translation device is used for driving the charging interface to translate along the horizontal direction. Unmanned vehicle automatic driving is to the parking that is equipped with the electric pile and is filled the electric potential, and the translation device is first moved to establishing under the joint that charges on unmanned vehicle chassis along the horizontal direction the interface that charges, then elevating gear redrive charge the interface rise to with the joint butt joint that charges. For among the prior art unmanned vehicle drives to vertical electric pile next door that fills, then the manual work will charge the joint with the interface butt joint that charges, fill electric pile in the first aspect of this application can charge for unmanned vehicle automatically, have higher automation, realize the most genuine automated driving unmanned.
Description
Technical Field
The application relates to the technical field, in particular to a charging pile, a charging system and a charging method for an unmanned vehicle.
Background
Along with electric automobile's popularization, it is also more and more to fill electric pile, fill electric pile among the prior art for vertical electric pile usually, need the manual interface that charges that will fill electric pile and the interface butt joint that charges on the car to accomplish the operation of charging, and along with the rise of unmanned car, unmanned car use amount is bigger and bigger, but does not have the electric pile that fills that can supply unmanned car automatic charging at present, its charging process still needs the manual work to fill the interface that charges of electric pile and the interface butt joint that charges on the unmanned car, this causes very big hindrance to really realizing that automatic driving is unmanned.
Disclosure of Invention
The application aims to provide a charging pile, a charging system and a charging method for an unmanned vehicle, and the charging pile, the charging system and the charging method are used for solving the problem that the charging pile in the prior art cannot automatically charge the unmanned vehicle.
Therefore, in a first aspect of the present application, a charging pile is provided for charging an unmanned vehicle, comprising a charging interface, and further comprising a lifting device and a translation device;
the lifting device is used for driving the charging interface to lift along the vertical direction;
the translation device is used for driving the charging interface to translate along the horizontal direction.
The electric pile that fills that this application first aspect provided, unmanned vehicle automatic driving to the parking that is equipped with and fills electric pile fill the electric potential, and the translation device moves the interface that charges along the horizontal direction and removes to establishing under the joint that charges on unmanned vehicle chassis before, then elevating gear redrive charge the interface rise to with the joint butt joint that charges. For among the prior art unmanned vehicle drives to vertical electric pile next door that fills, then the manual work will charge the joint with the interface butt joint that charges, fill electric pile in the first aspect of this application can charge for unmanned vehicle automatically, have higher automation, realize the most genuine automated driving unmanned.
In a possible implementation manner of the first aspect of the present application, the lifting device includes a Z-direction guide rail and a Z-direction driving device, the Z-direction guide rail is vertically disposed, the Z-direction driving device is in transmission connection with the charging interface, and the Z-direction driving device is used for driving the charging interface to move along the Z-direction guide rail.
Through the above possible implementation manner of the first aspect of the application, the Z-direction driving device can independently drive the charging interface to move, and after the charging interface horizontally moves to the position under the charging connector arranged on the chassis of the unmanned vehicle, the Z-direction driving device drives the charging interface to vertically move upwards along the Z-direction guide rail until the charging interface is in butt joint with the charging connector.
In a possible embodiment of the first aspect of the present application, the translation device includes an X-direction guide rail perpendicular to the Z-direction guide rail and an X-direction driving device in transmission connection with the Z-direction guide rail, and the X-direction driving device is configured to drive the Z-direction guide rail to move along the X-direction guide rail.
Through the above possible implementation manner of the first aspect of the present application, the X-direction driving device can independently drive the Z-direction rail to move, so as to drive the charging interface to horizontally move along the X-direction rail along with the Z-direction rail; the X-direction driving device and the Z-direction driving device can work step by step or simultaneously work, and when the X-direction driving device and the Z-direction driving device work simultaneously, the charging connector can be driven to move along an oblique line inclined relative to a horizontal plane on a vertical plane, and can also be driven to move along a curve; for example, when the velocity vector of the charging interface moving along the X-direction guide rail is Vx and the velocity vector of the charging interface moving along the Z-direction guide rail is Vz, the actual velocity vector of the charging interface moving is Vx + Vz; if Vx and Vz are constant, namely the moving speed of the charging interface along the X-direction guide rail and the moving speed of the charging interface along the Z-direction guide rail are not changed, the moving path of the charging interface is an oblique line; when the charging interface moves along the X-direction guide rail in a variable speed mode and the acceleration is ax, the acceleration moving along the Z-direction guide rail is az, if ax is different from az in size, the charging interface moves along a curve, and if ax is the same as az in size, the charging interface moves along an oblique line.
In a possible implementation manner of the first aspect of the present application, the translation device further includes a Y-direction guide rail and a Y-direction driving device, the Y-direction guide rail is respectively perpendicular to the Z-direction guide rail and the X-direction guide rail, the Y-direction driving device is in transmission connection with the X-direction guide rail, and the Y-direction driving device is used for driving the X-direction guide rail to follow the Y-direction guide rail to move.
Through the above possible implementation manner of the first aspect of the present application, the Y-direction driving device can independently drive the X-direction rail to move, so as to drive the Z-direction rail to horizontally move along the Y-direction rail along with the X-direction rail, and finally drive the charging interface to horizontally move along the Y-direction rail; the X-direction driving device and the Y-direction driving device can work independently or simultaneously, and when the X-direction driving device and the Y-direction driving device work simultaneously, the charging connector can be driven to move along an oblique line inclined relative to a horizontal plane on a vertical plane or move along a curve; the X-direction driving device, the Y-direction driving device and the Z-direction driving device can also work simultaneously, and when the X-direction driving device, the Y-direction driving device and the Z-direction driving device work simultaneously, the charging interface can be driven to move along a space straight line or a space curve.
In a possible implementation manner of the first aspect of the present application, the apparatus further includes a controller and a position detector, and the position detector, the lifting device, and the translation device are electrically connected to the controller respectively.
Through the above possible implementation manner of the first aspect of the application, the position detector is used for scanning and detecting the position of the charging connector, when the unmanned vehicle is parked stably in the parking charging position, the position detector sends the position image of the charging connector to the controller, and the controller controls the lifting device and the translation device to work after calculation, and drives the charging interface to move to be in butt joint with the charging connector.
In the second aspect of this application, a charging system is provided, include in the first aspect of this application fill electric pile, still include positioner, positioner is connected with the on-vehicle host computer electricity of unmanned car, positioner is used for detecting the position of unmanned car.
The charging system that this application second aspect provided detects unmanned vehicle position and can fixes a position unmanned vehicle, confirms that what the position that unmanned vehicle used fills electric pile to the work of the electric pile is filled to control correspondence.
In a possible implementation manner of the second aspect of the present application, the mobile terminal further includes a wireless communication module and a cloud host, where the wireless communication module is used for communication between the cloud host and the controller and communication between the cloud host and the vehicle-mounted host.
According to the possible implementation manner of the second aspect of the application, the charging pile and the unmanned vehicle are respectively provided with the wireless communication modules, and the charging pile and the unmanned vehicle are respectively in communication connection with the cloud host through the wireless communication modules; the unmanned vehicle sends a charging request to the cloud host through the wireless communication module, the cloud host sends a charging instruction to the charging pile corresponding to the position of the unmanned vehicle through the wireless communication module after receiving the request, and after the charging pile receives the charging instruction, the controller controls the lifting device and the translation device to work and drives the charging interface to move to be in butt joint with a charging connector on the unmanned vehicle.
In a possible embodiment of the second aspect of the present application, the vehicle further includes a distance sensor, and the distance sensor is electrically connected to the on-vehicle host.
Through the above possible implementation manner of the second aspect of the present application, the distance sensor is installed at the tail end of the unmanned vehicle, and in the process that the unmanned vehicle enters the parking charging position, the distance sensor detects the distance between the tail end of the unmanned vehicle and the parking charging position boundary, and when the distance between the tail end of the unmanned vehicle and the parking charging position boundary is within the preset distance range, the distance sensor sends a parking instruction to the vehicle-mounted host, and the vehicle-mounted host controls the unmanned vehicle to power off and park.
In a third aspect of the present application, there is provided a charging method using the charging system of the second aspect of the present application, including the steps of:
acquiring a charging joint position of the unmanned vehicle;
controlling the lifting device and the translation device to operate according to the position of the charging connector so as to drive the charging interface to move to be in butt joint with the charging connector;
and judging the docking state of the charging interface and the charging connector, and charging the unmanned vehicle when the charging condition is met.
In a possible implementation manner of the third aspect of the present application, the acquiring a charging connector position of an unmanned vehicle includes:
the unmanned vehicle drives into a charging parking space provided with the charging pile;
the vehicle-mounted host sends a charging request and an unmanned vehicle position to the cloud host through the wireless communication module;
the cloud host sends a charging instruction to the corresponding controller through the wireless communication module based on the position of the unmanned vehicle;
the controller controls the position detector to scan to obtain the charging joint position of the unmanned vehicle;
the controller controls the lifting device and the translation device to operate to drive the charging interface to move to be in butt joint with the charging connector;
the unmanned vehicle drives into the charging parking space provided with the charging pile, and the method comprises the following steps: the distance sensor detects the relative position of the unmanned vehicle and the parking charging position, when the relative position of the unmanned vehicle and the parking charging position is within a preset position range, the distance sensor sends a parking charging signal to the vehicle-mounted host, and the vehicle-mounted host controls the unmanned vehicle to park and enter a power-off mode when receiving the parking charging signal.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
Fig. 1 is a schematic structural diagram of a charging pile in a first embodiment of the present application;
fig. 2 is a top view of a charging pile according to a first embodiment of the present disclosure;
FIG. 3 is a view in the direction A of FIG. 2;
fig. 4 is a schematic structural diagram of a charging system according to a second embodiment of the present application;
fig. 5 is a schematic flowchart of a third charging method according to an embodiment of the present application.
Description of reference numerals:
110. unmanned vehicles;
210. a charging interface; 220. a lifting device; 230. a translation device; 231. a Z-direction guide rail; 232. a Z-direction driving device; 233. an X-direction guide rail; 234. an X-direction driving device; 235. a Y-direction guide rail; 236. a Y-direction driving device; 240. a controller; 250. a position detector;
310. a positioning device; 320. a vehicle-mounted host; 330. a wireless communication module; 340. a cloud host; 350. a distance sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the disclosure, are intended for purposes of illustration only and are not intended to limit the scope of the disclosure.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
It will be understood that when an element is referred to as being "secured to" another element, it can be integral with the other element or can be removably connected to the other element.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Further, it is to be understood that, in the embodiments, the positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "top", "bottom", "one side", "the other side", "one end", "the other end", and the like are based on the positional relationships shown in the drawings; the terms "first," "second," and the like are used herein to distinguish one structural element from another. These terms are merely for convenience in describing the present application and simplifying the description, and should not be construed as limiting the present application.
As described in the background art, charging piles are increasingly used along with popularization of electric vehicles, the charging piles in the prior art are generally vertical charging piles, people need to manually butt a charging interface 210 of the charging pile with a charging interface 210 on a vehicle to complete charging operation, and along with the rise of an unmanned vehicle 110, the use amount of the unmanned vehicle 110 is increasingly large, but at present, there is no charging pile capable of automatically charging the unmanned vehicle 110, and the charging interface 210 of the charging pile and the charging interface 210 on the unmanned vehicle 110 need to be manually butted in the charging process, which causes great obstruction to the real realization of automatic driving and unmanned.
In order to solve the above technical problem, in a first embodiment of the present application, as shown in fig. 1 to 3, a charging pile is provided for charging an unmanned vehicle 110, and includes a charging interface 210, a lifting device 220, and a translating device 230; the lifting device 220 is used for driving the charging interface 210 to lift along the vertical direction; the translation device 230 is used for driving the charging interface 210 to translate along the horizontal direction.
The electric pile that fills that this application embodiment provided, unmanned vehicle 110 self-driving to being equipped with the parking of filling electric pile and charging the position, the translation device 230 moves along the horizontal direction to establishing under the joint that charges on unmanned vehicle 110 chassis in the interface 210 that charges before driving, then elevating gear 220 drives again and charges interface 210 and rise to and charge the joint butt joint. For unmanned car 110 traveles among the prior art to vertical electric pile of filling next door, then the manual work will charge the joint with the interface 210 butt joint that charges, the electric pile of filling in this application embodiment one can charge for unmanned car 110 automatically, has higher automation, realizes real driving unmanned in the true sense.
In a possible implementation manner of the first embodiment of the present application, as shown in fig. 2 and fig. 4, the lifting device 220 includes a Z-directional guide rail 231 and a Z-directional driving device 232, the Z-directional guide rail 231 is vertically disposed, the Z-directional driving device 232 is in transmission connection with the charging interface 210, and the Z-directional driving device 232 is configured to drive the charging interface 210 to move along the Z-directional guide rail 231.
Through the above possible implementation manner of the first embodiment of the present application, the Z-direction driving device 232 can independently drive the charging interface 210 to move, and after the charging interface 210 horizontally moves to a position right below the charging connector arranged on the chassis of the unmanned vehicle 110, the Z-direction driving device 232 drives the charging interface 210 to vertically move upwards along the Z-direction guide rail 231 until the charging interface 210 is in butt joint with the charging connector.
The Z-direction driving device 232 may be an air cylinder or a hydraulic cylinder, and the corresponding Z-direction guide rail 231 is a cylinder body of the air cylinder or the hydraulic cylinder.
In a possible implementation manner of the first embodiment of the present application, the translation device 230 includes an X-directional guide rail 233 and an X-directional driving device 234, the X-directional guide rail 233 is perpendicular to the Z-directional guide rail 231, the X-directional driving device 234 is in transmission connection with the Z-directional guide rail 231, and the X-directional driving device 234 is configured to drive the Z-directional guide rail 231 to move along the X-directional guide rail 233.
Through the above possible implementation manner of the first embodiment of the present application, the X-direction driving device 234 can independently drive the Z-direction guide rail 231 to move, so as to drive the charging interface 210 to horizontally move along the X-direction guide rail 233 along with the Z-direction guide rail 231; the X-direction driving device 234 and the Z-direction driving device 232 can work step by step or simultaneously, when the X-direction driving device 234 and the Z-direction driving device 232 work simultaneously, the charging connector can be driven to move along an oblique line inclined relative to a horizontal plane on a vertical plane, and the charging connector can also be driven to move along a curve; for example, when the velocity vector of the charging interface 210 moving along the X-guide rail 233 is Vx and the velocity vector of the charging interface 210 moving along the Z-guide rail 231 is Vz, the actual velocity vector of the charging interface 210 moving is Vx + Vz; if Vx and Vz are constant, that is, the speed of charge interface 210 moving along X-direction guide rail 233 and the speed of charge interface 210 moving along Z-direction guide rail 231 are not changed, the movement path of charge interface 210 is an oblique line; when the charging interface 210 moves along the X-direction guide rail 233 at a variable speed and the acceleration is ax, and the acceleration moving along the Z-direction guide rail 231 is az, if ax is different from az, the charging interface 210 moves along a curve, and if ax is the same as az, the charging interface 210 moves along an oblique line.
In a possible implementation manner of the first embodiment of the present application, the translation device 230 further includes a Y-directional guide 235 and a Y-directional driving device 236, the Y-directional guide 235 is perpendicular to the Z-directional guide 231 and the X-directional guide 233 respectively, the Y-directional driving device 236 is in transmission connection with the X-directional guide 233, and the Y-directional driving device 236 is configured to drive the X-directional guide 233 to move along the Y-directional guide 235.
Through the above possible implementation manner of the first embodiment of the present application, the Y-direction driving device 236 can independently drive the X-direction guide rail 233 to move, so as to drive the Z-direction guide rail 231 to horizontally move along the Y-direction guide rail 235 along with the X-direction guide rail 233, and finally drive the charging interface 210 to horizontally move along the Y-direction guide rail 235; the X-direction driving device 234 and the Y-direction driving device 236 may work independently or simultaneously, and when the X-direction driving device 234 and the Y-direction driving device 236 work simultaneously, the charging connector may be driven to move along an oblique line inclined with respect to a horizontal plane on a vertical plane, or may be driven to move along a curved line; x-direction driving device 234, Y-direction driving device 236, and Z-direction driving device 232 may also operate simultaneously, and when X-direction driving device 234, Y-direction driving device 236, and Z-direction driving device 232 operate simultaneously, charging interface 210 may be driven to move along a spatial straight line or a spatial curved line.
The Z-direction driving device 232, the X-direction driving device 234 and the Y-direction driving device 236 may be one or a combination of air cylinders, hydraulic cylinders, linear motors, etc.
In a possible implementation manner of the first embodiment of the present application, as shown in fig. 4, the first embodiment further includes a controller 240 and a position detector 250, and the position detector 250, the lifting device 220, and the translating device 230 are electrically connected to the controller 240 respectively.
Through the above possible implementation manner of the first embodiment of the present application, the position detector 250 is configured to scan and detect the position of the charging connector, for example, the position detector 250 may employ an infrared sensor, a camera, a radar, and the like, in the first embodiment of the present application, the infrared sensor is taken as an example, when the unmanned vehicle 110 is parked stably in the parking charging potential, the position detector 250 sends the position image of the charging connector to the controller 240, and the controller 240 controls the lifting device 220 and the translation device 230 to work after calculation, and drives the charging interface 210 to move to be in butt joint with the charging connector. Wherein the X-direction driving device 234, the Y-direction driving device 236 and the Z-direction driving device 232 are electrically connected to the position detector 250, respectively.
In the second embodiment of the present application, as shown in fig. 4, a charging system is provided, which includes the charging pile in the first embodiment of the present application, and further includes a positioning device 310, where the positioning device 310 is electrically connected to the vehicle-mounted host 320 of the unmanned vehicle 110, and the positioning device 310 is used for detecting the position of the unmanned vehicle 110.
The charging system that this application embodiment two provided detects unmanned vehicle 110 position and can fix a position unmanned vehicle 110, confirms that unmanned vehicle 110 uses is the electric pile that fills of which position to the work of the electric pile that the control corresponds. The positioning device 310 may employ GPS.
In a possible implementation manner of the second embodiment of the present application, the second embodiment of the present application further includes a wireless communication module 330 and a cloud host 340, where the wireless communication module 330 is used for communication between the cloud host 340 and the controller 240 and communication between the cloud host 340 and the vehicle-mounted host 320.
Through the possible implementation manner of the second embodiment of the application, the charging pile and the unmanned vehicle 110 are respectively provided with the wireless communication module 330, and the charging pile and the unmanned vehicle 110 are respectively in communication connection with the cloud host 340 through the wireless communication module 330; the unmanned vehicle 110 sends a charging request to the cloud host 340 through the wireless communication module 330, the cloud host 340 sends a charging instruction to a charging pile corresponding to the position of the unmanned vehicle 110 through the wireless communication module 330 after receiving the request, and after receiving the charging instruction, the charging pile controls the lifting device 220 and the translation device 230 to work and drives the charging interface 210 to move to be in butt joint with a charging connector on the unmanned vehicle 110 through the controller 240.
In a possible implementation manner of the second embodiment of the present application, the second embodiment further includes a distance sensor 350, and the distance sensor 350 is electrically connected to the on-board host 320.
Through the above possible implementation manner of the second embodiment of the present application, the distance sensor 350 is installed at the tail end of the unmanned vehicle 110, and in the process that the unmanned vehicle 110 enters the parking charging position, the distance sensor 350 detects the distance between the tail end of the unmanned vehicle 110 and the parking charging position boundary, and when the distance between the tail end of the unmanned vehicle 110 and the parking charging position boundary is within the preset distance range, the distance sensor 350 sends a parking instruction to the on-board host 320, and the on-board host 320 controls the unmanned vehicle 110 to stop when powering down.
In a third aspect of the present application, there is provided a charging method, to which the charging system in the second embodiment of the present application is applied, including the steps of:
s110, driving the unmanned vehicle 110 into a parking charging position provided with a charging pile;
s120, the vehicle-mounted host 320 sends a charging request and the position of the unmanned vehicle 110 to the cloud host 340 through the wireless communication module 330;
s130, the cloud host 340 sends a charging instruction to the corresponding controller 240 through the wireless communication module 330 based on the position of the unmanned vehicle 110, and activates the charging pile;
s140, the controller 240 controls the position detector 250 to scan to obtain the charging joint position of the unmanned vehicle 110;
s150, the controller 240 controls the lifting device 220 and the translation device 230 to operate and drive the charging interface 210 to move to be in butt joint with the charging connector.
In a possible embodiment of the third aspect of the present application, the unmanned vehicle 110 enters a parking charging position where a charging pile is installed, and the method includes the steps of:
s111, the distance sensor 350 detects the relative position of the unmanned vehicle 110 and the parking charging position, when the relative position of the unmanned vehicle 110 and the parking charging position is within a preset position range, the distance sensor 350 sends a parking charging signal to the vehicle-mounted host 320, and the vehicle-mounted host 320 controls the unmanned vehicle 110 to park and enter a power-off mode when receiving the parking charging signal.
In a fourth embodiment of the present application, a charging method is provided, in which the charging system in the second embodiment of the present application is applied, and the method includes the following steps:
acquiring a charging joint position of the unmanned vehicle 110;
according to the position of the charging connector, the lifting device 220 and the translation device 230 are controlled to operate to drive the charging connector 210 to move to be in butt joint with the charging connector;
and judging the docking state of the charging interface 210 to the charging connector, and charging the unmanned vehicle when the charging condition is met.
In a possible implementation manner of the fourth embodiment of the present application, the acquiring a charging connector position of the unmanned vehicle 110 includes:
the unmanned vehicle 110 drives into a charging parking space provided with a charging pile;
the vehicle-mounted host 320 sends a charging request and the position of the unmanned vehicle 110 to the cloud host 340 through the wireless communication module 330;
the cloud host 340 sends a charging instruction to the corresponding controller 240 through the wireless communication module 330 based on the position of the unmanned vehicle 110;
the controller 240 controls the position detector 250 to scan to obtain the charging joint position of the unmanned vehicle 110;
the controller 240 controls the lifting device 220 and the translation device 230 to operate to drive the charging interface 210 to move to be in butt joint with the charging connector;
The arrows labeled X, Y, Z in the drawings are coordinate axes of a rectangular spatial coordinate system, where the Z-direction refers to a direction parallel to the Z-axis in the drawings, the X-direction refers to a direction parallel to the X-axis in the drawings, and the Y-direction refers to a direction parallel to the Y-axis in the drawings.
It should be noted that, in the embodiments of the method and the system, the modules included in the embodiments are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional modules are only used for distinguishing one functional module from another, and are not used for limiting the protection scope of the application.
In addition, it can be understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above can be implemented by instructing the relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A charging pile is used for charging an unmanned vehicle (110), and comprises a charging interface (210), and is characterized by further comprising a lifting device (220) and a translation device (230);
the lifting device (220) is used for driving the charging interface (210) to lift along the vertical direction;
the translation device (230) is used for driving the charging interface (210) to translate along the horizontal direction.
2. The charging pile according to claim 1, characterized in that the lifting device (220) comprises a Z-direction guide rail (231) and a Z-direction driving device (232), the Z-direction guide rail (231) is vertically arranged, the Z-direction driving device (232) is in transmission connection with the charging interface (210), and the Z-direction driving device (232) is used for driving the charging interface (210) to move along the Z-direction guide rail (231).
3. The charging pile according to claim 2, characterized in that the translation device (230) comprises an X-direction guide rail (233) and an X-direction driving device (234), the X-direction guide rail (233) is perpendicular to the Z-direction guide rail (231), the X-direction driving device (234) is in transmission connection with the Z-direction guide rail (231), and the X-direction driving device (234) is used for driving the Z-direction guide rail (231) to move along the X-direction guide rail (233).
4. The charging pile according to any one of claims 1 to 3, characterized in that the translation device (230) further comprises a Y-directional guide rail (235) and a Y-directional drive device (236), the Y-directional guide rail (235) is perpendicular to the Z-directional guide rail (231) and the X-directional guide rail (233), the Y-directional drive device (236) is in transmission connection with the X-directional guide rail (233), and the Y-directional drive device (236) is used for driving the X-directional guide rail (233) to move along the Y-directional guide rail (235).
5. A charging pile according to any one of claims 1 to 4, characterised by further comprising a controller (240) and a position detector (250), the lifting means (220) and the translation means (230) being electrically connected to the controller (240), respectively.
6. An electric charging system, characterized by comprising the charging pile of any one of claims 1 to 5, and further comprising a positioning device (310), the positioning device (310) being electrically connected to an on-board host (320) of the unmanned vehicle (110), the positioning device (310) being configured to detect a position of the unmanned vehicle (110).
7. The charging system of claim 6, further comprising a wireless communication module (330) and a cloud host (340), wherein the wireless communication module (330) is used for communication between the cloud host (340) and the controller (240) and communication between the cloud host (340) and the on-board host (320).
8. The charging system of claim 6, further comprising a distance sensor (350), the distance sensor (350) being electrically connected to the on-board host machine (320).
9. A charging method, characterized by applying the charging system as claimed in any one of claims 6 to 8, comprising the steps of:
acquiring a charging joint position of the unmanned vehicle (110);
controlling the lifting device (220) and the translation device (230) to operate according to the position of the charging connector so as to drive the charging connector (210) to move to be in butt joint with the charging connector;
and judging the docking state of the charging interface (210) and the charging connector, and charging the unmanned vehicle when the charging condition is met.
10. The charging method according to claim 9, wherein the step of acquiring the charging connector position of the unmanned vehicle (110) comprises the steps of:
an unmanned vehicle (110) drives into a charging parking space provided with the charging pile;
the vehicle-mounted host (320) sends a charging request and the position of the unmanned vehicle (110) to the cloud host (340) through the wireless communication module (330);
the cloud host (340) sends a charging instruction to the corresponding controller (240) through the wireless communication module (330) based on the position of the unmanned vehicle (110);
the controller (240) controls the position detector (250) to scan to obtain the charging joint position of the unmanned vehicle (110);
the controller (240) controls the lifting device (220) and the translation device (230) to operate to drive the charging interface (210) to move to be in butt joint with the charging joint;
the unmanned vehicle (110) drives into a charging parking space provided with the charging pile, and the method comprises the following steps: the distance sensor (350) detects the relative position of the unmanned vehicle (110) and the parking charging position, when the relative position of the unmanned vehicle (110) and the parking charging position is within a preset position range, the distance sensor (350) sends a parking charging signal to the vehicle-mounted host (320), and the vehicle-mounted host (320) controls the unmanned vehicle (110) to park and enter a power-off mode when receiving the parking charging signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010447123.5A CN111391689A (en) | 2020-05-25 | 2020-05-25 | Charging pile, charging system and charging method for unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010447123.5A CN111391689A (en) | 2020-05-25 | 2020-05-25 | Charging pile, charging system and charging method for unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111391689A true CN111391689A (en) | 2020-07-10 |
Family
ID=71426875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010447123.5A Pending CN111391689A (en) | 2020-05-25 | 2020-05-25 | Charging pile, charging system and charging method for unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111391689A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644310A (en) * | 2020-12-25 | 2021-04-13 | 东风汽车有限公司 | Electric vehicle charging control method, electronic equipment, charging pile charging control method and charging pile |
| CN112793446A (en) * | 2020-12-28 | 2021-05-14 | 江苏朝阳电力科技有限公司 | Parking space charging pile |
| CN112977146A (en) * | 2021-02-24 | 2021-06-18 | 中原动力智能机器人有限公司 | Charging method and system for automatic driving vehicle and charging pile |
| CN114407710A (en) * | 2022-01-29 | 2022-04-29 | 南京酷朗电子有限公司 | Parking space charging device and method for electric vehicle |
| WO2022105689A1 (en) * | 2020-11-17 | 2022-05-27 | 北京航迹科技有限公司 | Vehicle having autonomous driving function, and charging pile |
| WO2022120451A1 (en) * | 2020-12-08 | 2022-06-16 | Cordeiro De Oliveira Emerson | Rotary vertical parking space with means for charging electric vehicles |
| WO2022187926A1 (en) * | 2021-03-11 | 2022-09-15 | De Oliveira Emerson Cordeiro | Electric vehicle charger |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10238949A (en) * | 1998-03-05 | 1998-09-11 | Iseki & Co Ltd | Sample grain dryer for autonomous testing |
| CN107776491A (en) * | 2016-08-31 | 2018-03-09 | 佛山市叱咤科技有限公司 | Pilotless automobile |
| CN109017354A (en) * | 2018-06-21 | 2018-12-18 | 安徽灵图壹智能科技有限公司 | A kind of unmanned charging method of new-energy automobile and system |
| CN110884371A (en) * | 2019-12-06 | 2020-03-17 | 孙思程 | Automatic charging device of new energy automobile |
-
2020
- 2020-05-25 CN CN202010447123.5A patent/CN111391689A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10238949A (en) * | 1998-03-05 | 1998-09-11 | Iseki & Co Ltd | Sample grain dryer for autonomous testing |
| CN107776491A (en) * | 2016-08-31 | 2018-03-09 | 佛山市叱咤科技有限公司 | Pilotless automobile |
| CN109017354A (en) * | 2018-06-21 | 2018-12-18 | 安徽灵图壹智能科技有限公司 | A kind of unmanned charging method of new-energy automobile and system |
| CN110884371A (en) * | 2019-12-06 | 2020-03-17 | 孙思程 | Automatic charging device of new energy automobile |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022105689A1 (en) * | 2020-11-17 | 2022-05-27 | 北京航迹科技有限公司 | Vehicle having autonomous driving function, and charging pile |
| WO2022120451A1 (en) * | 2020-12-08 | 2022-06-16 | Cordeiro De Oliveira Emerson | Rotary vertical parking space with means for charging electric vehicles |
| CN112644310A (en) * | 2020-12-25 | 2021-04-13 | 东风汽车有限公司 | Electric vehicle charging control method, electronic equipment, charging pile charging control method and charging pile |
| CN112793446A (en) * | 2020-12-28 | 2021-05-14 | 江苏朝阳电力科技有限公司 | Parking space charging pile |
| CN112977146A (en) * | 2021-02-24 | 2021-06-18 | 中原动力智能机器人有限公司 | Charging method and system for automatic driving vehicle and charging pile |
| WO2022187926A1 (en) * | 2021-03-11 | 2022-09-15 | De Oliveira Emerson Cordeiro | Electric vehicle charger |
| CN114407710A (en) * | 2022-01-29 | 2022-04-29 | 南京酷朗电子有限公司 | Parking space charging device and method for electric vehicle |
| CN114407710B (en) * | 2022-01-29 | 2023-01-10 | 南京酷朗电子有限公司 | Parking space charging device and method for electric vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111391689A (en) | Charging pile, charging system and charging method for unmanned vehicle | |
| EP3445536B1 (en) | Supplying electric energy and/or fuel to a motor vehicle by means of a robot | |
| US20100013188A1 (en) | Trailer Connection Assist System | |
| KR102069541B1 (en) | Charging system for electric vehicle | |
| CN107585052B (en) | Wireless charging alignment control device and method for electric vehicle | |
| CN108830673B (en) | Electric vehicle power supply sharing system and sharing method | |
| CN110281806A (en) | A kind of charging system and method for automatic Pilot electric car | |
| CN105471048A (en) | Wireless automatic charging method of automobile | |
| US20230271657A1 (en) | An Autonomous Mobile System, For Use In An Industrial Plant As A Reconfigurable Operating System | |
| CN108656997A (en) | A kind of machinery garage automobile intelligent charging unit and application method | |
| CN107757397A (en) | A kind of control device and method for correcting automobile wireless charging bit errors | |
| CN111287525A (en) | Parking robot for a motor vehicle and method for operating a parking robot | |
| CN109235990A (en) | A kind of parking robot based on hydraulic system | |
| CN110282361A (en) | A kind of the type variable clamping device and article positioning and clamping method of automatically guiding trolley | |
| CN110206359B (en) | AGV parking robot for inclined parking | |
| CN110774915A (en) | Three-dimensional parking equipment, garage system and automatic parking charging method | |
| CN204947655U (en) | A kind of multi-storied garage intelligent charging system | |
| CN207794732U (en) | For realizing the stereo garage of secure parking | |
| CN108179906B (en) | Three-dimensional intelligent parking lot and parking method thereof | |
| CN114455531B (en) | Automatic docking device and method for loading fluid tank truck | |
| CN110774928A (en) | Electric vehicle wireless charging method and charging device based on equivalent inductance positioning | |
| CN115489490A (en) | Heavy truck power exchanging station | |
| CN213923265U (en) | New forms of energy commodity circulation car loading platform and loading and unloading goods system | |
| CN114872570A (en) | Charging mechanism, power receiving mechanism and charging method | |
| CN211180655U (en) | AGV system with wireless laser fusion positioning navigation |
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: 20200710 |