CN107031450A - A kind of electric automobile automatic charging device and its control method - Google Patents
A kind of electric automobile automatic charging device and its control method Download PDFInfo
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- CN107031450A CN107031450A CN201710396587.6A CN201710396587A CN107031450A CN 107031450 A CN107031450 A CN 107031450A CN 201710396587 A CN201710396587 A CN 201710396587A CN 107031450 A CN107031450 A CN 107031450A
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- charge port
- electric automobile
- cursor
- charging
- control unit
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- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000003028 elevating effect Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
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- 229910017435 S2 In Inorganic materials 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 3
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- 230000000694 effects Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
-
- 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
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging 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
- B60L53/30—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
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- 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)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of electric automobile automatic charging device and its control method, mechanism platform including a horizontal extension, the charging pile and supporting plate being arranged on mechanism platform, the supporting plate is vertically arranged, and the supporting plate upper end is additionally provided with a cursor, a rail plate is fixedly connected with the cursor, the rail plate is provided with a sliding block, charging head and image acquisition units are fixedly connected with the sliding block, the charging head is electrically connected with the charging pile, and the charge port of the charging head and electric automobile matches, the configured hydraulic-driven bar on mechanism platform of the supporting plate drives close to charge port, the charging pile, image acquisition units, rail plate and hydraulic-driven bar are controlled through a control unit.The beneficial effects of the present invention are：The position of charge port is obtained by image acquisition units, charging head is directed at charge port automatically, automatic charging is realized.
Description
Technical field
The present invention relates to charging electric vehicle field, more particularly to a kind of electric automobile automatic charging device and its controlling party
Method.
Background technology
Electric automobile (BEV) refers to, using vehicle power as power, be travelled with power wheel, meet road traffic,
The vehicle of security legislation requirements, because the relatively conventional automobile of effect on environment is smaller, its prospect is had an optimistic view of extensively.Electric energy is
The main energy of electric automobile.At present, when electric automobile needs to be charged, pass through manually grafting charging head and charge port more
Mode realize charging.Which, which exists, needs artificial participation, the low problem of efficiency.In common charging station, manually insert
Although connecing charging head and charge port can realize, automatic charging can not be realized, exists cumbersome, man-machine experience difference etc. is asked
Topic.In addition, in some special charging scenarios, during if desired for charging electric vehicle to being parked in multi-storied garage, in height
Unpromising New-energy electric vehicle charging operation is reserved logical above and below artificial up in tens of meters of full-automatic lifting multi-storied garage
The charging modes of road, manual grafting charging head and charge port are clearly infeasible.Therefore, in charging electric vehicle scene,
Realizing the charging device and method of full-automatic grafting charging head and charge port turns into exigence.
The content of the invention
The purpose of the present invention is that there is provided a kind of electric automobile automatic charging device and its control for above weak point
Method, is directed at charge port by charging head automatically and inserts, realize automatic charging.
The present invention solves the scheme that is used of technical problem：A kind of electric automobile automatic charging device, including a level
Flexible mechanism platform, the charging pile being arranged on mechanism platform and supporting plate, the supporting plate is vertically arranged, and the branch
Fagging upper end, which is additionally provided with a cursor, the cursor, is fixedly connected with a rail plate, and the rail plate is provided with one
Charging head and image acquisition units are fixedly connected with sliding block, the sliding block, the charging head is electrically connected with the charging pile, and
The charge port of the charging head and electric automobile matches, and the configured hydraulic-driven bar on mechanism platform of the supporting plate drives
Trend charge port is close, and the charging pile, image acquisition units, rail plate and hydraulic-driven bar are controlled through a control unit.
Further, the surface that the charging head is contacted with the charge port of electric automobile is provided with a pressure sensor, institute
Pressure sensor is stated to be electrically connected with described control unit.
Further, the cursor is through motor-driven rotation, output of the cursor through a rotating shaft Yu the motor
Axle is fixedly connected, and the motor is electrically connected through motor drive module with described control unit.
Further, described image collecting unit is made up of more than one camera, and the camera is arranged at charging
The week side of boss of head.
Further, the mechanism platform is arranged in multi-storied garage, and the elevating mechanism cooperation with multi-storied garage is synchronous to rise
Drop；The mechanism platform be horizontally disposed scissor type telescopic platform, the scissor type telescopic platform be sequentially connected by level first
Scissor component and the second scissor component composition, the supporting plate are fixed on the first scissor component, and the charging pile is fixed on institute
State on the second scissor component, the fixed seat of the hydraulic-driven bar is fixed on the second scissor component, the hydraulic-driven
The drive rod of bar is fixedly connected with the first scissor component.
Further, the housing of the sliding rail an including strip, set along shell length direction rail groove, set
The belt being placed in rail groove and the reducing motor for drive belt, the reducing motor is through a motor drive module and institute
Control unit is stated to be electrically connected, it is described to be slideably positioned on the belt.
The present invention also provides a kind of control method of electric automobile automatic charging device as described above, including following step
Suddenly：
Step S1：After electric automobile stops to parking area, start the automatic charge device being located in parking area；
Step S2：Drive cursor to rotate by control unit, be located at cursor epigraph collecting unit while opening, image is adopted
Collect unit mobile position for carrying out IMAQ, obtaining charge port on rail plate so that charging head is directed at charge port；
Step S3：Hydraulic-driven bar is controlled by control unit so that supporting plate is close to charge port, charging head is inserted and charged
It is intraoral；
Step S4：After the completion of to be charged, supporting plate is driven so that charging head is extracted from charge port, driving cursor recovers to water
Level state.
Further, in step s 2, the position of charge port is obtained by following steps：
Step S21：Described image collecting unit is camera, and sets target charge port position range is TA, camera visual field model
Enclose for SP, the view field space scope that SP can be scanned in camera rotation process on cursor is MA, TA is located in MA；
Step S22：Control cursor and rail plate to drive camera to be moved with SP step-length by control unit, carry out image
Collection；
Step S23：Whether the image information that control unit gathers camera, SP is fallen into using image matching method detection TA
In；
Step S24：If present image detects TA and fallen into SP, it is determined that the particular location of charge port, driving mechanical arm and cunning
Dynamic guide rail causes charging head to be directed at charge port；Otherwise camera continues to move with SP step-length, carries out IMAQ.
Further, in the step S21,More than TA.
Further, in step S4, charge port TA particular location is determined by following steps：
Step S241：Calculate locus of the TA in SP；
Step S242：Fine-adjustment rotary arm and rail plate so that TA is fallen into virtual target position PD, wherein PD and TA are concentric circles.
Compared with prior art, the present invention has following beneficial effect：Drive cursor by control unit and slide and lead
Rail causes image acquisition units to obtain the position of charge port during movement, and charging head is aligned by driving supporting plate to charge
Mouthful, realize automatic charging；The action for the alternative artificial plug charging head of charging device that the present invention is provided, improves the effect of charging
Rate.Automatic charge device can be arranged in multi-storied garage, the automatic charging for realizing electric automobile is coordinated with multi-storied garage.
Brief description of the drawings
Patent of the present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the automatic charge device of the embodiment of the present invention.
Fig. 2 is the scheme of installation of the hydraulic-driven bar of the embodiment of the present invention.
Fig. 3 is the structural representation of the charging head of the embodiment of the present invention.
Fig. 4 is the flow chart of the acquisition charge port position of the embodiment of the present invention.
Fig. 5 is the schematic diagram that charge port is obtained by camera of the embodiment of the present invention.
Fig. 6 is the flow chart of the determination charge port position of the embodiment of the present invention.
Fig. 7 matches the schematic diagram of virtual target position for charge port in the embodiment of the present invention.
In figure：1- charging piles；2- mechanisms platform；20- the first scissor components；21- the second scissor components；3- hydraulic-drivens
Bar；4- supporting plates；5- cursors；6- rail plates；7- sliding blocks；8- charging heads；9- cameras；10- pressure sensors.
Embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
As shown in Figures 1 to 3, a kind of electric automobile automatic charging device of the present embodiment, includes the mechanism of a horizontal extension
Platform 2, the charging pile 1 being arranged on mechanism platform 2 and supporting plate 4, the supporting plate 4 is vertically arranged, and the supporting plate 4
Upper end, which is additionally provided with a cursor 5, the cursor 5, is fixedly connected with a rail plate 6, slides and sets on the rail plate 6
Have and a charging head 8 and image acquisition units are fixedly connected with a sliding block 7, the sliding block 7, the charging head 8 and the charging
Stake 1 is electrically connected, and the charge port of the charging head 8 and electric automobile matches, and the supporting plate 4 is configured in mechanism platform 2
On hydraulic-driven bar 3 drive, the charging pile 1, image acquisition units, rail plate 6 and hydraulic-driven close to charge port
Bar 3 is controlled through a control unit.
From the foregoing, the beneficial effects of the present invention are：It is combined using IMAQ with charging field, passes through control
Image acquisition units movement obtains the position of charge port so that charging head 8 is directed at charge port, realizes automatic charging, convenient and swift,
The time of charging is saved, charge efficiency is improved.As in Fig. 1, the direction of arrow in figure is the adjustment direction of charging head 8, by sliding
Guide rail 6, cursor 5 and mechanism platform 2 are adjusted to charging head 8 so that charging head 8 is directed at charge port.
In the present embodiment, the surface that the charging head 8 is contacted with the charge port of electric automobile is provided with a pressure sensing
Device 10, the pressure sensor 10 is electrically connected with described control unit.By pressure sensor 10 detect charging head 8 surface by
Pressure, judge whether charging head 8 is inserted into charge port, control unit gathers the output signal of pressure sensor 10 in real time, when
When detecting pressure feedback, stop hydraulic pressure drive rod 3, the switch of charging pile 1 is opened, to charging electric vehicle.
In the present embodiment, the cursor 5 is through motor-driven rotation, and the cursor 5 is through a rotating shaft and the motor
Output shaft be fixedly connected, the motor is electrically connected through motor drive module with described control unit.Pass through motor-driven rotation arm 5
Rotate, realize the IMAQ of image acquisition units.
In the present embodiment, described image collecting unit is made up of more than one camera 9, and the camera 9 is set
In the week side of boss of charging head 8.One or more cameras 9 can be set to carry out IMAQ, the positional information of charge port is obtained.
In the present embodiment, the mechanism platform 2 is arranged in multi-storied garage, matches somebody with somebody contract with the elevating mechanism of multi-storied garage
Step lifting；The mechanism platform 2 is horizontally disposed scissor type telescopic platform, what the scissor type telescopic platform was sequentially connected by level
First scissor component 20 and the second scissor component 21 are constituted, and the supporting plate 4 is fixed on the first scissor component 20, the charging
Stake 1 is fixed on the second scissor component 22, and the fixed seat of the hydraulic-driven bar 3 is fixed on the second scissor component 2
On, the drive rod of the hydraulic-driven bar 3 is fixedly connected with the first scissor component 20.Mechanism platform 2 is arranged at solid
In garage, the charge port side on parking stall (including multi-storied garage parking position) is fixed or reached by elevating mechanism to the mechanism platform 2,
The electric automobile parked to the multi-storied garage is charged, automatic charge device of the invention parks position according to electric automobile
Put, electric automobile side is moved to by the elevating mechanism of multi-storied garage, by the way that mechanism plateau levels are flexible, cursor rotation
And the position of the mobile adjustment charge port of rail plate so that charge port is directed at charging head, is charged, more fast just
Profit.The automatic charge device that the present invention is provided can be applied on multi-storied garage, and one is equipped with each parking stall of multi-storied garage
The automatic charge device that playscript with stage directions invention is provided, can also coordinate with the elevating mechanism of multi-storied garage and realize synchronization lifting.
In the present embodiment, the sliding rail includes the housing of a strip, the track along the setting of shell length direction
Groove, the belt being arranged in rail groove and the reducing motor for drive belt, the reducing motor drive mould through a motor
Block is electrically connected with described control unit, described to be slideably positioned on the belt.By reducing motor drive belt, pass through belt band
Dynamic slide is moved in rail groove, facilitates camera 9 to carry out the multi-faceted IMAQ of multi-angle.
As shown in figs. 4-7, the present invention also provides a kind of controlling party of electric automobile automatic charging device as described above
Method, comprises the following steps：
Step S1：After electric automobile stops to parking area, start the automatic charge device being located in parking area；
Step S2：Drive cursor 5 to rotate by control unit, be located at the epigraph collecting unit of cursor 5, image while opening
Collecting unit mobile position for carrying out IMAQ, obtaining charge port on rail plate 6 so that charging head 8 is directed at charge port；
Step S3：Hydraulic-driven bar 3 is controlled by control unit so that supporting plate 4 is close to charge port, and charging head 8 is inserted
In charge port；
Step S4：After the completion of to be charged, drive supporting plate 4 so that charging head 8 from charge port extract, driving cursor 5 recover to
Horizontality.
In the present embodiment, in step s 2, the position of charge port is obtained by following steps：
Step S21：Described image collecting unit is camera 9, and sets target charge port position range is TA, the visual field of camera 9
Scope is that the view field space scope that SP can be scanned in the rotation process of camera 9 on SP, cursor 5 is MA, and TA is located in MA；
Step S22：Control cursor 5 and rail plate 6 to drive camera 9 to be moved with SP step-length by control unit, carry out
IMAQ；
Step S23：Whether the image information that control unit gathers camera 9, SP is fallen into using image matching method detection TA
In；
Step S24：If present image detects TA and fallen into SP, it is determined that the particular location of charge port, driving mechanical arm and cunning
Dynamic guide rail 6 causes the alignment charge port of charging head 8；Otherwise camera 9 continues the step-length movement with SP, carries out IMAQ.
In the present embodiment, in the step S21,More than TA.
In the present embodiment, in step S4, charge port TA particular location is determined by following steps：
Step S241：Calculate locus of the TA in SP；
Step S242：Fine-adjustment rotary arm 5 and rail plate 6 so that TA is fallen into virtual target position PD, and wherein PD and TA is concentric
Circle.
Mechanical arm is finely tuned by the deviation of image TA and virtual target position PD positions so that TA is fallen into virtual target position PD, or
It is concentric circles relation with PD.At this moment show that charging head 8 is aligned with charge port.
The specific implementation process of automatic charge device of the present invention：
The automatic charge device of the present invention is arranged in multi-storied garage, mechanism platform 2 is synchronous with the elevating mechanism of multi-storied garage
It is mobile.
When no electric automobile rests in the garage, whole device is in original state, and hydraulic-driven bar 3 shrinks, and props up
Fagging 4 is located at cursor 5 close to spindle portion away from electric automobile docks, the horizontal positioned of cursor 5, sliding block 7.
After control unit detects multi-storied garage, and electric automobile is sent into the multi-storied garage, control cursor 5 is around the shaft
The rotation of 0 ~ 180 ° of progress, meanwhile, the belt in reducing motor driving rail plate 6 so that sliding block 7 drives camera 9 in cunning
Moved back and forth on dynamic guide rail 6, control unit handles the X-Y scheme that camera 9 is collected in real time by way of image procossing
As data, the position of charge port on electric automobile is positioned.When control unit detects the position of charging plug, stop at once to turning
The driving of swing arm 5 and sliding block 7；Simultaneously the view data that is collected by camera 9 calculate charging head 8 from electric automobile away from
From, and driving hydraulic-driven bar 3 so that supporting plate 4 is close to electric automobile.At the same time, control unit collection in real time, which is located at, fills
The signal of the pressure sensor 10 on the head of dateline 8, when detecting pressure feedback, stops driving hydraulic-driven bar 3, opens charging
The switch of stake 1, to charging electric vehicle.After the completion of control unit detects charging electric vehicle, driving hydraulic-driven bar 3,
So that supporting plate 4 restPoses away from electric automobile.
In summary, the present invention is provided a kind of electric automobile automatic charging device and its control method, realization are filled automatically
Electricity, it is convenient and swift, the time of charging is saved, charge efficiency is improved, can apply to multi-storied garage, electric automobile charging station etc. and fill
Electrical domain.
The object, technical solutions and advantages of the present invention are further described by above-listed preferred embodiment, are answered
Understand, the foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of electric automobile automatic charging device, it is characterised in that：Mechanism platform including a horizontal extension, it is arranged at mechanism
Charging pile and supporting plate on platform, the supporting plate are vertically arranged, and the supporting plate upper end is additionally provided with a cursor,
A rail plate is fixedly connected with the cursor, the rail plate is provided with a sliding block, the sliding block and is fixedly connected with
One charging head and image acquisition units, the charging head are electrically connected with the charging pile, and the charging head and electric automobile
Charge port matches, the configured hydraulic-driven bar on mechanism platform of the supporting plate drive it is close to charge port, it is described to fill
Electric stake, image acquisition units, rail plate and hydraulic-driven bar are controlled through a control unit.
2. a kind of electric automobile automatic charging device according to claim 1, it is characterised in that：The charging head with it is electronic
The surface of the charge port contact of automobile is provided with a pressure sensor, and the pressure sensor is electrically connected with described control unit.
3. a kind of electric automobile automatic charging device according to claim 1, it is characterised in that：The cursor is through motor
Driving is rotated, and the cursor is fixedly connected through a rotating shaft with the output shaft of the motor, and the motor is through motor drive module
It is electrically connected with described control unit.
4. a kind of electric automobile automatic charging device according to claim 1, it is characterised in that：Described image collecting unit
It is made up of more than one camera, the camera is arranged at the week side of boss of charging head.
5. a kind of electric automobile automatic charging device according to claim 1, it is characterised in that：The mechanism platform is set
In in multi-storied garage, coordinate synchronization lifting with the elevating mechanism of multi-storied garage；The mechanism platform is horizontally disposed scissor-type
Telescopic platform, the first scissor component and the second scissor component that the scissor type telescopic platform is sequentially connected by level is constituted, the branch
Fagging is fixed on the first scissor component, and the charging pile is fixed on the second scissor component, the hydraulic-driven bar
Fixed seat is fixed on the second scissor component, and the drive rod of the hydraulic-driven bar is fixed with the first scissor component to be connected
Connect.
6. a kind of electric automobile automatic charging device according to claim 1, it is characterised in that：The sliding rail includes
The housing of one strip, the rail groove set along shell length direction, the belt that is arranged in rail groove and for driving skin
The reducing motor of band, the reducing motor is electrically connected through a motor drive module and described control unit, described to be slideably positioned in institute
State on belt.
7. a kind of control method of electric automobile automatic charging device according to claim 1, it is characterised in that including with
Lower step：
Step S1：After electric automobile stops to parking area, start the automatic charge device being located in parking area；
Step S2：Drive cursor to rotate by control unit, be located at cursor epigraph collecting unit while opening, image is adopted
Collect unit mobile position for carrying out IMAQ, obtaining charge port on rail plate so that charging head is directed at charge port；
Step S3：Hydraulic-driven bar is controlled by control unit so that supporting plate is close to charge port, charging head is inserted and charged
It is intraoral；
Step S4：After the completion of to be charged, supporting plate is driven so that charging head is extracted from charge port, driving cursor recovers to water
Level state.
8. the control method of electric automobile automatic charging device according to claim 7, it is characterised in that in step S2
In, the position of charge port is obtained by following steps：
Step S21：Described image collecting unit is camera, and sets target charge port position range is TA, camera visual field model
Enclose for SP, the view field space scope that SP can be scanned in camera rotation process on cursor is MA, TA is located in MA；
Step S22：Control cursor and rail plate to drive camera to be moved with SP step-length by control unit, carry out image
Collection；
Step S23：Whether the image information that control unit gathers camera, SP is fallen into using image matching method detection TA
In；
Step S24：If present image detects TA and fallen into SP, it is determined that charge port TA particular location, driving mechanical arm and
Rail plate causes charging head to be directed at charge port；Otherwise camera continues to move with SP step-length, carries out IMAQ.
9. the control method of electric automobile automatic charging device according to claim 8, it is characterised in that：In the step
In S21,More than TA.
10. the control method of electric automobile automatic charging device according to claim 8, it is characterised in that in step S4
In, charge port TA particular location is determined by following steps：
Step S241：Calculate locus of the TA in SP；
Step S242：Fine-adjustment rotary arm and rail plate so that TA is fallen into virtual target position PD, wherein PD and TA are concentric circles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108521040A (en) * | 2018-05-22 | 2018-09-11 | 西安特锐德智能充电科技有限公司 | Stereo garage and connecting device |
| CN110015068A (en) * | 2017-12-12 | 2019-07-16 | 戴姆勒股份公司 | Charging system for electric vehicle |
| WO2020034744A1 (en) * | 2018-08-15 | 2020-02-20 | 江苏万帮德和新能源科技股份有限公司 | Charging mobile mechanism, and charging device and charging method applied thereto |
| CN111959313A (en) * | 2020-07-20 | 2020-11-20 | 杭州电子科技大学 | Mobile charging pile robot and charging method thereof |
| CN113756627A (en) * | 2021-10-08 | 2021-12-07 | 杭州国控电桩运营有限公司 | Charging and parking system and charging and parking method for stereo garage |
| CN114194056A (en) * | 2021-12-09 | 2022-03-18 | 北京有竹居网络技术有限公司 | Vehicle charging method and device and electronic equipment |
| 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 |
| CN114475312A (en) * | 2022-02-09 | 2022-05-13 | 奇瑞汽车股份有限公司 | Charging device and charging method for vehicle |
| CN115520058A (en) * | 2022-11-25 | 2022-12-27 | 四川华体照明科技股份有限公司 | Energy supply station, supply method and electric energy allocation method |
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