CN108189814A - A kind of car parking area charging batteries of electric automobile and the shutdown system replaced automatically - Google Patents
A kind of car parking area charging batteries of electric automobile and the shutdown system replaced automatically Download PDFInfo
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- CN108189814A CN108189814A CN201810067053.3A CN201810067053A CN108189814A CN 108189814 A CN108189814 A CN 108189814A CN 201810067053 A CN201810067053 A CN 201810067053A CN 108189814 A CN108189814 A CN 108189814A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0455—Removal or replacement of the energy storages
- B60K2001/0461—Removal or replacement of the energy storages from the side
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
Present invention relates particularly to a kind of intelligence degree height, save place, car parking area charging batteries of electric automobile easy to use and the shutdown system replaced automatically；The system is used to park the electric vehicle that battery module is arranged on chassis center, the lateral straight slot of corresponding position setting of placing battery module on electric vehicle, the battery module placed in lateral straight slot under the external force of such as walking robot promotion or on automobile under the auxiliary of corresponding pushing equipment, can be released from the arbitrary side of electric vehicle；Setting wireless charging receiver inside the base of transverse concave groove；The walking robot includes the hollow support housing that shape is adapted with battery module；The wireless charging receiver set in the transverse concave groove of the lateral surface top corresponding position setting wireless charging base of supporing shell, wireless charging base and automobile chassis is mutually matched.
Description
Technical field
The present invention relates to electric vehicle engineering field, more particularly to a kind of car parking area charging batteries of electric automobile and from
The dynamic shutdown system replaced.
Background technology
For electric vehicle by storing electrical energy drive running car in the battery, reducing vehicle makes fossil energy
With being an important means for solving the problems, such as national energy.Due to being limited by current battery power density, in current battery skill
Under art development level, battery, which charges, to be usually required to complete for several hours, battery can not be completed in the short time and charged, and high current
Harmful effect will be generated to battery life to battery charging.In addition, present parking lot is mainly flush system storage, land occupation
Area is big, therefore stores limited amount, and car owner looks for parking stall difficult, and parking stall does not have safeguard measure to automobile；Secondly, general park field
There is no charging unit, it is difficult that electric vehicle possesses family charging.
For current battery replacement of electric automobile system usually just for electric vehicle, the mode of battery altering mainly has two
Kind, one kind is lift substitute mode, and one kind is side drawer type substitute mode；
The patent related with lift substitute mode, the battery altering robot as described in CN201280003179, packet
Include battery plug mechanism, elevating mechanism etc., the problem of elevating mechanism lifts battery plug mechanism, but it can't resolve is：
For existing parking lot, improvement cost is big, and a set of replacement system can only meet a vehicle simultaneously, can not be to multiple in parking lot
Automobile carries out fast quickly replaceable battery and charging operations；The patent related with side drawer type substitute mode, such as CN201510809560
Described in be that electric installation is changed in a kind of electric vehicle side, including battery case installation unit, lifting unit, control unit and locking
Unit etc.；The device is an isolated system, and the parking demand with parking lot reality does not connect, also not to electricity
Judge, cause intelligence degree low, manual operation process is more；The existing patent related with parking lot automatic parking system, such as
Automatic parking system described in CN 201510021169, including：Parking stall, packaged type charging robot and robot pipe
Reason system, charging robot include robot body, fire fighting unit, walking mechanism, accumulator group and control unit etc.；The system
It can facilitate and realize that electric vehicle charges during Parking, but at any time in the case of battery capacity is relatively low, charge
Robot can not meet its long-time charge requirement, and if necessary to charge for a long time, the volume for the robot that charges is again excessive, no
It is suitble to use under the narrow environments such as parking lot；And for that in some cases, when battery damage must be replaced, can not realize replacement,
The special circumstances that battery is replaced from side can not be adapted to.At present in parking lot during parking of automobile, especially side coil
Stopping, the place needed is larger, this is because the existing wheel turning angle degree of automobile is limited, automobile has due to the limitation of wheelbase
There is min. turning radius, in order to reduce occupied space, need some novel assisted diversion modes, existing omni-directional wheel vehicle with walking machine
Structure such as can realize transverse shifting, rotate in place at the actions, but all be that a motor individually answer by one omni-directional wheel of control, control process
It is miscellaneous and require control accuracy high, be not suitable for directly using on automobile.
Invention content
In view of the above-mentioned problems, it is an object of the present invention to provide a kind of intelligence degree height, save place, easy to use novel
Parking lot charging batteries of electric automobile and the shutdown system replaced automatically.
For achieving the above object, the technical solution adopted in the present invention is：A kind of car parking area electric vehicle electricity
The shutdown system that pond is charged and replaced automatically, the system are used to park the electronic vapour that battery module is arranged on chassis middle position
Vehicle, the lateral straight slot of corresponding position setting of placing battery module on electric vehicle, the battery module placed in lateral straight slot can be
Under the action of external force or on automobile under the auxiliary of corresponding pushing equipment, released from the arbitrary side of electric vehicle；Electric vehicle bottom
Disk middle position also sets up a transverse concave groove, and wireless charging receiver is set inside the base of transverse concave groove；
The installed position of the battery module set respectively can automatic dismantling/connect automatically Electric plug with shutter and
/ attachment device is automatically separated for battery module to be fixed on electric vehicle；The battery module also be arranged on it is electronic
Battery management module communication connection in automobile；
The Electric plug with shutter for the automatic dismantling/connect automatically can be hydraulic power or electrodynamic type automatic dismantling/from
Dynamic connection plug or contact wireless charging base and wireless charging electric plate contact；It is described be automatically separated/attachment device can
To be electromagnetic type to be set to link up on battery module, link is set in the corresponding installation site of automobile or in automobile
Lateral straight slot in setting electrodynamic type clip, on the shell of battery module setting with electrodynamic type clip cooperation annular groove；
The system includes the first delivery platform, the second delivery platform that are arranged at Entrance, are sequentially placed,
Life-detection instrument, identity recognition device, the front setting electrodynamic type the of the first delivery platform are set near the first delivery platform
One clearance railing sets electrodynamic type the second clearance railing between the first delivery platform and the second delivery platform；Second transmission
The side setting robot erecting device of platform, opposite side setting battery recovery device；The outlet port setting third in parking lot
Delivery platform, the side setting battery of third delivery platform push platform；The identity recognition device is known for camera head type car plate
Other device or the receiver with wireless signal receiver；
The robot erecting device includes positioning push platform, and positioning push stage+module is in the first auxiliary conveyor belt
On, positioning push platform and the first auxiliary conveyor belt associated movement, the first auxiliary conveyor belt is made to be set side by side with the second delivery platform
It puts；
The positioning push platform includes electrodynamic type or hydraulic up-down platform, and being set on lifting platform can transmit along the first auxiliary
The electrodynamic type of vertical and horizontal direction movement of band or the guide rail type movable platform of fluid pressure type, fixed placement pusher in mobile station
Structure, delivery device can release the walking robot placed on a mobile station along the horizontal direction of the first auxiliary conveyor belt；
The walking robot includes the hollow support shell that shape is adapted with battery module, the both ends point of supporing shell
Not She Zhi a joint of robot motor, the output shaft lateral surface of joint motor is arranged more friction disk type first clutches, first
The output terminal of clutch is fixedly connected with the inner ring of oscillating bearing, and the outer ring of oscillating bearing is mounted on the one of electric pushrod lateral surface
In the through-hole for holding setting；The other end setting omni-directional wheel walking mechanism of electric pushrod；The omni-directional wheel walking mechanism includes electricity
The rotation housing connected in the through-hole penetrated through on the lateral surface of dynamic push rod outer end side by bearing rotates the axis and electricity of housing
The axis of dynamic push rod is vertically arranged, and is rotated the through-hole that radially direction perforation is set on the side wall of housing central section, is inserted in through-hole
Enter the end of cross axle, make cross axle and rotation housing associated movement, be arranged on the inside of each shaft end of cross axle one it is rotatable
Cone pinion, the both ends of cone pinion engage respectively with a cone gear, and cone gear is existed by spline housing
One end of omnidirectional's wheel shaft, the other end of omnidirectional's wheel shaft is pierced by the outside of rotation housing and passes through spline to be connect with omni-directional wheel；Two
The lock-up clutch that two cone gears can be connected or separated is set between the opposite end face of cone gear；
It is connected between omnidirectional's wheel shaft and rotation housing by bearing, electromagnetism is also set up in the through-hole of the electric pushrod outer end
Brake band, the medial surface of electromagnetic braking band can be compressed or are separated from each other with rotating the lateral surface of housing；The electric pushrod outer end
Lateral surface on also set up rotor electric machine, rotor electric machine passes through third clutch and an omni-directional wheel axis connection；
The omni-directional wheel walking mechanism further includes omni-directional wheel drive dynamic control device, and omni-directional wheel drive dynamic control device includes driving
Controller, drive control device communicate to connect respectively with electromagnetic braking band, rotor electric machine, third clutch, lock-up clutch；Omnidirectional
Wheel drive control device is communicated to connect with secondary processor；
Lower section setting stand-by motor, output shaft are connected by one end of second clutch and supporting rod in the middle part of supporing shell
It connects, the axis of supporting rod and stand-by motor is vertically arranged；The other end of supporting rod installs rotatable support wheel；Supporing shell
Accessory power supply is set in inner cavity；Auxiliary power plug is set on the lateral surface of supporing shell, and auxiliary power plug on automobile with setting
The Electric plug with shutter put is mutually matched；Auxiliary power plug is connect with accessory power supply；
The lateral surface top corresponding position of the supporing shell also sets up wireless charging base, wireless charging base and automobile chassis
Transverse concave groove in set wireless charging receiver be mutually matched；
Local area network formula positioning device is also set up on the walking robot, is set in positioning device and walking robot
Secondary processor communicates to connect, and secondary processor is communicated to connect with central processing unit；Secondary processor is used to control running machine
All electronic equipments and electrical equipment on people；
The local area network formula positioning device can be ultrasonic type positioning device or laser positioning type positioning device,
Or installation position transmitter in the road in parking lot, it sets on walking robot and is connect with the matched signal of position transmitters
Receive device or GPS formula locators；
The battery recovery device includes the second auxiliary conveyor belt being arranged side by side with the second delivery platform, the second auxiliary
The exit setting sorting equipment of conveyer belt, battery module is after the sorting of sorting equipment, and charge dress when being respectively fed to long
It puts, interim charging unit；
Railing clearance formula point of the sorting equipment for hand type automatic sorting device or with landmark identification function
Pick device；
Charging unit is single flow or AC system charging unit when described long, and the interim charging unit is single flow
Or AC system charging unit；
Charging unit, interim charging unit nearby set a third auxiliary conveyor belt, third auxiliary respectively when described long
Positioned at the side of third delivery platform, the near exit position setting battery of third auxiliary conveyor belt, which pushes, puts down for the outlet of conveyer belt
Platform, the structure of battery push platform are consistent with the structure of positioning push platform；Battery push platform is placed on the 4th auxiliary transmission
It takes；4th auxiliary conveyor belt is arranged in parallel with third delivery platform；
The battery management module passes through wireless parties by cloud service platform and the central processing unit being arranged in parking lot
Formula or internet or the communication connection of mobile phone movable signal；The central processing unit also parking stall with being set on each parking stall respectively
Indication sensor communicates to connect；Central processing unit is also communicated to connect with memory module, memory module memory storage parking lot road
Figure.
The lifting platform is electrodynamic type or hydraulic up-down platform, and the guide rail type movable platform is flat for the movement of screw slider formula
Platform or rail slide type mobile platform；The delivery device is electrodynamic type push rod or fluid pressure type push rod or a tubbiness
Housing sets multiple electronic friction wheels on the medial surface of barrel cover, and walking robot is placed in barrel cover, electronic to rub
Guide wheel is wiped to contact with the housing of walking robot；
Battery alignment sensor is also set up in the mobile station；The battery alignment sensor is known for camera head type image
Individual sensor or the wireless signal receiver with setting element, setting element are placed in battery module in advance；Positioning device
It can be GPS formulas locator or for closing the ultrasonic type locator in place or infrared type locator or its other party
The wireless signal formula locator of formula；
First delivery platform includes crawler type main belt, and setting weight senses in the drive shaft of main belt
Device；The longitudinal boss of outer surface setting of main belt sets the ring-like guide rail of one in the both sides of main belt respectively, ring-like to lead
Rail level sets groove to the side of main belt；One end lower part of longitudinal boss and the outer surface of main belt are hinged, and make resistance
Plate and main belt associated movement；In longitudinal boss other end lower part, horizontal guiding axis is set in transverse direction, guiding axis
Both ends are inserted into the groove of ring-like guide rail and can be slided in groove；Rail when one end of longitudinal boss is moved with main belt
When mark becomes circular arc from straight line, the guiding axis of longitudinal boss other end is slided along ring-like guide rail, and flaps is made to carry out rotary motion,
It is similar with the motion mode of stepping type step of elevator；
It is described longitudinal direction boss in be arranged side by side multiple flaps, automobile by when tire contacted with the upper surface of flaps,
Along the longitudinal direction, upper end of the both ends of flaps bottom surface respectively with first rack is hinged, and the lower end of the first rack, which is inserted into, indulges
It can slide in the pilot hole that corresponding position is vertically set into boss and along pilot hole；What one flaps lower end connected
Two the first racks engage simultaneously with an equipment gear；Multiple equipment gears are horizontally set on one in longitudinal boss simultaneously
The engagement of the second rack, the gear that the output terminal that the second rack and resistance adjust motor is arranged engages；Resistance adjusts motor in
Central processor communicates to connect；
Second delivery platform, the structure of third delivery platform are consistent with the structure that the first transmission is flat.
According to the control of above-mentioned any one car parking area charging batteries of electric automobile and the shutdown system replaced automatically
Method processed, the control method include the following steps sequentially carried out：
Step a：The automobile for not entering parking lot sends request signal to central processing unit, and central processing unit receives inquiry letter
After number, calculate in the certain time interval T recorded on empty parking space quantity n1 and cloud service platform that parking stall indication sensor is sent
Outgoing vehicles quantity n2 is preengage, if n1+n2 ＞ 0, central processing unit is fed into signal to the automobile for sending request signal, together
When central processing unit acquire the automobile batteries management module transmission battery module total electricity A0, subsequently into step b；Otherwise
Signal is rejected for entry into vehicle transmission；
Step b：Central processing unit compares A0 and stored three parameters, and the relationship of three parameters is：First
Threshold value ＜ second threshold ＜ third threshold values, if A0≤first threshold, which is labeled as B1 by central processing unit, so
After enter step d；If first threshold ＜ A0≤second threshold, by the battery module labeled as C0, subsequently into step c,
If second threshold ＜ A0≤third threshold value, by the battery module labeled as D0, subsequently into step c；If A0 ＞ thirds
Threshold value, then by the battery module labeled as E0, subsequently into step d；
Step c：Central processing unit is sent out to cloud service platform or the information interactive device being arranged near the first delivery platform
Send whether charging signals, driver answered on cloud service platform or on information interactive device, if answering needs to fill
C0 is then changed to C1 or D0 is changed to D1, subsequently into step d by electricity；If answer does not need to charge, keep C0 or D0 constant,
Subsequently into step d；
Step d：Electric vehicle sends request entry instruction to central processing unit, and central processing unit starts identity after receiving to be known
Other device if the automobile for sending request entry instruction is the automobile for being fed into signal before this, opens the first clearance railing,
Automobile is allowed to enter the first delivery platform；
Then central processing unit starts life-detection instrument, weight sensor, when weight sensor display automobile has been parked in the
On one delivery platform, and after life-detection instrument is shown on the first delivery platform without any vital signs, then call one and placed
The mounting platform of walking robot moves to the entrance of the second delivery platform, subsequently into step e；
Step e：Central processing unit controls the second clearance railing to open, and then starts the first delivery platform, the second transmission is put down
Platform pushes automobile into the second delivery platform, while central processing unit judges that the label of the battery module of the automobile is or C1
Or D1, then f is entered step, otherwise enters step g；
Step f：After automobile enters the second delivery platform, start the support of the first auxiliary conveyor belt, at this time walking robot
Housing and the coaxially formed straight-bar of electric pushrod, the first clutch at supporing shell both ends are in connection status；Central processing
The location parameter for the battery module that device is sent according to battery alignment sensor controls the lifting platform and mobile station of detent mechanism, makes
The end alignment battery module of one electric pushrod；Then the information that unlocks is sent to the battery management module of the automobile, it should
The Electric plug with shutter of the battery module of automobile disconnects, be automatically separated/attachment device is in discrete state；
Walking robot is released and pushes battery module by delivery device, and battery module is made to be pushed away from the opposite side of automobile
Go out, and fall on the battery recovery device of opposite side；The supporing shell of walking robot occupies battery module and is located at vapour at this time
Position in chassis, two electric pushrods being connect with supporing shell stretch out the both ends of automobile chassis, auxiliary power plug with
The auxiliary socket matching set on automobile chassis, is powered automobile by accessory power supply；
Then the first clutch at supporing shell both ends is in discrete state, make two electric pushrods under the effect of gravity to
Lower rotation, while electric pushrod extends, and makes the omni-directional wheel walking mechanism and the second delivery platform of electric pushrod outer end end point
Conveyer belt contacts, and then electric pushrod further increases, and makes automobile tire and surface separation；Subsequently into step h；
Step g：Mounting platform is controlled by central processing unit, and a walking robot is mounted under automobile chassis
Side, then electric pushrod further increases, and the upper surface of supporing shell is contacted with the crossbeam of automobile chassis both sides, makes automobile tire
With surface separation；Wireless charging base is contacted with wireless charging receiver simultaneously；Then central processing unit judges that the battery module is
D0, wireless charging base continue to convey electric energy to wireless charging receiver, the battery module are made to be in shallow charged state, if centre
Reason device judges the battery module for E0, then wireless charging base does not convey electric energy；Subsequently into step h；
Step h：Central processing unit judgement falls the battery module on battery recovery device, and starts the second auxiliary transmission
Band, by labeled as the battery module of B1 or C1 send to it is long when charging unit at carry out long when charging, while will be long when charging unit
In have been filled with electricity a battery module be labeled as reserve battery；It will be sent labeled as the battery module of D1 to interim charging unit
Carry out shallow charging；Subsequently into step i；
Step i：After automobile is pushed out the second delivery platform, multiple parking stalls instruction in central processing unit extraction parking lot
The location information that the positioning device of multiple walking robots is sent in the empty parking space information of sensor transmission and parking lot, with
And the course of action information of multiple walking robots, by above-mentioned three aspect information be input to memory module storage parking lot road
In the map of road, the course of action of the walking robot is calculated, then improve step j；
Step j：The course of action of current walking robot is sent to secondary processor, secondary processor by central processing unit
Control omni-directional wheel drive dynamic control device, by automobile transportation to specified parking stall, the parking stall indication sensor on corresponding parking stall to
Central processing unit beams back parking successful information, and central processing unit issues the parking successful information and the vehicle to Cloud Server
Parking position information；The electric pushrod of walking robot is shunk, and automobile tire is allowed to be grounded again, subsequently into step k；
Step k：Driver sends extraction signals of vehicles, cloud server to extraction signals of vehicles by Cloud Server
Afterwards, location information and the multiple walking robots that the positioning device of multiple walking robots in parking lot is sent are extracted
Above-mentioned both sides information is input in the parking lot road-map of memory module storage, then calculates by course of action information
Go out the course of action of current walking robot, while extract the label of battery module corresponding with the automobile, subsequently into step
1；
Step 1：Corresponding walking robot is moved to according to course of action on third delivery platform, while automobile is carried out
Judge, if the label of the original battery module of automobile is or C1, one piece of reserve battery put to battery push platform,
Subsequently into step m；If the label of the original battery module of automobile is, will be filled labeled as the battery module of D1 from temporarily
Electric installation is transported on battery push platform, subsequently into step m；If the label for the battery module that automobile carries is or D0
Or E0, then enter step n；
Step m：Third delivery platform, the 4th auxiliary conveyor belt start, and push automobile, the running machine being connect with the automobile
The electric pushrod of people is shunk, and makes omni-directional wheel liftoff, and automobile tire is contacted with third delivery platform, then central processing unit control electricity
Pond pushes platform and is packed into automobile chassis, while walking robot is released by reserve battery or labeled as the battery module of D1, so
After enter step p；
Step n：Third delivery platform starts push automobile, and the electric pushrod for the walking robot being connect with the automobile is received
Contracting, first clutch are in engagement state, and supporing shell is dropped to be detached with automobile chassis, automobile tire and third delivery platform
Contact, then walking robot sails out of car bottom, subsequently into step p；
Step p：Walking robot is voluntarily back to according to fixed route at robot erecting device, and waiting makes next time
With.
Preferably, in the step a, central processing unit also extracts reserve battery quantity n0 in current parking lot, not into
When entering the automobile in parking lot to central processing unit transmission request signal, if n0=0, refuse total electricity A0≤the of battery module
The automobile of one threshold value enters；Maintain C0 constant if the label of battery module is, in step c.
Preferably, in the step j to step p, the walking robot in central processing unit real-time contacts parking lot is simultaneously
Real-time reception is fed back, if central processing unit is out of touch with walking robot, the walking robot is voluntarily according to fixed circuit
To repair station, which runs to the routing indicator of repair station as busy line, central processing unit exist for operation
Busy line is avoided during the walking route for calculating other walking robots.
The invention has the advantages that：The present invention is by central processing unit and Cloud Server intelligent link, in time
Judge whether parking lot has vacant position, whether electric vehicle needs to charge, so as to arrange parking stall, to fill in time in time to electric vehicle
Electricity improves parking lot intelligence degree and ensure that the timeliness of charging；By the running machine for carrying network positions device
The accessory power supply of people charges to automobile, enhances the flexibility of electric vehicle charging, convenience and mobility；For electricity
Relatively low automobile can meet the needs of its long-time charging；In the case of batteries of electric automobile damages, pushing away in the present invention
It send mechanism that can replace battery in time, ensures the safety of battery, persistence is also ensured and navigated in the continuing of electric vehicle；The row
Robot walking can be realized carries out quick-replaceable battery and charging operations to automobiles multiple in parking lot；It is set on walking robot
Omni-directional wheel can realize straight line moving or left and right transverse shifting, reduce turning radius during parking, improve the place in parking lot
Utilization rate.
Description of the drawings
Fig. 1 is automatically replacing battery and shutdown system schematic diagram；
Fig. 2 enters the second delivery platform for automobile and prepares to replace battery schematic diagram；
Fig. 3 has been installed in place schematic diagram for automobile into the second delivery platform walk behind machine device people；
Fig. 4 pushes walking robot schematic diagram for delivery device；
Omni-directional wheel walking mechanism is grounded schematic diagram after Fig. 5 is installed to for walking robot on automobile；
Fig. 6 is aided support leg structure schematic diagram；
Omni-directional wheel walking mechanism is grounded schematic diagram after Fig. 7 is installed to bottom of car for walking robot；
Fig. 8 is longitudinal boss structure schematic diagram；
Fig. 9 is main delivery platform front view；
Figure 10 is the vertical view of Fig. 9；
Figure 11 is positioning push platform structure schematic diagram；
Figure 12 is omni-directional wheel walking mechanism front view；
Figure 13 is automatically replacing battery and shutdown system control circuit schematic diagram；
Figure 14 is automatically replacing battery and shutdown system rate-determining steps a to step j schematic diagrames；
Figure 15 is automatically replacing battery and shutdown system rate-determining steps k to step p schematic diagrames；
The automatically replacing battery and shutdown system rate-determining steps a of a kind of preferred embodiments of Figure 16 are to step j
Schematic diagram；
The automatically replacing battery and shutdown system rate-determining steps k of a kind of preferred embodiments of Figure 17 are to step p
Schematic diagram.
Specific embodiment
A kind of car parking area charging batteries of electric automobile as shown in Fig. 1-Figure 17 and the shutdown system replaced automatically, institute
System is stated for parking the electric vehicle that battery module 8 is arranged on chassis middle position, placing battery module 8 on electric vehicle
The lateral straight slot of corresponding position setting, the interior battery module 8 placed of lateral straight slot can accordingly push away under the effect of external force or on automobile
It send under the auxiliary of equipment, is released from the arbitrary side of electric vehicle；It is recessed that electric automobile chassis middle position also sets up a transverse direction
Slot, the base inside setting wireless charging receiver 81 of transverse concave groove；
The battery module 8 can also be provided at the forepart or rear portion of electric vehicle；It is corresponding, before electric automobile chassis
Portion and rear portion set a transverse concave groove respectively, and wireless charging receiver 81 is set inside the base of transverse concave groove；
The installed position of the battery module 8 set respectively can automatic dismantling/connect automatically Electric plug with shutter and
/ attachment device is automatically separated for battery module 8 to be fixed on electric vehicle；The battery module 8 is also with being arranged on electricity
Battery management module 102 in electrical automobile communicates to connect；
The Electric plug with shutter for the automatic dismantling/connect automatically can be hydraulic power or electrodynamic type automatic dismantling/from
Dynamic connection plug or contact wireless charging base and wireless charging electric plate contact；It is described be automatically separated/attachment device can
To be electromagnetic type to be set to link up on battery module 8, link is set in the corresponding installation site of automobile or in automobile
Lateral straight slot in setting electrodynamic type clip, on the shell of battery module 8 setting with electrodynamic type clip cooperation annular groove；
The system includes the first delivery platform 1, the second delivery platform that are arranged at Entrance, are sequentially placed
2, setting life-detection instrument 101, identity recognition device 107 near the first delivery platform 1, the front of the first delivery platform 1 is set
The first clearance of electrodynamic type railing 108 is put, the second clearance of electrodynamic type column is set between the first delivery platform 1 and the second delivery platform 2
Bar 110；The side setting robot erecting device 4 of second delivery platform 2, opposite side setting battery recovery device 5；Parking
The outlet port setting third delivery platform 3 of field, the side setting battery of third delivery platform 3 push platform 6；The identity is known
Other device 107 is camera head type license plate recognition device or the receiver with wireless signal receiver；
The robot erecting device 4 includes positioning push platform 41, and positioning push platform 41 is mounted on the first auxiliary and passes
It send on band 42, makes 41 and first auxiliary conveyor belt of positioning push platform, 42 associated movement, the first auxiliary conveyor belt 42 and second passes
Platform 2 is sent to be arranged side by side；
The positioning push platform 41 includes electrodynamic type or hydraulic up-down platform 44, and setting can be auxiliary along first on lifting platform 44
Help the guide rail type movable platform 45 of electrodynamic type that the vertical and horizontal direction of conveyer belt 42 is moved or fluid pressure type, it is fixed in mobile station 45
Delivery device 46 is placed, delivery device 46 can be by the walking robot 9 being placed in mobile station 45 along the first auxiliary conveyor belt 42
Horizontal direction release；
The walking robot 9 includes the hollow support housing 91 that shape is adapted with battery module 8, supporing shell 91
Both ends one joint of robot motor 92 is set respectively, the output shaft lateral surface of joint motor 92 is arranged more friction disk types first
Clutch 93, the output terminal of first clutch 93 are fixedly connected with the inner ring of oscillating bearing 94, the outer ring installation of oscillating bearing 94
In the through-hole of one end of 95 lateral surface of electric pushrod setting；The other end setting omni-directional wheel walking mechanism 96 of electric pushrod 95；
The omni-directional wheel walking mechanism 96 includes by bearing connecting in the through-hole penetrated through on the lateral surface of 95 outer end side of electric pushrod
The rotation housing 96-1 connect, the axis of the axis and electric pushrod 95 of rotation housing 96-1 are vertically arranged, in rotation housing 96-1
The through-hole of radially direction perforation on the side wall in portion is set, the end of cross axle 96-2 is inserted into through-hole, makes cross axle 96-2
With rotating housing 96-1 associated movements, a rotatable cone pinion 96- is arranged on the inside of each shaft end of cross axle 96-2
The both ends of 3, cone pinion 96-3 are engaged respectively with a cone gear 96-4, and cone gear 96-4 is existed by spline housing
One end of omnidirectional wheel shaft 96-5, the other end of omnidirectional wheel shaft 96-5 are pierced by the outside of rotation housing 96-1 and pass through spline and omnidirectional
Take turns (96-6) connection；Between end face opposite two cone gear 96-4 setting can by two cone gear 96-4 connections or
The lock-up clutch 96-9 of separation；
It is connected between omnidirectional wheel shaft 96-5 and rotation housing 96-1 by bearing, in the through-hole of 95 outer end of electric pushrod
Electromagnetic braking band 96-10 is also set up, medial surface of the electromagnetic braking with 96-10 can be compressed with the lateral surface of rotation housing 96-1 or phase
Mutually separation；Also set up rotor electric machine 96-7 on the lateral surface of 95 outer end of electric pushrod, rotor electric machine 96-7 by third from
Clutch 96-8 is connect with an omnidirectional wheel shaft 96-5；
The omni-directional wheel walking mechanism 96 further includes omni-directional wheel drive dynamic control device 96-8, omni-directional wheel drive dynamic control device
96-8 includes drive control device, and drive control device is respectively with electromagnetic braking with 96-10, rotor electric machine 96-7, third clutch 96-
8th, lock-up clutch 96-9 is communicated to connect；Omni-directional wheel drive dynamic control device 96-8 is communicated to connect with secondary processor 98；
91 middle part lower section setting stand-by motor 91-1 of supporing shell, output shaft pass through second clutch 91-2 and supporting rod
One end connection of 91-3, supporting rod 91-3 and the axis of stand-by motor 91-1 are vertically arranged；The other end installation of supporting rod 91-3
Rotatable support wheel 91-4；Accessory power supply 99 is set in the inner cavity of supporing shell 91；It is set on the lateral surface of supporing shell 91
Auxiliary power plug 99-1, auxiliary power plug 99-1 are mutually matched with the Electric plug with shutter set on automobile；Accessory power supply is inserted
Head 99-1 is connect with accessory power supply 99；
The lateral surface top corresponding position of the supporing shell 91 also sets up wireless charging base 99-2, wireless charging base 99-2
Wireless charging receiver 81 with being set in the transverse concave groove of automobile chassis is mutually matched；
Also set up local area network formula positioning device 97 on the walking robot 9, positioning device 97 on walking robot 9
The secondary processor 98 of setting communicates to connect, and secondary processor 98 is communicated to connect with central processing unit 103；Secondary processor 98 is used
All electronic equipments and electrical equipment on control walking robot 9；
The local area network formula positioning device 97 can be ultrasonic type positioning device or laser positioning type positioning dress
Put or the road in parking lot in installation position transmitter, on walking robot 9 setting with the matched letter of position transmitters
Number receiver or GPS formula locators.
The battery recovery device 5 include with the second delivery platform 2 be arranged side by side the second auxiliary conveyor belt 51, second
The exit setting sorting equipment 52 of auxiliary conveyor belt 51, battery module 8 are respectively fed to after the sorting of sorting equipment 52
Charging unit 53, interim charging unit 54 when long；
The sorting equipment 52 is hand type automatic sorting device or the railing clearance formula with landmark identification function
Sorting equipment；
Charging unit 53 is single flow or AC system charging unit when described long, and the interim charging unit 54 is straight
Streaming or AC system charging unit；
Charging unit 53, interim charging unit 54 nearby set a third auxiliary conveyor belt 55 respectively when described long, the
Positioned at the side of third delivery platform 3, the near exit position of third auxiliary conveyor belt 55 is set for the outlet of three auxiliary conveyor belts 55
Battery push platform 6 is put, the structure of battery push platform 6 is consistent with the structure of positioning push platform 41；Battery push platform 6 is put
It puts on the 4th auxiliary conveyor belt 61；4th auxiliary conveyor belt 61 is arranged in parallel with third delivery platform 3；
The battery management module 102 is logical by cloud service platform 106 and the central processing unit 103 being arranged in parking lot
Cross wireless mode or internet or the communication connection of mobile phone movable signal；The central processing unit 103 also respectively on each parking stall
The parking stall indication sensor 104 of setting communicates to connect；Central processing unit 103 is also communicated to connect with memory module 105, stores mould
105 memory storage parking lot road-map of block.
The lifting platform 44 is electrodynamic type or hydraulic up-down platform, and the guide rail type movable platform 45 is moved for screw slider formula
Moving platform or rail slide type mobile platform；The delivery device 46 is electrodynamic type push rod or fluid pressure type push rod or one
A barrel cover sets multiple electronic friction wheels on the medial surface of barrel cover, and walking robot 9 is placed on barrel cover
In, electronic friction wheel is contacted with the housing of walking robot 9；
Battery alignment sensor 47 is also set up in the mobile station 46；The battery alignment sensor 47 is camera head type
Image recognition sensor or the wireless signal receiver with setting element, setting element are placed in advance in battery module 8；
If walking robot 9 needs to turn to or transverse shifting, the Liang Ge omnidirectionals on same electric pushrod 95
The direction of rotation of wheel should fix it on the contrary, i.e. electromagnetic braking band 96-6 compresses rotation housing 96-1, and rotor electric machine 96-7 leads to
It crosses third clutch 96-8 to output power on an omnidirectional wheel shaft 96-5, power is transmitted to from the outer end of omnidirectional wheel shaft 96-5
The omni-directional wheel 96-6 being connect with omnidirectional wheel shaft 96-5, while power passes sequentially through a circle from the inner end of omnidirectional wheel shaft 96-5
Gear wheel 96-4, cone pinion 96-3, another cone gear 96-4, another omnidirectional wheel shaft 96-5 are bored, is passed to another
One omnidirectional wheel shaft 96-5, since cone pinion 96-3 at this time is around cross axle 96-2 rotations, and its rotation to engage
Two cone gear 96-4 rotating speed it is identical but direction of rotation is on the contrary, it is achieved that the rotating speed phase of two omni-directional wheel 96-6
It is same but oppositely oriented, realize walking robot steering or traversing；
If walking robot 9 needs to keep straight on, the rotation for two omni-directional wheels being located on same electric pushrod 95 is needed
Turn that direction is identical, the lateral surface that rotation housing 96-1 is left in electromagnetic braking at this time with 96-6 rotates it, lock-up clutch
96-9 links into an integrated entity two cone gear 96-4, and rotor electric machine 96-7 is output power to by third clutch 96-8
On one omnidirectional wheel shaft 96-5, power is transmitted to the omni-directional wheel being connect with omnidirectional wheel shaft 96-5 from the outer end of omnidirectional wheel shaft 96-5
96-6, at the same power from the inner end of omnidirectional wheel shaft 96-5 pass sequentially through a cone gear 96-4, lock-up clutch 96-9,
Another cone gear 96-4, another omnidirectional wheel shaft 96-5 is passed to, at this time two cone gear 96-4 synchronous rotaries,
Make two omni-directional wheel 96-6 rotating Vortexes, cone pinion 96-3 not rotations, but be total to cross axle 96-2, rotation housing 96-1
With rotation, walking robot 9 is kept straight on forward or backward at this time；
Walking robot 9, which does not need to turning, can both realize steering, effectively reduce the place occupied during parking of automobile；And
Compared with traditional omni-directional wheel walking mechanism, a motor individually one omni-directional wheel of control is not needed to, but a motor drives
Two omni-directional wheels significantly reduce the control difficulty of omni-directional wheel.
First delivery platform 1 includes crawler type main belt 11, and weight is set in the drive shaft of main belt 11
Sensor 109；The longitudinal boss 19 of outer surface setting of main belt 11, the ring of one is set in the both sides of main belt 11 respectively
Type guide rail 17, ring-like guide rail 17 set groove towards the side of main belt 11；One end lower part of longitudinal boss 19 and main transmission
It is hinged with 11 outer surface, makes flaps 12 and 11 associated movement of main belt；In longitudinal 19 other end lower part of boss transversely
The horizontal guiding axis 18 of direction setting, the both ends of guiding axis 18 are inserted into the groove of ring-like guide rail 17 and can be slided in groove
It is dynamic；When track when one end of longitudinal boss 19 is moved with main belt 11 becomes circular arc from straight line, longitudinal 19 other end of boss
Guiding axis 18 slided along ring-like guide rail 17, flaps 12 is made to carry out the motion mode of rotary motion and stepping type step of elevator
It is similar；
Be arranged side by side multiple flaps 12 in the longitudinal direction boss 19, automobile by when tire and flaps 12 upper surface
Contact, along the longitudinal direction, upper end of the both ends of 12 bottom surface of flaps respectively with first rack 13 be hinged, the first rack 13
Lower end is inserted into the pilot hole that corresponding position is vertically set in longitudinal boss and can be slided along pilot hole；One flaps
Two the first racks 13 of 12 lower ends connection engage simultaneously with an equipment gear 14；Multiple equipment gears 14 simultaneously with a water
Flat the second rack 15 being arranged in longitudinal boss 19 engages, what the output terminal of the second rack 15 and resistance adjustment motor 16 was arranged
Gear engages；Resistance adjustment motor 16 is communicated to connect with central processing unit 103；
Second delivery platform 2, the structure of third delivery platform 3 are consistent with the structure of the first delivery platform 1.
According to the control of above-mentioned any one car parking area charging batteries of electric automobile and the shutdown system replaced automatically
Method processed, the control method include the following steps sequentially carried out：
Step a：The automobile for not entering parking lot sends request signal to central processing unit 103, and central processing unit 103 receives
After request signal, calculate and recorded on the empty parking space quantity n1 of the transmission of parking stall indication sensor 104 and cloud service platform 106
Certain time interval T in reservation outgoing vehicles quantity n2, if n1+n2 ＞ 0, central processing unit 103 to send request signal vapour
Vehicle is fed into signal, while central processing unit 103 acquires the total of the battery module 8 that the automobile batteries management module 102 is sent
Electricity A0 and battery module 8 are located at the forepart of automobile chassis or the position signal P0 at middle part or rear portion, if battery module 8
In the middle part of automobile chassis, then labeled as P1；If battery module 8 is located at the forepart or rear portion of automobile chassis, labeled as P2, so
After enter step b；Otherwise it is rejected for entry into signal to vehicle transmission；
Step b：Central processing unit 103 compares A0 and stored three parameters, and the relationship of three parameters is：The
One threshold value ＜ second threshold ＜ third threshold values, if A0≤first threshold, central processing unit 103 marks the battery module 8
For B1, subsequently into step d；If first threshold ＜ A0≤second threshold, which is labeled as C0, Ran Houjin
Enter step c, if second threshold ＜ A0≤third threshold value, by the battery module 8 labeled as D0, subsequently into step c；If
A0 ＞ third threshold values, then by the battery module 8 labeled as E0, subsequently into step d；
Step c：Central processing unit 103 is to cloud service platform 106 or the information exchange being arranged near the first delivery platform 1
Device send whether charging signals, driver answered on cloud service platform 106 or on information interactive device, if returning
Answering needs to charge, then C0 is changed to C1 or D0 is changed to D1, subsequently into step d；If answer does not need to charge, C0 is kept
Or D0 is constant, subsequently into step d；
Step d：Electric vehicle sends request entry instruction to central processing unit 103, and central processing unit 103 starts after receiving
Identity recognition device 107 if the automobile for sending request entry instruction is the automobile for being fed into signal before this, opens first
Clearance railing 108 allows automobile to enter the first delivery platform；
Then central processing unit 103 starts life-detection instrument 101, weight sensor 109, when weight sensor 109 is shown
Automobile has been parked on the first delivery platform 1, and life-detection instrument 101 show the first delivery platform 1 on without any vital signs after,
If the position signal that battery module 8 is located at automobile chassis is P1, a mounting platform 4 that placed walking robot 9 is called
The inlet of the second delivery platform 2 is moved to, if the position signal that battery module 8 is located at automobile chassis is P1, calls two
The mounting platform 4 that placed walking robot 9 moves to the inlet of the second delivery platform 2, subsequently into step e；
Step e：Central processing unit 3 controls the second clearance railing 110 to open, and then starts the first delivery platform 1, second biography
Platform 2 is sent, automobile is pushed into the second delivery platform 2, while central processing unit 3 judges the label of the battery module 8 of the automobile
For B1 or C1 or D1, then f is entered step, otherwise enters step g；
Step f：After automobile enters the second delivery platform 2, start the first auxiliary conveyor belt 42, if battery module 8 is located at vapour
The position signal of chassis is P1, at this time the supporing shell 91 of walking robot 9 and 95 coaxially formed straight-bars of electric pushrod,
The first clutch 93 at 91 both ends of supporing shell is in connection status；Central processing unit 103 is sent out according to battery alignment sensor 47
The location parameter of battery module 8 sent controls the lifting platform 44 of detent mechanism 43 and mobile station 45, makes electric pushrod 95
End is directed at battery module 8；Then the information that unlocks, the battery of the automobile are sent to the battery management module of the automobile 102
The Electric plug with shutter of module 8 disconnects, be automatically separated/attachment device is in discrete state；
Walking robot 9 is released and pushes battery module 8 by delivery device 46, makes opposite side of the battery module 8 from automobile
It is pushed out, and falls on the battery recovery device 5 of opposite side；The supporing shell 91 of walking robot 9 occupies battery mould at this time
Block 8 is located at the position in automobile chassis, and two electric pushrods 95 being connect with supporing shell 91 stretch out the both ends of automobile chassis, auxiliary
Attaching plug 99-1 is helped to be matched with the auxiliary socket set on automobile chassis, automobile is powered by accessory power supply 99；
Then the first clutch 93 at 91 both ends of supporing shell is in discrete state, and two electric pushrods 95 is made to make in gravity
It is rotated down under, while electric pushrod 95 extends, makes the omni-directional wheel walking mechanism 96 and of 95 outer end end point of electric pushrod
The conveyer belt contact of two delivery platforms 2, then the further raising of electric pushrod 95, makes automobile tire and surface separation；Then into
Enter step h；
If the position signal that battery module 8 is located at automobile chassis is P2, first vehicle with walking machine on a mounting platform 4
Device people 9 releases battery module 8, another mounting platform 4 is controlled by central processing unit 103,103 basis of central processing unit
The automobile chassis position that battery alignment sensor 47 is sent, controls second walking robot 9 on another mounting platform 4
Below automobile chassis；Then second walking robot 9 is released and from one below automobile chassis using delivery device 46
Side penetrates, and the first clutch 93 that one end is first penetrated when penetrating detaches, and makes the side electric pushrod 95 downward under gravity
To perpendicular to the ground, which engages, then first penetrates an electric pushrod 95 and second for automobile chassis for rotation
Delivery platform 2 contacts；Second walking robot 9 continue to penetrate to support wheel 91-4 be driven out to delivery device 46 when, the second clutch
Device 91-2 is disconnected, and supporting rod 91-3 rotates down to perpendicular to the ground under gravity, and then second clutch 91-2 connects
It closes, when walking robot is driven out to delivery device 46 completely, the first clutch 93 close to delivery device 46 disconnects, close to push
The electric pushrod 95 of mechanism 46 rotate down under gravity it is perpendicular to the ground, then close to the first of delivery device 46
Clutch 93 engages, and then stand-by motor 91-1 is rotated, and supporting rod 91-3 is rotated to supporing shell 91；
Then electric pushrod 95 further increases, and the upper surface of supporing shell 91 is contacted with the crossbeam of automobile chassis both sides,
Make automobile tire and surface separation；Subsequently into step h；
Step g：If the position signal that battery module 8 is located at automobile chassis is P1, mounting platform 4 is by central processing unit
103 are controlled, and a walking robot 9 is mounted below automobile chassis, and then electric pushrod 95 further increases, support
The upper surface of housing 91 is contacted with the crossbeam of automobile chassis both sides, makes automobile tire and surface separation；Wireless charging base 99- simultaneously
2 contact with wireless charging receiver 81；Then central processing unit 103 judges the battery module 8 for D0, and wireless charging base 99-2 is held
Continue to wireless charging receiver 81 and convey electric energy, the battery module 8 is made to be in shallow charged state, if central processing unit 103 judges
The battery module 8 is E0, then wireless charging base 99-2 does not convey electric energy；Subsequently into step i；
If the position signal that battery module 8 is located at automobile chassis is P2, mounting platform 4 is carried out by central processing unit 103
Control, the automobile chassis position that central processing unit 103 is sent according to battery alignment sensor 47, while call two control installations
Platform 4 makes two walking robots 9 be separately mounted to the front and rear below automobile chassis；Then car bottom former and later two
The further raising simultaneously of the electric pushrod 95 of walking robot 9, upper surface and the automobile chassis both sides of two supporing shells 91
Crossbeam contacts, and makes automobile tire and surface separation；Simultaneously positioned at the wireless charging receiver 81 of 8 underface of battery module and relatively
The wireless charging base 99-2 contacts for 91 upper surface of supporing shell answered；Then central processing unit 103 judges that the battery module 8 is
D0, wireless charging base 99-2 continue to convey electric energy to wireless charging receiver 81, and the battery module 8 is made to be in shallow charged state,
If central processing unit 103 judges the battery module 8 for E0, wireless charging base 99-2 does not convey electric energy；Subsequently into step h；
Step h：The judgement of central processing unit 103 falls the battery module 8 on battery recovery device 5, and starts the second auxiliary
Conveyer belt 51, by labeled as the battery module 8 of B1 or C1 send to it is long when charging unit 53 at carry out long when charging, while will be long when
The battery module 8 that electricity is had been filled in charging unit 53 is labeled as reserve battery；It will be sent labeled as the battery module 8 of D1 to facing
When charging unit 54 at carry out shallow charging；Subsequently into step i；
Step i：After automobile is pushed out the second delivery platform 2, central processing unit 103 extracts multiple parking stalls in parking lot
The position that the positioning device 97 of multiple walking robots 9 is sent in the empty parking space information of the transmission of indication sensor 104 and parking lot
Confidence ceases and the course of action information of multiple walking robots 9, and the information of above-mentioned three aspects is input to memory module 105
In the parking lot road-map of storage, the course of action of the walking robot 9 is calculated, then improve step j；
Step j：The course of action of current walking robot 9 is sent to secondary processor 98 by central processing unit 103, auxiliary
Processor 98 controls omni-directional wheel drive dynamic control device 96-7, by automobile transportation to specified parking stall, the parking stall on corresponding parking stall
Indication sensor 104 beams back parking successful information to central processing unit 103, and central processing unit 103 should to the publication of Cloud Server 106
The parking position information of successful information of stopping and the vehicle；The electric pushrod 95 of walking robot 9 is shunk, and allows automobile tire weight
New ground connection, subsequently into step k；
Step k：Driver sends extraction signals of vehicles by Cloud Server 106, and Cloud Server 106 receives extraction vehicle
After signal, location information and multiple vehicle with walking machine that the positioning device 97 of multiple walking robots 9 in parking lot is sent are extracted
Above-mentioned both sides information is input to the parking lot road-map that memory module 105 stores by the course of action information of device people 9
In, the course of action of current walking robot 9 is then calculated, while extract the label of battery module 8 corresponding with the automobile,
Subsequently into step 1；
Step 1：Corresponding walking robot 9 is moved to according to course of action on third delivery platform 3, at the same to automobile into
Row judges, if the label of the original battery module 8 of automobile is or C1, one piece of reserve battery is put to battery and pushes platform
On 6, subsequently into step m；If the label of the original battery module 8 of automobile is, by labeled as the battery module 8 of D1 from
Interim charging unit 54 is transported on battery push platform 6, subsequently into step m；If the mark for the battery module 8 that automobile carries
C0 or D0 or E0 are denoted as, then enters step n；
Step m：Third delivery platform 3, the 4th auxiliary conveyor belt 61 start, and push automobile, the walking being connect with the automobile
The electric pushrod 95 of robot 9 is shunk, and makes omni-directional wheel liftoff, and automobile tire is contacted with third delivery platform 3, then central processing
Device 3 controls battery to push platform 6 and is packed into automobile chassis by reserve battery or labeled as the battery module 8 of D1, while by vehicle with walking machine
Device people 9 releases, subsequently into step p；
Step n：Third delivery platform 3 starts push automobile, the electric pushrod 95 for the walking robot 9 being connect with the automobile
It shrinks, first clutch 93 is in engagement state, and supporing shell 91 is dropped to be detached with automobile chassis, and automobile tire is passed with third
Platform 3 is sent to contact, then walking robot 9 sails out of car bottom, subsequently into step p；
Step p：Walking robot is voluntarily back to according to fixed route at robot erecting device 4, and waiting makes next time
With.
Preferably embodiment is：In the step a, central processing unit 3 also extracts reserve battery in current parking lot
Quantity n0 when not entering the automobile in parking lot to the transmission request signal of central processing unit 103, if n0=0, refuses battery module
The automobile of 8 total electricity A0≤first threshold enters；Maintain C0 constant if the label of battery module 8 is, in step c.
Preferably embodiment is：In the step j to step p, in 103 real-time contacts parking lot of central processing unit
Walking robot 9 and real-time reception feedback, if central processing unit 103 and walking robot 9 are out of touch, the walking robot
9 voluntarily according to line operation to station is repaired, and the routing indicator of the walking robot 9 operation to repair station is has occupied
Circuit, central processing unit 103 avoid busy line in the walking route for calculating other walking robots 9.
Preferably embodiment is：In the step a, central processing unit 103 to automobile be transmitted into signal while, also
Send residence time request signal, automobile feedback residence time T1, the typical residence time that will be stored in T1 and memory module 105
T2 is compared, if T1 >=T2, in step j, after walking robot 9 travels in place, and below the automobile chassis
The electric pushrod 95 of the walking robot 9 of connection is shunk, and supporing shell 91 is dropped to be detached with automobile chassis, walking robot 9
Driving wheel 91-7 rotations, drive what supporing shell 91 was contracted to 9 both ends omni-directional wheel of walking robot to be smaller than automobile wheel track
When, driving wheel 91-7 stops operating.Central processing unit 103 controls walking robot 9 to move to outside automobile, the drive of walking robot 9
Driving wheel 91-7 is rotated, the initial length of spacing that supporing shell 91 is driven to extend to 9 both ends omni-directional wheel of walking robot, driving wheel
91-7 stops operating.The course of action of current walking robot 9 is sent to secondary processor 98 by central processing unit 103, auxiliary
Processor 98 controls omni-directional wheel drive dynamic control device 96-7, and walking robot is voluntarily back to robot installation according to fixed route
At device 4, waiting uses next time；
Preferably embodiment is：In the step k, after which receives extraction signals of vehicles, central processing unit 103 is adjusted
Below one or two 9 autonomous travel of walking robot to the automobile chassis, contacted again with the automobile chassis；Then should
On automobile transportation band third delivery platform 3.
Claims (6)
1. a kind of car parking area charging batteries of electric automobile and the shutdown system replaced automatically, the system is used to park battery
Module (8) is arranged on the electric vehicle of chassis middle position, and the corresponding position setting of placing battery module (8) is horizontal on electric vehicle
To straight slot, the battery module (8) placed in lateral straight slot can under the effect of external force or on automobile corresponding pushing equipment auxiliary
Under, it is released from the arbitrary side of electric vehicle；Electric automobile chassis middle position also sets up a transverse concave groove, transverse concave groove
Setting wireless charging receiver (81) inside base；
The installed position of the battery module (8) set respectively can automatic dismantling/connect automatically Electric plug with shutter, Yi Jiyong
/ attachment device is automatically separated in battery module (8) is fixed on electric vehicle；The battery module (8) is also with being arranged on
Battery management module (102) communication connection in electric vehicle；
The automatic dismantling/Electric plug with shutter connected automatically can be hydraulic power or electrodynamic type automatic dismantling/connects automatically
Plug or contact wireless charging base and wireless charging electric plate contact；It is described be automatically separated/attachment device can be
Electromagnetic type is set to link up on battery module (8), link is set in the corresponding installation site of automobile or in automobile
Setting electrodynamic type clip in lateral straight slot, the annular groove of setting and the cooperation of electrodynamic type clip on the shell of battery module (8)；
It is characterized in that：The system includes being arranged at Entrance, the first delivery platform (1) for being sequentially placed, the
Two delivery platforms (2), setting life-detection instrument (101), identity recognition device (107) near the first delivery platform (1), first
Front setting electrodynamic type the first clearance railing (108) of delivery platform (1), the first delivery platform (1) and the second delivery platform (2)
Between setting electrodynamic type the second clearance railing (110)；The side setting robot erecting device of second delivery platform (2)
(4), opposite side setting battery recovery device (5)；The outlet port setting third delivery platform (3) in parking lot, third transmission are flat
The side setting battery of platform (3) pushes platform (6)；The identity recognition device (107) for camera head type license plate recognition device or
Receiver with wireless signal receiver；
The robot erecting device (4) includes positioning push platform (41), and positioning push platform (41) is mounted on the first auxiliary
On conveyer belt (42), positioning is made to push platform (41) and the first auxiliary conveyor belt (42) associated movement, the first auxiliary conveyor belt
(42) it is arranged side by side with the second delivery platform (2)；
The positioning push platform (41) includes electrodynamic type or hydraulic up-down platform (44), and setting can be along first on lifting platform (44)
The electrodynamic type of vertical and horizontal direction movement of auxiliary conveyor belt (42) or the guide rail type movable platform (45) of fluid pressure type, mobile station
(45) fixed placement delivery device (46) on, delivery device (46) can will be placed on the walking robot (9) in mobile station (45)
It is released along the horizontal direction of the first auxiliary conveyor belt (42)；
The hollow support housing (91) that the walking robot (9) is adapted including shape and battery module (8), supporing shell
(91) both ends set a joint of robot motor (92) respectively, and the output shaft lateral surface of joint motor (92) is arranged rub more
Chip first clutch (93), the output terminal of first clutch (93) are fixedly connected with the inner ring of oscillating bearing (94), joint shaft
The outer ring for holding (94) is mounted in the through-hole of one end setting of electric pushrod (95) lateral surface；The other end of electric pushrod (95) is set
Put omni-directional wheel walking mechanism (96)；The omni-directional wheel walking mechanism (96) includes the lateral surface of electric pushrod (95) outer end side
The rotation housing (96-1) connected in the through-hole of upper perforation by bearing, axis and the electric pushrod (95) of rotation housing (96-1)
Axis be vertically arranged, the through-hole of radially direction perforation on the side wall in the middle part of rotation housing (96-1) is set, is inserted in through-hole
Enter the end of cross axle (96-2), make cross axle (96-2) with rotation housing (96-1) associated movement, cross axle (96-2) it is every
Be arranged a rotatable cone pinion (96-3) on the inside of a shaft end, the both ends of cone pinion (96-3) respectively with a circle
It bores gear wheel (96-4) to engage, cone gear (96-4) is by spline housing in one end of omnidirectional's wheel shaft (96-5), omnidirectional's wheel shaft
The other end of (96-5) is pierced by the outside of rotation housing (96-1) and passes through spline and connect with omni-directional wheel (96-6)；Two circular cones are big
The lock-up clutch that two cone gears (96-4) can be connected or separated is set between the opposite end face of gear (96-4)
(96-9)；
It is connect between omnidirectional's wheel shaft (96-5) and rotation housing (96-1) by bearing, the through-hole of electric pushrod (95) outer end
In also set up electromagnetic braking band (96-10), the medial surface of electromagnetic braking band (96-10) can be with the lateral surface of rotation housing (96-1)
It compresses or is separated from each other；Rotor electric machine (96-7), rotor electric machine are also set up on the lateral surface of electric pushrod (95) outer end
(96-7) is connect by third clutch (96-8) with omnidirectional's wheel shaft (96-5)；
The omni-directional wheel walking mechanism (96) further includes omni-directional wheel drive dynamic control device (96-8), omni-directional wheel drive dynamic control device
(96-8) includes drive control device, drive control device respectively with electromagnetic braking band (96-10), rotor electric machine (96-7), third from
Clutch (96-8), lock-up clutch (96-9) communication connection；Omni-directional wheel drive dynamic control device (96-8) and secondary processor (98)
Communication connection；
Lower section setting stand-by motor (91-1) in the middle part of supporing shell (91), output shaft pass through second clutch (91-2) and support
One end connection of bar (91-3), supporting rod (91-3) and the axis of stand-by motor (91-1) are vertically arranged；Supporting rod (91-3)
The other end installs rotatable support wheel (91-4)；Accessory power supply (99) is set in the inner cavity of supporing shell (91)；Supporing shell
(91) auxiliary power plug (99-1) is set on lateral surface, and auxiliary power plug (99-1) is patched with being electrically connected of being set on automobile
Head is mutually matched；Auxiliary power plug (99-1) is connect with accessory power supply (99)；
The lateral surface top corresponding position of the supporing shell (91) also sets up wireless charging base (99-2), wireless charging base (99-
2) wireless charging receiver (81) with being set in the transverse concave groove of automobile chassis is mutually matched；
Local area network formula positioning device (97), positioning device (97) and walking robot are also set up on the walking robot (9)
(9) secondary processor (98) communication connection set on, secondary processor (98) are communicated to connect with central processing unit (103)；It is auxiliary
Processor (98) is helped for controlling all electronic equipments and electrical equipment on walking robot (9)；
The local area network formula positioning device (97) can be ultrasonic type positioning device or laser positioning type positioning device,
Or installation position transmitter in the road in parking lot, setting and the matched letter of position transmitters on walking robot (9)
Number receiver or GPS formula locators；
The battery recovery device (5) includes second auxiliary conveyor belt (51) arranged side by side with the second delivery platform (2), the
Two auxiliary conveyor belts (51) exit setting sorting equipment (52), battery module (8) after the sorting of sorting equipment (52),
Charging unit (53), interim charging unit (54) when being respectively fed to long；
Railing clearance formula point of the sorting equipment (52) for hand type automatic sorting device or with landmark identification function
Pick device；
Charging unit (53) is single flow or AC system charging unit when described long, and the interim charging unit (54) is straight
Streaming or AC system charging unit；
Charging unit (53), interim charging unit (54) nearby set a third auxiliary conveyor belt (55) respectively when described long,
The outlet of third auxiliary conveyor belt (55) is located at the side of third delivery platform (3), and the outlet of third auxiliary conveyor belt (55) is attached
Near position setting battery pushes platform (6), and the structure of battery push platform (6) is consistent with the structure of positioning push platform (41)；
Battery push platform (6) is placed on the 4th auxiliary conveyor belt (61)；4th auxiliary conveyor belt (61) and third delivery platform (3)
It is arranged in parallel；
The battery management module (102) passes through cloud service platform (106) and the central processing unit (103) being arranged in parking lot
Wirelessly or internet or mobile phone movable signal communication connection；The central processing unit (103) also respectively with each parking
Parking stall indication sensor (104) communication connection set on position；Central processing unit (103) also communicates with memory module (105)
Connection, memory module (105) memory storage parking lot road-map.
2. a kind of car parking area charging batteries of electric automobile according to claim 1 and the shutdown system replaced automatically,
It is characterized in that：The lifting platform (44) is electrodynamic type or hydraulic up-down platform, and the guide rail type movable platform (45) is leading screw
Slide block type mobile platform or rail slide type mobile platform；The delivery device (46) be electrodynamic type push rod or fluid pressure type push rod,
It can also be a barrel cover, multiple electronic friction wheels are set on the medial surface of barrel cover, walking robot (9) is placed
In barrel cover, electronic friction wheel is contacted with the housing of walking robot (9)；
Battery alignment sensor (47) is also set up in the mobile station (46)；The battery alignment sensor (47) is camera
Formula image recognition sensor or the wireless signal receiver with setting element, setting element are placed on battery module (8) in advance
It is interior；Positioning device (97) can be GPS formulas locator or ultrasonic type locator or infrared type for closing place
The wireless signal formula locator of locator or other modes.
3. a kind of car parking area charging batteries of electric automobile according to claim 1 and the shutdown system replaced automatically,
It is characterized in that：First delivery platform (1) includes crawler type main belt (11), in the drive shaft of main belt (11)
Weight sensor (109) is set；The longitudinal boss (19) of outer surface setting of main belt (11), in the both sides of main belt (11)
The ring-like guide rail (17) of one is set respectively, and ring-like guide rail (17) sets groove towards the side of main belt (11)；Longitudinal direction is convex
One end lower part of platform (19) and the outer surface of main belt (11) are hinged, and flaps (12) is made to be transported jointly with main belt (11)
It is dynamic；Horizontal guiding axis (18) is set in transverse direction in longitudinal boss (19) other end lower part, the both ends of guiding axis (18) are inserted
Enter in the groove of ring-like guide rail (17) and can be slided in groove；One end of longitudinal boss (19) is moved with main belt (11)
When track when becoming circular arc from straight line, the guiding axis (18) of longitudinal boss (19) other end is slided along ring-like guide rail (17), is made
It is similar with the motion mode of stepping type step of elevator that flaps (12) carries out rotary motion；
Be arranged side by side multiple flaps (12) in longitudinal direction boss (19), automobile by when tire and flaps (12) upper table
Face contact, along the longitudinal direction, upper end of the both ends of flaps (12) bottom surface respectively with first rack (13) be hinged, the first tooth
The lower end of item (13) is inserted into the pilot hole that corresponding position is vertically set in longitudinal boss and can be slided along pilot hole；One
It two the first racks (13) of a flaps (12) lower end connection while is engaged with an equipment gear (14)；Multiple equipment gears
(14) while with the second rack (15) that one is horizontally set in longitudinal boss (19) it engages, the second rack (15) and resistance tune
The gear engagement that the output terminal of whole motor (16) is arranged；Resistance adjustment motor (16) is communicated to connect with central processing unit (103)；
Second delivery platform (2), the structure of third delivery platform (3) are consistent with the structure of the first delivery platform (1).
4. any one car parking area charging batteries of electric automobile according to claim 1 to claim 3 and automatic
The control method of the shutdown system of replacement, it is characterised in that：The control method includes the following steps sequentially carried out：
Step a：The automobile for not entering parking lot sends request signal to central processing unit (103), and central processing unit (103) receives
After request signal, calculate on the empty parking space quantity n1 of parking stall indication sensor (104) transmission and cloud service platform (106)
Reservation outgoing vehicles quantity n2 in the certain time interval T of record, if n1+n2 ＞ 0, central processing unit (103) is believed to inquiry is sent
Number automobile be fed into signal, while central processing unit (103) acquires the battery of the automobile batteries management module (102) transmission
The total electricity A0 of module (8), subsequently into step b；Otherwise it is rejected for entry into signal to vehicle transmission；
Step b：Central processing unit (103) compares A0 and stored three parameters, and the relationship of three parameters is：First
Threshold value ＜ second threshold ＜ third threshold values, if A0≤first threshold, central processing unit (103) marks the battery module (8)
B1 is denoted as, subsequently into step d；If first threshold ＜ A0≤second threshold, by the battery module (8) labeled as C0, so
After enter step c, if second threshold ＜ A0≤third threshold value, by the battery module (8) labeled as D0, subsequently into step
c；If A0 ＞ third threshold values, by the battery module (8) labeled as E0, subsequently into step d；
Step c：Central processing unit (103) is to cloud service platform (106) or is arranged on the information friendship of the first delivery platform (1) nearby
Mutual device send whether charging signals, driver answered on cloud service platform (106) or on information interactive device,
If answer needs to charge, C0 is changed to C1 or D0 is changed to D1, subsequently into step d；If answer does not need to charge, protect
It holds C0 or D0 is constant, subsequently into step d；
Step d：Electric vehicle sends request entry instruction to central processing unit (103), and central processing unit (103) starts after receiving
Identity recognition device (107) if the automobile for sending request entry instruction is the automobile for being fed into signal before this, opens the
One clearance railing (108) allows automobile to enter the first delivery platform；
Then central processing unit (103) starts life-detection instrument (101), weight sensor (109), when weight sensor (109)
Display automobile has been parked on the first delivery platform (1), and life-detection instrument (101) is shown on the first delivery platform (1) without any
After vital signs, a mounting platform (4) that placed walking robot (9) is called to move to entering for the second delivery platform (2)
At mouthful, subsequently into step e；
Step e：Central processing unit (3) controls the second clearance railing (110) to open, and then starts the first delivery platform (1), second
Delivery platform (2) pushes automobile into the second delivery platform (2), while central processing unit (3) judges the battery module of the automobile
(8) label is or C1 or D1 then to enter step f, otherwise enter step g；
Step f：After automobile enters the second delivery platform (2), start the first auxiliary conveyor belt (42), if battery module (8) is located at
The position signal of automobile chassis is P1, and the supporing shell (91) of walking robot (9) and electric pushrod (95) are coaxially formed at this time
A piece straight-bar, the first clutch (93) at supporing shell (91) both ends is in connection status；Central processing unit (103) is according to battery
The location parameter for the battery module (8) that alignment sensor (47) is sent, the lifting platform (44) of control detent mechanism (43) and movement
Platform (45) makes the end alignment battery module (8) of an electric pushrod (95)；Then to the battery management module of the automobile
(102) send and unlock information, the Electric plug with shutter of the battery module (8) of the automobile disconnects, be automatically separated/attachment device at
In discrete state；
Walking robot (9) is released and pushes battery module (8) by delivery device (46), makes battery module (8) from the another of automobile
Side is pushed out, and is fallen on the battery recovery device (5) of opposite side；The supporing shell (91) of walking robot (9) accounts at this time
According to position of the battery module (8) in automobile chassis, two electric pushrods (95) being connect with supporing shell (91) are stretched out
The both ends of automobile chassis, auxiliary power plug (99-1) is matched with the auxiliary socket set on automobile chassis, by accessory power supply
(99) automobile is powered；
Then the first clutch (93) at supporing shell (91) both ends makes two electric pushrods (95) in gravity in discrete state
It is rotated down under effect, while electric pushrod (95) extends, makes the omni-directional wheel walking mechanism of electric pushrod (95) outer end end point
(96) conveyer belt with the second delivery platform (2) contacts, and then electric pushrod (95) further increases, and makes automobile tire and ground
Separation；Subsequently into step h；
Step g：If battery module (8) is P1 positioned at the position signal of automobile chassis, mounting platform (4) is by central processing unit
(103) it is controlled, by a walking robot (9) below automobile chassis, then electric pushrod (95) further rises
Height, the upper surface of supporing shell (91) are contacted with the crossbeam of automobile chassis both sides, make automobile tire and surface separation；It is wireless simultaneously
Cradle (99-2) is contacted with wireless charging receiver (81)；Then central processing unit (103) judges that the battery module (8) is
D0, wireless charging base (99-2) continue to convey electric energy to wireless charging receiver (81), make the battery module (8) in shallow charging
State, if central processing unit (103) judges the battery module (8) for E0, wireless charging base (99-2) does not convey electric energy；Then
Enter step h；
Step h：Central processing unit (103) judgement falls the battery module (8) on battery recovery device (5), and it is auxiliary to start second
Help conveyer belt (51), by labeled as the battery module of B1 or C1 (8) send to it is long when charging unit (53) at carry out long when charging, together
When a battery module (8) of electricity is had been filled with when will be long in charging unit (53) labeled as reserve battery；It will be labeled as the electricity of D1
Pond module (8) is sent to the shallow charging of progress at interim charging unit (54)；Subsequently into step i；
Step i：After automobile is pushed out the second delivery platform (2), multiple parking stalls in central processing unit (103) extraction parking lot
Positioning device (97) hair of multiple walking robots (9) in the empty parking space information of indication sensor (104) transmission and parking lot
The information of above-mentioned three aspects is input to storage by the location information and the course of action information of multiple walking robots (9) sent
In the parking lot road-map of module (105) storage, the course of action of the walking robot (9) is calculated, then improve step
j；
Step j：The course of action of current walking robot (9) is sent to secondary processor (98) by central processing unit (103), auxiliary
Processor (98) is helped to control omni-directional wheel drive dynamic control device (96-7), by automobile transportation to specified parking stall, corresponding parking stall
Parking stall indication sensor (104) beams back parking successful information to central processing unit (103), and central processing unit (103) takes to cloud
Business device (106) issues the parking successful information and the parking position information of the vehicle；The electric pushrod of walking robot (9)
(95) it shrinks, automobile tire is allowed to be grounded again, subsequently into step k；
Step k：Driver sends extraction signals of vehicles by Cloud Server (106), and Cloud Server (106) receives extraction vehicle
After signal, location information and multiple rows that the positioning device (97) of multiple walking robots (9) in parking lot is sent are extracted
Above-mentioned both sides information is input to the parking lot road of memory module (105) storage by the course of action information of robot walking (9)
In the map of road, the course of action of current walking robot (9) is then calculated, while extract battery module corresponding with the automobile
(8) label, subsequently into step l；
Step l：Corresponding walking robot (9) is moved to according to course of action on third delivery platform (3), at the same to automobile into
Row judges, if the label of the original battery module of automobile (8) is or C1, one piece of reserve battery is put to battery push it is flat
On platform (6), subsequently into step m；If the label of the original battery module of automobile (8) is, will be labeled as the battery of D1
Module (8) is transported to from interim charging unit (54) on battery push platform (6), subsequently into step m；What if automobile carried
The label of battery module (8) is or D0 or E0 then to enter step n；
Step m：Third delivery platform (3), the 4th auxiliary conveyor belt (61) start, and push automobile, the walking being connect with the automobile
The electric pushrod (95) of robot (9) is shunk, and makes omni-directional wheel liftoff, automobile tire is contacted with third delivery platform (3), Ran Houzhong
Central processor (3) control battery push platform (6) is packed into automobile chassis by reserve battery or labeled as the battery module (8) of D1,
Walking robot (9) is released simultaneously, subsequently into step p；
Step n：Third delivery platform (3) starts push automobile, the electric pushrod of the walking robot being connect with the automobile (9)
(95) it shrinks, first clutch (93) is in engagement state, and supporing shell (91) is dropped to be detached with automobile chassis, automobile tire
It is contacted with third delivery platform (3), then walking robot (9) sails out of car bottom, subsequently into step p；
Step p：Walking robot is voluntarily back to according to fixed route at robot erecting device (4), and waiting uses next time.
5. a kind of car parking area charging batteries of electric automobile according to claim 4 and the shutdown system replaced automatically
Control method, it is characterised in that：In the step a, central processing unit (3) also extracts reserve battery quantity in current parking lot
N0 when not entering the automobile in parking lot to central processing unit (103) transmission request signal, if n0=0, refuses battery module
(8) automobile of total electricity A0≤first threshold enters；If the label of battery module (8) is, C0 is maintained not in step c
Become.
6. a kind of car parking area charging batteries of electric automobile according to claim 4 and the shutdown system replaced automatically
Control method, it is characterised in that：In the step j to step p, the row in central processing unit (103) real-time contacts parking lot
Robot walking (9) and real-time reception feedback, if central processing unit (103) and walking robot (9) are out of touch, the vehicle with walking machine
For device people (9) voluntarily according to line operation to station is repaired, the routing indicator of station is extremely repaired in the walking robot (9) operation
For busy line, central processing unit (103) avoids busy line in the walking route for calculating other walking robots (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810067053.3A CN108189814A (en) | 2018-01-24 | 2018-01-24 | A kind of car parking area charging batteries of electric automobile and the shutdown system replaced automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810067053.3A CN108189814A (en) | 2018-01-24 | 2018-01-24 | A kind of car parking area charging batteries of electric automobile and the shutdown system replaced automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108189814A true CN108189814A (en) | 2018-06-22 |
Family
ID=62590536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810067053.3A Withdrawn CN108189814A (en) | 2018-01-24 | 2018-01-24 | A kind of car parking area charging batteries of electric automobile and the shutdown system replaced automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108189814A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208385A (en) * | 2019-07-10 | 2021-01-12 | 富泰华工业（深圳）有限公司 | Battery replacement method and control device |
| CN112550060A (en) * | 2021-01-07 | 2021-03-26 | 上海朗树汽车用品有限公司 | Device for replacing battery plate for electric automobile |
-
2018
- 2018-01-24 CN CN201810067053.3A patent/CN108189814A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208385A (en) * | 2019-07-10 | 2021-01-12 | 富泰华工业（深圳）有限公司 | Battery replacement method and control device |
| CN112208385B (en) * | 2019-07-10 | 2024-01-02 | 富泰华工业（深圳）有限公司 | Battery replacement method and control device |
| CN112550060A (en) * | 2021-01-07 | 2021-03-26 | 上海朗树汽车用品有限公司 | Device for replacing battery plate for electric automobile |
| CN112550060B (en) * | 2021-01-07 | 2022-05-24 | 东莞市恒浩新能源科技有限公司 | Device for replacing battery panel of electric automobile |
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Application publication date: 20180622 |
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