CN108345303A - A kind of novel electric vehicle charging service system based on guiding band and robot - Google Patents
A kind of novel electric vehicle charging service system based on guiding band and robot Download PDFInfo
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- CN108345303A CN108345303A CN201810069054.1A CN201810069054A CN108345303A CN 108345303 A CN108345303 A CN 108345303A CN 201810069054 A CN201810069054 A CN 201810069054A CN 108345303 A CN108345303 A CN 108345303A
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- guiding band
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0038—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Abstract
The invention discloses a kind of novel electric vehicle charging service systems based on guiding band and robot, including mobile charging service management center and robot；Mobile charging service management center, for receive user's charge request and obtain user electric vehicle parking stall number information, to generate charging service instruction, and by charging service instruction send to the robot gone out in reservoir area；Robot obtains the route scheme for reaching the guiding band in the parking stall corresponding to electric vehicle according to parking stall number information, from going out reservoir area in and be moved to by parking stall according to route scheme, for providing charging service to the electric vehicle in parking stall；Guiding band is arranged on the ground on electric vehicle bottom or/and pavement.The present invention solves the problems, such as that electric vehicle charging is difficult, can charge intelligently, in time, convenient for electric vehicle.
Description
Technical field
The present invention relates to a kind of charging service system, especially a kind of novel electric vehicle based on guiding band and robot
Charging service system.
Background technology
In response to the environmental energy strategy of country, electric vehicle is more and more universal on the market.Due to place, cost etc.
The influence of factor, the special charging service station of electric vehicle is less at present, and electric vehicle is carrying out primary complete charging
After service, general course continuation mileage also can only achieve 100 kilometers, that is, compare general-utility car, electric vehicle electricity consumption faster, because
To it, charging seems even more important in time for this, so electric vehicle urgently to be resolved hurrily exists, charging is difficult, is difficult to easily and timely fill
The realistic problem of electricity.
Invention content
To solve the above-mentioned problems, the object of the present invention is to provide a kind of electric vapour based on guiding band and robot
Vehicle charging service system, enables electric vehicle easily and timely to charge.
To solve the above-mentioned problems, the technical solution adopted by the present invention is：
A kind of novel electric vehicle charging service system based on guiding band and robot, including mobile charging service management
Center and robot；
Mobile charging service management center, for receive user's charge request and obtain user electric vehicle parking stall
Number information to generate charging service instruction, and charging service instruction is sent to the robot gone out in reservoir area；
Robot obtains the road for reaching the guiding band in the parking stall corresponding to electric vehicle according to parking stall number information
Diameter scheme, from going out reservoir area in and be moved to by parking stall according to route scheme, for being carried to the electric vehicle in parking stall
For charging service；
Guiding band is arranged on the ground on electric vehicle bottom or/and pavement.
Further, the invention also includes internet remote control center, internet remote control center is used for auxiliary robot by path
Scheme is moved.
Further, internet remote control center is additionally operable to inquiry UWB location datas, and guiding takes to be provided with positions number with UWB
According to corresponding scale numbering.
Further, robot obtains the path side for reaching the corresponding guiding band in the parking stall according to parking stall number information
Case, including：Robot obtains what the guiding residing for electric vehicle took with number and in the guiding according to parking stall number information
Specific location, to be accurately positioned to electric vehicle, to select to reach the route scheme of the electric vehicle.
Further, robot is from going out reservoir area in and moved according to route scheme, including：When barrier is encountered,
Robot carries out the automatic tracking movement based on guiding band；When encountering barrier, robot is carried out based on the automatic of guiding band
Avoidance moves；If automatic obstacle-avoiding movement failure, by internet remote control center control robot obstacle avoidance, obstacle avoidance it
Afterwards, robot carries out the movement of the auxiliary based on path beacon with correction position.
Further, if automatic obstacle-avoiding movement failure, by internet remote control center control robot obstacle avoidance, including：
If automatic obstacle-avoiding movement failure, robot shoots current scene image using included high in the clouds camera or digital camera, and will
Current scene image and the ID number of robot are uploaded to internet remote control center using communication network, internet remote control center according to
The data information of upload controls robot cut-through object and is moved to guiding again and takes.
Further, internet remote control center, for auxiliary robot, scheme is moved by path, including：In robot
Automatic obstacle-avoiding movement is encountered to fail, march to crossing, be detached from guiding band, the confirmation of parking bit number and mend what electric facility locations confirmed
When situation, internet remote control center receives the help information that machine human hair goes out, and controlling robot according to help information returns to path
On the path set in scheme, and continues scheme by path and moved.
Further, internet remote control center be additionally operable to control has executed charging business robot mend it is electric, including：Mutually
Networked remote control center, control robot searches identification guiding band or progress ultrasonic wave positioning, and control are mended power station and are detected in real time
The position of robot is to ensure robot movement in place, and after robot is moved to and mends in power station, standard card is carried out to robot
Mend electricity or wireless benefit electricity in position.
Preferably, automatic tracking movement is mobile for the automatic tracking based on infrared sensor, is based on digital camera and guiding
The mobile or automatic tracking movement based on photoelectric sensor of automatic tracking with image procossing.
Preferably, path beacon is digital beacon images, wireless RF ID beacons, bar code or magnetic stripe.
The beneficial effects of the invention are as follows：A kind of novel electric vehicle based on guiding band and robot provided by the invention fills
Electric service system using the charge request of mobile charging service management center real-time reception user, and recognizes electric vehicle
Parking stall number information, and then service order is conveyed to robot, allow robot according to by the corresponding edge of parking stall number information
The route scheme of guiding band is moved to by electric vehicle, to charging for it, the path based on guiding band be more clear it is clear, just
Electric vehicle is found as soon as possible in robot.Therefore, the present invention solves the problems, such as that electric vehicle charging is difficult, can intelligently,
In time, it charges convenient for electric vehicle.
Description of the drawings
Present pre-ferred embodiments are provided below in conjunction with the accompanying drawings, with the embodiment that the present invention will be described in detail.
Fig. 1 is the work flow diagram of the present invention.
Fig. 2 is the structural schematic diagram of the standard screens of the present invention；
Fig. 3 is the structural schematic diagram on the parking stall of the present invention；
Fig. 4 is the structural schematic diagram one in the benefit power station of the present invention；
Fig. 5 is the structural schematic diagram two in the benefit power station of the present invention；
Fig. 6 is the schematic diagram for going out reservoir area of the present invention；
Fig. 7 is the schematic diagram for entering reservoir area of the present invention；
Fig. 8 is the structural schematic diagram of the robot of the present invention；
Fig. 9 is the structural schematic diagram of robot electric vehicle underbody in parking stall of the present invention；
Figure 10 is the fast charge Service Matching schematic diagram of the robot and electric vehicle underbody of the present invention.
Specific implementation mode
Referring to Fig.1, the 3 charging service system of novel robot that a kind of internet of the invention remote control is controlled with guiding band 1,
Including mobile charging service management center and robot 3；
Mobile charging service management center, for receive user's charge request and obtain user electric vehicle 2 parking
Bit number information to generate charging service instruction, and charging service instruction is sent to the robot 3 gone out in reservoir area；
Robot 3 obtains the guiding band 1 reached in the parking stall corresponding to electric vehicle 2 according to parking stall number information
Route scheme, from going out reservoir area in and be moved to by parking stall according to route scheme, for the electronic vapour in parking stall
Vehicle 2 provides charging service；
Guiding band 1 is arranged on the ground on the bottom of electric vehicle 2 or/and pavement 4.
Specifically, parking stall can be located at the ground such as parking lot, roadside, residential quarters or highway rest station；Utilize shifting
The charge request of dynamic charging service administrative center real-time reception user, and recognize the parking stall number information of electric vehicle 2, into
And service order is conveyed to robot 3, allow robot 3 according to corresponding along the path side of guiding band 1 by parking stall number information
Case is moved to by electric vehicle 2, to charging for it, the path based on guiding band 1 be more clear it is clear, it is most convenient for robot 3
Early find electric vehicle 2.Therefore, the present invention solves the problems, such as that electric vehicle 2 charges difficulty, can intelligently, in time, conveniently
It charges for electric vehicle 2 on ground；The cumbersome management for eliminating charging station simultaneously, realizes the cost effective of charging service；By robot 3
Build electrically-charging equipment, it is thus also avoided that for the large-scale redevelopment of bulk power grid, save the construction fund of power grid.
A variety of preferred embodiments are provided herein.
Embodiment one
With reference to Fig. 8, robot 3 include motor, high in the clouds camera, avoidance sensor, digital camera, ultrasound measurement module,
Reminding module, Beacon identification module, mends electric contact area and lithium battery pack etc. at the scale numbering identification module based on guiding band 1, and
It is internally provided with the main control module for planning as a whole control, and main control module is all connected with above-mentioned modules or structure；Robot 3
Stock size specification be：0.5 meter long, 0.5 meter wide, size carries trickle charge and fast charge thereon close to a common refrigerator
Charging service port also carries the operation panel of fine position, and user can carry out the fine tuning of position to it, so that it is more convenient
It charges for electric vehicle 2 on ground.
Wherein, internet remote control center, for auxiliary robot 3, scheme is moved by path, and control has executed
The robot 3 of charging business carries out mending electricity；Internet remote control center, in this course be used for solve robot 3 encounter it is each
Kind problem, and control it after robot 3 has executed charging business and carry out mending electricity, it ensure that being smoothed out for whole flow process.
Wherein, with reference to Fig. 3, guiding band 1 is arranged on the ground on pavement 4, and internet remote control center is additionally operable to inquiry UWB
Location data guides and is provided with scale numbering corresponding with UWB location datas on band 1.
In the present embodiment, a subsystem of internet remote control center is the UWB ultra wide bands based on location calculation algorithm
Positioning system comprising UWB locating base stations known to the host server, internet, coordinate for location Calculation and UWB positioning
Label；The setting of scale numbering is in order to which guided robot 3 is moved along guiding band 1, and guiding band 1 is chequered with black and white setting；
UWB is called ultra wide band, is a kind of no-load communication techniques, number is transmitted using the non-sinusoidal waveform burst pulse of nanosecond to Microsecond grade
According to, therefore UWB location datas have the characteristics that high efficiency of transmission, and be logged in internet remote control center, so as to inquire, favorably
In the distance between amendment robot 3 and guiding band 1.UWB network has the characteristics that efficiently quick, is a kind of common in practice
Known technology.
Wherein, robot 3 obtains the path side for reaching the corresponding guiding band 1 in the parking stall according to parking stall number information
Case, including：Robot 3 show that the guiding band 1 residing for electric vehicle 2 is numbered and in the guiding band 1 according to parking stall number information
On specific location, to be accurately positioned to electric vehicle 2, and under the control of internet remote control center, selection reach should
The route scheme of electric vehicle 2.
Wherein, referring to Fig.1 and Fig. 6, robot 3 is from going out reservoir area in and moved according to route scheme, including：In outbound
In waiting area, beacon ranging is carried out first, turns in this course with distance measurement result, mixes the coordination between the outpost of the tax office,
Last outbound；After outbound, when barrier is encountered, robot 3 carries out the automatic tracking movement based on guiding band 1；It is encountering
When barrier, robot 3 carries out the automatic obstacle-avoiding movement based on guiding band 1；If automatic obstacle-avoiding movement failure, distant by internet
Control 3 obstacle avoidance of center control machine device people, after obstacle avoidance, robot 3 carry out the movement of the auxiliary based on path beacon with
Correction position.
Specifically, in the present embodiment, automatic obstacle-avoiding movement uses rectilinear path avoidance pattern：First determining whether the roadblock is
No is movable roadblock, if so, driving reminding module whistle, otherwise enters in next step；By avoidance sensor and supersonic sounding
Module carries out roadblock ranging, and robot 3 combines the data of roadblock ranging to retreat a distance, until apart from 0.5 meter of roadblock, then it is right
90 degree of turning is advanced 0.5 meter toward the right, records right lateral distance；Whether detection front has roadblock again, if so, then continuing to the right
It advances 0.1 meter, records right lateral distance, otherwise turn left 90 degree, advance 1 meter；Whether detection front has roadblock again, if so, then
Continue to advance 0.5 meter to the right, otherwise turn left 90 degree, in conjunction with the data of the right lateral distance recorded before, left lateral returns to guiding band
1, or according to current absolute position, the nearby scale numbering of guiding band 1 and corresponding absolute positioning data are inquired, to search
Rope guides band 1 and returns to guiding band 1.
Preferably, in the present embodiment, path beacon is digital beacon images, wireless RF ID beacons, bar code or magnetic
Item, i.e. robot 3 can identify above-mentioned beacon, and the correct position of guiding band 1 is found by identification beacon, to be modified
Formula moves.
Wherein, automatic tracking movement is mobile for the automatic tracking based on infrared sensor, is based on digital camera and guiding band 1
The mobile or automatic tracking movement based on photoelectric sensor of the automatic tracking of image procossing.
Specifically, the automatic tracking movement based on infrared sensor, may be used ST188 chips, robot 3 is traveling across
Cheng Zhong constantly earthward emits infrared light, since the black-and-white two color in guiding band 1 has infrared light different reflectance factors, i.e.,
White reflective infrared light, black absorption infrared light, then ST188 chips be detected and locate for guiding the black trace of band 1
Reason, to realize that tracking moves.
Automatic tracking based on digital camera and guiding 1 image procossing of band moves, and wherein digital camera uses stm32 cores
Piece is shot the picture of guiding band 1 by digital camera, and therefrom extracts a line or multirow, calculates the offset of its disalignment
Amount, it is also possible to front and back 1 image of guiding band of two digital camera shootings, to calculate the offset of its disalignment；Root
According to the direction of motion of the offset correction robot 3 so that robot 3 is moved substantially along guiding band 1.
Automatic tracking movement based on photoelectric sensor, detects the position of robot 3 by two rows of photoelectric sensors first
It sets and the direction of motion, to obtain its orbit information, then controls motor by way of PWM, and electricity is adjusted using pid control algorithm
The size and Orientation of machine rotating speed, to realize that automatic tracking moves.
Wherein, if automatic obstacle-avoiding movement failure, by 3 obstacle avoidance of internet remote control center control robot, including：If
Automatic obstacle-avoiding movement failure, robot 3 shoots current scene image using included high in the clouds camera or digital camera, and will work as
The ID number of preceding scene image and robot 3 is uploaded to internet remote control center using communication network, internet remote control center according to
The data information control 3 cut-through object of robot of upload is simultaneously moved on guiding band 1 again.
And specifically, it is preferable to ground, communication network is public WIFI network, UWB network, GPRS multimedia messages, WIMAX networks, 3G nets
Network or 4G networks.
Wherein, for auxiliary robot 3, scheme is moved internet remote control center by path, including：It is met in robot 3
Failure is moved to automatic obstacle-avoiding, crossing is marched to, be detached from guiding band 1, the confirmation of parking bit number and mend what electric facility locations confirmed
When situation, internet remote control center receives the help information that robot 3 is sent out, and controlling robot 3 according to help information returns to road
On the path set in diameter scheme, and continues scheme by path and moved.Therefore, internet remote control center can match well
The movement for closing robot 3, to play good booster action.
Wherein, referring to Fig.1, the control of internet remote control center has executed charging business robot 3 mend it is electric, including：
Internet remote control center, control robot 3 search for identification guiding band 1 or carry out ultrasonic wave positioning, and control benefit power station is real-time
Detect robot 3 position with ensure robot 3 movement in place, after robot 3 be moved to mend power station in after, to robot 3 into
The quasi- screens of rower 5 mends electricity or wireless mends electricity.
Specifically, with reference to Fig. 2, Fig. 4 and Fig. 5, the charging modes of standard screens 5 charge for contact, with wireless charging
Charging modes are opposite；It is the place being arranged for the charging of robot 3 to mend power station, is divided into the electric waiting area of benefit, the outposts of the tax office Bu electricity area and benefit
Electric area, robot 3 sequentially enter these three areas；In the areas Bu electricity, building has several for providing the standard screens 5 for mending electricity,
Standard screens 5 carries the benefit electrical interface of contact pad formula；Robot 3 can be in such a way that search guides band 1 or ultrasonic wave is fixed
Position mode finds standard screens 5, is based further on guiding band 1 and is moved hence into standard screens 5, band in standard screens 5
There is the combination of magnet 6 plus tongue tube 7, be used for carrying out the position sensing of robot 3, to ensure the movement of robot 3 in place；Each
In standard screens 5, all there are one contact pad formulas to mend electric facility for robot 3, on the contrary, with reference to Fig. 5, multiple robots 3 are total in turn
With the electric facility of wireless benefit in the areas Bu electricity；In addition, standard screens 5 also carries the grid-connected interface of back discharge, robot 3 can be allowed
The function of realizing small-sized energy-accumulating power station, the energy storage at the same time as micro-capacitance sensor extend, and absorb the electric energy more than needed of micro-capacitance sensor.
In addition, with reference to Fig. 7, after the completion of mending electricity, robot 3 returns to storage waiting area, and further by beacon ranging,
The outpost of the tax office is coordinated and the auxiliary operations such as ranging turning return to former library, that is, realizes storage.
Embodiment two
Compared to embodiment one, the directly guiding band 1 of 2 bottom of positioning electric vehicle of robot 3 simultaneously obtains its relevant information,
Parking stall is reached to realize by the movement of the guiding band 1 based on 2 bottom of electric vehicle, and only need to be by fast charge serve port just
It can be achieved to charge for electric vehicle 2.Move mode, avoidance flow and benefit electric current Cheng Jun are identical as embodiment one, at this
It does not repeat, only the guiding band 1 of reference becomes from the guiding band 1 on ground in order to be set to the guiding band 1 of 2 bottom of electric vehicle.
Specifically, with reference to Fig. 9 and Figure 10, in order to be adapted to the space of 2 bottom of electric vehicle, robot in this case
3 size, i.e. length and width and height may respectively be 0.6m, 0.6m and 0.1m or 0.4m, 1.5m and 0.1m or 0.3m, 1.5m and
0.1m can carry the lithium battery of 8kwh, 13kwh or 10kwh respectively, carry side slope and outer rigid housing, can anti-wheel stone roller
Pressure, can be moved to based on 1 information of guiding band of 2 bottom of electric vehicle at electric vehicle 2, and search is located at electric vehicle automatically
The fast charge interface of 2 bottoms, to provide the fast charge service in turn of contact for electric vehicle 2；Wherein, the first length, width and height than
The charging effect of robot 3 is best, since 2 capacity of general electric vehicle is 32kwh, therefore only needs 4 robots 3 fast charge in turn
Charging can be completed.
Wherein, referring to Fig.1 0, robot 3 is generally realized using based on the finely positioning cursor glyph where fast charge interface
The accurate positionin of fast charge interface, specifically includes：
First, robot 3 is directed to the finely positioning cursor glyph progress image recognition for being set to 2 bottom of electric vehicle, and
The position deviation of fast charge interface is calculated, robot 3 carries out original place rotation later, and fine tuning is corrected, and is accurately positioned to realize；And it is electric
The fast charge interface of 2 bottom of electrical automobile may be designed to the contact sets 8 of strip, allow to have a small amount of position in one direction inclined
Difference, such as Y-direction, and then close alignment in the other directions, without position deviation, such as X-direction；Setting in robot 3
There is liftable feeler lever 9, carries elastic contact blade 10 on feeler lever 9, be used for connecting terminal group 8.
Then, 8 automatic lifting of contact sets so that the elastic contact blade 10 of robot 3 is well contacted with contact sets 8,
Middle elastic contact blade 10 is located in robot 3, can it is protruding or retract, controlled in itself by robot 3.
In addition, before realizing fast charge, robot 3 can carry out handshake communication with electric vehicle 2, to ensure and contact sets 8
Connection it is correct, it is preferable that in the present embodiment, contact sets 8 include 5 contacts, and specifically, robot 3 generates 5 different frequencies
Pwm signal, send 5 contacts of 2 bottom of electric vehicle to by 5 elastic contact blades 10 respectively, and survey respectively to it
Frequently, finally simulation provides the answer signal after frequency measurement；After the handshake communication of robot 3 and electric vehicle 2 successfully completes, so that it may
Into fast charge flow.
Embodiment three
Compared to embodiment one and embodiment two, robot 3 can be simultaneously based on the guiding band 1 and electric vehicle 2 on ground
The guiding band 1 of bottom is moved, for example, the guiding band 1 on ground removes the reference on parking stall, electric vehicle 2 before may be used as
The guiding band 1 of bottom can be used as the reference for returning and mending power station, can carry out remote control to robot 3 by internet remote control center
Setting；Move mode, avoidance flow and benefit electric current Cheng Jun are identical as embodiment one, are not repeated at this, only reference guides
The guiding band 1 for becoming the guiding band 1 for ground from the guiding band 1 on ground with 1 and being set to 2 bottom of electric vehicle.
With reference to Fig. 9, embodiment one, two and three may be selected to be set using, not limit, such as due on pavement 4 sometimes
Barrier is excessive, even if carry out avoidance movement may can take a significant amount of time, the guiding band at this moment based on 2 bottom of electric vehicle
1 is moved, and barrier can be less, can simplify mobile flow, provide charge efficiency, certainly, this is a kind of possible feelings
Condition, in practice technical staff can according to circumstances select to carry out in a manner of embodiment one, embodiment two or embodiment three.
Presently preferred embodiments of the present invention and basic principle is discussed in detail in the above content, but the invention is not limited in
The above embodiment, those skilled in the art should be recognized that also had under the premise of without prejudice to spirit of that invention it is various
Equivalent variations and replacement, these equivalent variations and replacement all fall within the protetion scope of the claimed invention.
Claims (10)
1. a kind of novel electric vehicle charging service system based on guiding band and robot, it is characterised in that：Including moving charging
Electric service management center and robot；
The mobile charging service management center, for receive user's charge request and obtain user electric vehicle parking stall
Number information to generate charging service instruction, and charging service instruction is sent to the robot gone out in reservoir area；
The robot obtains the road for reaching the guiding band in the parking stall corresponding to electric vehicle according to parking stall number information
Diameter scheme, from going out reservoir area in and be moved to parking stall according to the route scheme, for the electric vehicle in parking stall
Charging service is provided；
The guiding band is arranged on the ground on electric vehicle bottom or/and pavement.
2. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 1,
Be characterized in that, further include internet remote control center, the internet remote control center for auxiliary robot by path scheme into
Row movement.
3. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 2,
It is characterized in that, the internet remote control center is additionally operable to inquiry UWB location datas, and the guiding takes to be provided with and be positioned with UWB
The corresponding scale numbering of data.
4. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 1,
It is characterized in that, the robot, the guiding reached in the parking stall corresponding to electric vehicle is obtained according to parking stall number information
The route scheme of band, including：The robot according to parking stall number information obtain the guiding band residing for electric vehicle number and
In the specific location that the guiding takes, to be accurately positioned to electric vehicle, to select to reach the path of the electric vehicle
Scheme.
5. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 2,
Be characterized in that, the robot, from go out reservoir area in and according to the route scheme move, including：Barrier is being encountered
When, robot carries out the automatic tracking movement based on guiding band；When encountering barrier, robot carries out oneself based on guiding band
Dynamic avoidance movement；If automatic obstacle-avoiding movement failure, by internet remote control center control robot obstacle avoidance, in obstacle avoidance
Later, robot carries out the movement of the auxiliary based on path beacon with correction position.
6. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 5,
It is characterized in that, if automatic obstacle-avoiding movement failure, by internet remote control center control robot obstacle avoidance, including：If automatic
Avoidance movement failure, robot shoots current scene image using included high in the clouds camera or digital camera, and will work as front court
The ID number of scape image and robot is uploaded to internet remote control center using communication network, and internet remote control center is according to upload
Data information controls robot cut-through object and is moved to guiding again and takes.
7. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 2,
It being characterized in that, the internet remote control center, for auxiliary robot, scheme is moved by path, including：It is met in robot
To automatic obstacle-avoiding movement failure, march to crossing, disengaging guiding band, the feelings that parking bit number confirms and the electric facility locations of benefit confirm
When condition, internet remote control center receives the help information that machine human hair goes out, and controlling robot according to help information returns to path side
On the path set in case, and continues scheme by path and moved.
8. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 2,
Be characterized in that, the internet remote control center be additionally operable to control has executed charging business robot mend it is electric, including：It is described
Internet remote control center, control robot searches identification guiding band or progress ultrasonic wave positioning, and control are mended power station and are examined in real time
The position of robot is surveyed to ensure robot movement in place, after robot is moved to and mends in power station, standard is carried out to robot
Electricity or wireless benefit electricity are mended in screens.
9. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 5,
It is characterized in that：The automatic tracking movement is mobile for the automatic tracking based on infrared sensor, is based on digital camera and guiding
The mobile or automatic tracking movement based on photoelectric sensor of automatic tracking with image procossing.
10. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 5,
It is characterized in that：The path beacon is digital beacon images, wireless RF ID beacons, bar code or magnetic stripe.
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| CN201810069054.1A CN108345303A (en) | 2018-01-24 | 2018-01-24 | A kind of novel electric vehicle charging service system based on guiding band and robot |
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| CN201810069054.1A CN108345303A (en) | 2018-01-24 | 2018-01-24 | A kind of novel electric vehicle charging service system based on guiding band and robot |
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Application publication date: 20180731 |