CN108407646A - A kind of electric bus automatic charge device - Google Patents
A kind of electric bus automatic charge device Download PDFInfo
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- CN108407646A CN108407646A CN201810253106.0A CN201810253106A CN108407646A CN 108407646 A CN108407646 A CN 108407646A CN 201810253106 A CN201810253106 A CN 201810253106A CN 108407646 A CN108407646 A CN 108407646A
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- Prior art keywords
- arm
- charging
- charging interface
- ultrasonic probe
- interface
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H1/00—Buildings or groups of buildings for dwelling or office purposes; General layout, e.g. modular co-ordination or staggered storeys
- E04H1/12—Small buildings or other erections for limited occupation, erected in the open air or arranged in buildings, e.g. kiosks, waiting shelters for bus stops or for filling stations, roofs for railway platforms, watchmen's huts or dressing cubicles
- E04H1/1205—Small buildings erected in the open air
- E04H1/1211—Waiting shelters for bus stops
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a kind of electric bus automatic charge device, which is located above bus platform, including is set to the controller above platform, adjustment mechanism and detent mechanism；The adjustment mechanism that charges includes the first arm, the second arm and charging interface, and the first arm is fixed on turntable, and turntable is rotated around turntable shaft, and the second arm is connect with the first arm, and charging interface is connect with the second arm；The first arm servo motor of the first arm of control is equipped with above platform, the junction of second arm servo motor of the junction of first arm and the second arm equipped with the second arm of control, the second arm and charging interface sets the charging interface servo motor and interface electric rotating machine of control charging interface；Charging interface is equipped with detent mechanism, includes the charging interface ontology and ultrasonic probe docked with charging connector.The present invention is located above bus platform, can during stop with the charging connector automatic butt on bus and charge to bus.
Description
Technical field
The present invention relates to automobile charging technique fields, and in particular to a kind of electric bus automatic charge device.
Background technology
With the continuous development of new energy technology, a large amount of new energy bus puts into effect in each city.It is electronic
The one kind of bus as new energy bus is and to match suitable Vehicular accumulator cell using vehicle power supply as power and provide electricity
The bus that traveling can be driven, has economize on electricity, fuel-efficient, low emission advantage.
The charging modes of electric bus are divided into two kinds of wired charging and wireless charging, currently, Electric Transit on the market
Vehicle substantially uses wired charging.In order to reach bus cruising ability requirement, bus should load plurality of groups of storage batteries
Group carries out energy storage, stops charge for a long time in charging station again.When a large amount of electric bus is charged, it is necessary to
Expand charging station scale, increase charging pile quantity, this will result in the difficulty of Resource Distribution and Schedule and a large amount of land occupations
The problem of resource.Meanwhile it being operated manually charging by operating personnel, also there is some potential safety problems.
Invention content
The object of the present invention is to provide a kind of electric bus charging unit of automation, which is located on bus platform
Side, can be at Public Transit Bus Stopping bus-stop, and the charging connector automatic butt on bus, to public transport during stop
Vehicle charges.
In order to solve the above-mentioned technical problem, technical scheme is as follows：
A kind of electric bus automatic charge device, which is located above bus platform, including is set to the control above platform
Device, adjustment mechanism and detent mechanism processed；Adjustment mechanism includes the first arm, the second arm and charging interface, and the first arm is fixed on turntable,
Turntable is rotated around turntable shaft, and first the first arm of arm Serve Motor Control movement, the second arm servo motor is fixed with the first arm, the
Two the second arms of arm Serve Motor Control move, and the second arm is fixed with interface servo motor, interface servo motor axis connection connector,
Charging interface is connect with interface electric rotating machine, and interface electric rotating machine is fixed on connector；Charging interface is equipped with detent mechanism, including
The charging interface ontology docked with charging connector, ultrasonic probe and stepper motor, stepper motor drive ultrasonic probe rotation；
Controller controls adjustment mechanism and detent mechanism.
Further, charging interface is equipped with vertical ultrasonic probe, first level ultrasonic probe and the second horizontal ultrasonic
Probe, vertical stepper motor drive vertical ultrasonic probe rotation, first level stepper motor that first level ultrasonic wave is driven to visit
Head rotation, the second horizontal step motor drive the probe rotation of the second horizontal ultrasonic.Vertical ultrasonic probe to adjustment mechanism into
The positioning of row vertical direction, horizontal ultrasonic probe carry out charging adjustment mechanism the positioning of horizontal direction.According to actual detection
Distance, ultrasonic probe can be set to different frequency, such as 40KHz（Within 8 meters of detection）Or 25KHz（Within 20 meters）.
Further, video camera is arranged in charging interface, and camera acquisition image data is transmitted to controller.Bus charging
Head is all made of video camera progress in the lower section of charging interface ultrasonic probe and at the rear of charging interface ultrasonic probe
Positioning.Position for video camera is in the one side where charging interface end, and by the image stream of camera acquisition, controller calculates camera shooting in real time
The three-dimensional coordinate of machine.It is previously written the target signature of banjo fixing butt jointing in the controller, and shot under different distance position
Data establish target database, to realize that program is quickly searched, carry out three-dimensional coordinate positioning.Recognizer energy in controller
Characteristic point similar in the characteristic point and database of enough Rapid matching current camera the image collected, according to pre-set
Three-dimensional system of coordinate positions three-dimensional coordinate distance of the charging interface relative to the charging connector on bus top at this time, controller control
Movable machinery adjustment mechanism processed carries out the position adjustment of X, Y, Z-direction.
Further, charging interface also sets the reflective photoelectric switch for detecting charging interface docking.When filling on platform
After electrical interface docks successfully with the charging connector on bus, whether reflective photoelectric switch starts the docking of detection charging interface accurate
Really, if docking is accurate, charging carries out.
The workflow of the present invention is as shown in Figure 8：When Electric Transit automatic charging platform is in running order, vertical stepping
Motor drives ultrasonic probe to detect whether that bus will enter station with default pivot angle.Detecting that public transport pulls in
When, vertical ultrasonic probe acquires range data, judge bus whether stagnation of movement, after Public Transit Bus Stopping, vertical ultrasonic probe
Start to position, controller controls turntable rotation, makes the given plane that charging interface plane is in and bus charging connector docks
It is interior.Vertical stepper motor output angle data, controller judge the position height of charging interface and send out instruction the first arm of control
Servo motor and the second arm servo motor carry out pose adjustment, and control interface servo motor adjusts charging interface simultaneously
It is whole, until charging interface and bus charging connector position are horizontal.First level ultrasonic probe and the second horizontal ultrasonic are visited
Head is started to work, first level ultrasonic probe and the second horizontal ultrasonic probe acquisition range data, first level stepping electricity
Machine and the second horizontal step motor are moved back and forth with default pivot angle and output angle data, controller judge charging interface relative to
The horizontal position distance of bus charging connector, controls the first arm servo motor and the second arm servo motor carries out pose adjustment,
Until charging interface and the position centering of bus charging connector.With after charging connector centering success, video camera starts charging interface
Work acquires the location drawing picture of bus charging connector, and controller compares property data base, each servo electricity in adjustment mechanism
The exact posture adjustment that machine carries out first mechanical arm, second mechanical arm and charging interface is required until meeting program image control.
Two groups of reflective photoelectric switches work, and whether detection charging interface docking is correct, if docking failure, termination system charging journey
Sequence sends out alarm signal, waits for manual maintenance adjustment；If docking is correct, controller sends out charging instruction, starts to charge up.
Advantage is the present invention compared with prior art：
1. bus is made full use of to carry out electric energy supply in the berthing time of traveling on the way, bus cruising ability is substantially improved,
Reduce the quantity of Vehicular accumulator cell, electric bus cost declines, simultaneously because on-vehicle battery quantity is reduced, under vehicle load
Drop, is conducive to energy-saving and emission-reduction.
2. avoid electric bus stops charging station for a long time, the utilization rate of bus is improved.
3. above the rain shade of charging unit setting AT STATION, it is not take up urban land resource, construction is saved and largely fills
Electric stake and the expansion occupied land resource of charging station, reduce the dispatching distribution problem of charging pile and charging station, and far from row
People and other motor vehicles, safety is noiseless.
4. using wired charging method, is charged by automatic manipulator automatic butt, do not need operating personnel to high pressure
Charging equipment is operated manually, and charging modes are safe and reliable.
5. using the location drawing picture of camera acquisition bus charging connector, controller compares property data base, this method
With higher real-time, the docking of charging interface can be relatively accurately realized.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 is the structural schematic diagram of adjustment mechanism and detent mechanism.
Fig. 3 is the structural schematic diagram that charging interface is connect with the second arm.
Fig. 4 is the structural schematic diagram of detent mechanism.
Fig. 5 is the Motion Controlling Model figure of mechanical arm of the present invention.
Fig. 6 is the ultrasonic probe vertical direction positioning schematic of the present invention.
Fig. 7 is the ultrasonic probe horizontal direction positioning schematic of the present invention.
Fig. 8 is the program flow diagram that present invention control charging interface is docked with bus charging connector.
Fig. 9 is that 2 automatic charge device of embodiment is set to the schematic diagram on platform.
Figure 10 is the schematic diagram of 2 adjustment mechanism of embodiment.
Figure 11 is the schematic diagram of embodiment charging interface more than 2.
Figure 12 is the schematic diagram of the embodiment detent mechanism of charging interface more than 2.
Figure 13 is the schematic diagram of 3 mobile charging device of embodiment.
Figure 14 is the left view of embodiment 3.
Figure 15 is the structural schematic diagram of 3 adjustment mechanism of embodiment.
Figure 16 is the Motion Controlling Model figure of 3 adjustment mechanism of embodiment.
Figure 17 is the ultrasonic probe vertical direction positioning schematic of embodiment 3.
Figure 18 is the ultrasonic probe horizontal direction positioning schematic of embodiment 3.
Figure 19 is that 4 automatic charge device of embodiment is set to the schematic diagram on charging pile.
Figure 20 is the schematic diagram of 4 detent mechanism of embodiment.
Figure 21 is the schematic diagram of 4 display module of embodiment.
Figure 22 is the structural schematic diagram of embodiment 5.
Figure 23 is the structural schematic diagram of 5 charging connector mobile mechanism of embodiment.
Figure 24 is the structural schematic diagram of 5 baffle elevating mechanism of embodiment.
Figure 25 is the structural schematic diagram outside 5 charging head case of embodiment.
It is identified in figure：Controller 1, adjustment mechanism 2, detent mechanism 3, the first arm 21, the second arm 22, charging interface 23 turn
Platform 4, turntable shaft 41, turntable driving motor 42, the first arm servo motor 211, the second arm servo motor 221, interface servo electricity
Machine 231, interface electric rotating machine 232, ultrasonic probe 31, first level ultrasonic probe 311, the second horizontal ultrasonic probe
312, vertical ultrasonic probe 313, reflective photoelectric switch 31, video camera 32, stepper motor 33, charging interface ontology 34, even
Fitting 233, first level stepper motor 331, the second horizontal step motor 332, vertical stepper motor 333, mobile mechanism 5 are sliding
Platform 51, synchronous belt 52, slide unit guide rail 53, upper band 521, lower band 522, shift servo motor 54, correlation optoelectronic switch 531 delay
Rush spring 532, control line 541, reel 542, display module 6, charging head case 7, charging connector coasting mechanism 8, baffle liter
Descending mechanism 9, opening 71, charging connector driving motor 81, charging connector 82, leading screw screw rod 83, feed screw nut 84, the first connector
88, the second connector 85, Guide rollers 86, guide rail 87, baffle 91, rack 92, gear 93, barrier driving motor 94 is reflective
Optoelectronic switch 72, radiated element 721, receiving element 722, limiting slot 73, sealing element 74.
Specific implementation mode
The present invention is further described with reference to the accompanying drawings and detailed description.
Embodiment 1
A kind of electric bus automatic charge device, as shown in Figs 1-4, the device are located above bus platform, including are set to
Controller 1, adjustment mechanism 2 above platform and detent mechanism 3；Adjustment mechanism includes the first arm 21, the second arm 22 and charging
Mouth 23, the first arm 21 are fixed on turntable 4, and turntable 4 is rotated around turntable shaft 41, and the first arm servo motor 211 controls the first arm 21
Movement, the second arm servo motor 221 and the first arm 21 are fixed, and the second arm servo motor 221 controls the movement of the second arm 22, the second arm
22 fix with interface servo motor 231,231 axis connection connector 233 of interface servo motor, charging interface 23 and interface electric rotating
Machine 232 connects, and interface electric rotating machine 232 is fixed on connector 233；Charging interface 23 be equipped with detent mechanism 3, including with charging
The charging interface ontology 34 of head docking, ultrasonic probe 31 and stepper motor 33, stepper motor 33 drive 31 turns of ultrasonic probe
It is dynamic；Controller 1 controls adjustment mechanism 2 and detent mechanism 3.The initial position of charging interface is high higher than the highest of bus car body
Degree.
Turntable motion principle：4 rear end lower of turntable is designed as bevel gear face, and angle of coverage is ± 60 °, in bevel gear
The bevel gear driven with turntable driving motor 42 at heart line matches, and is driven by turntable driving motor 42, and bevel gear pair handle turns
The rotation for being converted into turntable 4 of platform driving motor 42.
As shown in figure 5, the adjustment principle of adjustment mechanism 2 is：Using 211 axis of the first arm servo motor as origin O, the first arm 21
Direction with 22 outside horizontal stretching of the second arm is X-axis positive direction, is straight up axis Y positive directions, in the first arm 21 and second
The plane of movement of arm 22 establishes two-dimensional coordinate system, and the coordinate at 23 midpoint of charging interface is (x, y).Charging for any position
Mouth 23, space coordinate meets following relationship always：
Wherein,θ 1The angle of-the first arm 21 and X-axis positive direction,θ 2The angle of-the second arm 22 and Y-axis negative direction,θ 3- charging
The angle of interface 23 and the second arm,l 1The length of-the first arm 21,l 2The length of-the second arm 23.1 control servomotor of controller
Using position control mode, which is the size of velocity of rotation to be determined by the frequency of external input pulse, and pass through arteries and veins
The number of punching determines that the angle of rotation, this pattern strictly control speed and position.The memory of controller 1 record from
Initial position starts the pulse number that servo motor is sent out in order to control of controller 1, the good deceleration in conjunction with designed by mechanical structure
The reduction ratio and servo motor parameter preset of device can record the angle that each connection place turns, i.e. in Fig. 5 in a programθ 1、θ 2、θ 3, therefore any point coordinate of the first arm 21, the second arm 22 and charging interface 23 can obtain.
34 upside of charging interface ontology is equipped with vertical ultrasonic probe 313, and is respectively set in 34 both sides of charging interface ontology
There are first level ultrasonic probe 311 and the second horizontal ultrasonic probe 312, vertical stepper motor 333 drives vertical ultrasonic wave
313 rotation of probe, first level stepper motor 331 drive first level ultrasonic probe 311 to rotate, the second horizontal step motor
332 drive 312 rotation of the second horizontal ultrasonic probe.Vertical ultrasonic probe 313 carries out vertical direction to adjustment mechanism to be determined
Position, horizontal ultrasonic probe carry out adjustment mechanism the positioning of horizontal direction.According to actual detection distance, ultrasonic probe can be set
It is set to different frequency, such as 40KHz（Within 8 meters of detection）Or 25KHz（Within 20 meters）.
As shown in fig. 6, vertical ultrasonic probe 313 is in the position fixing process of vertical direction：Vertical stepper motor 333 is with pre-
If pivot angle drives vertical ultrasonic probe 313 to detect whether that bus will enter station.Detecting that public transport pulls in
When, vertical ultrasonic probe 313 acquires range data, and whether 333 groups of output angle datas of vertical stepper motor judge bus
Stagnation of movement.After Public Transit Bus Stopping, vertical ultrasonic probe 313 starts to position, and controller 1 controls turntable rotation, makes charging interface 23
Plane is in the given plane that can be docked with bus connector case, and the angle and interface servo motor 231 that turntable 4 rotates are controlled
The angle that charging interface 23 processed turns over is equal, ensures that the plane of charging interface 23 is parallel to the docking plane of bus always.Control
Device 1 processed judges the charging interface position height on the second arm 22 and sends out instruction the first arm servo motor 211 of control and the second arm
Servo motor 221 carries out pose adjustment, and control interface servo motor 231 and interface rotation to the first arm 21 and the second arm 22 respectively
Rotating motor 232 carries out pose adjustment to charging interface 23.
Vertical stepper motor 333 and vertical ultrasonic probe 313 are arranged at the top interposition of charging interface ontology 34
It sets, vertical ultrasonic probe 313 is controlled by vertical stepper motor 333, the first arm 21, the second arm 22 and charging interface 23 are carried out
Positioning on vertical direction.The plane of scanning motion that vertical ultrasonic probe 313 detects perpendicular to charging interface plane forward.Vertically
When 313 detection direction of ultrasonic probe is horizontal forward, it sets the position of vertical stepper motor 333 to initial position at this time.It is perpendicular
To stepper motor 333 relative to initial position carry out ± 10 ° circulation even speed rotation, detection direction higher than initial position be just,
It is negative less than initial position, the scanning area of vertical ultrasonic probe 313 is I, II, III in figure.Vertical ultrasonic probe
313 regions that can collect distance signal are I and II, are acquired in the areas III no data.If with the line of demarcation of no data be just,
Then controller 1 adjusts the first arm 21 according to the corner of vertical stepper motor 333 and the second arm 22 moves upwards；If there is no data
Line of demarcation is negative, then controller 1 adjusts mechanical arm according to the corner of vertical stepper motor 333 and moves downward；If there is no data
Line of demarcation is 0 °, that is, is in initial position, then illustrates to adjust successfully, at this point, charging interface 23 and the charging connector on bus
In same level, the first arm 21, the second arm 22 and charging interface 23 need not carry out upper and lower movement adjustment again.
A horizontal step motor is respectively set in 23 both sides of charging interface, horizontal step motor controlled level ultrasonic probe
Detection direction carries out the positioning in horizontal direction, as shown in Figure 7 to the first arm 21, the second arm 22 and charging interface 23.Level is super
Sonic probe position fixing process in the horizontal direction is：The initial position setting of two horizontal step motors is the level for making it control
Ultrasonic probe signal transmitting and receiving direction forward, is located at the first level ultrasound in 23 left side of charging interface perpendicular to charging interface plane
Wave probe 311 is detected to the left counterclockwise by initial position, and the second horizontal ultrasonic probe 312 on right side is by initial position up time
Needle detects to the right, and two horizontal step motors are rotated with identical rate, after reaching default corner, rotates backward to initial bit
It sets, is so recycled, while two horizontal ultrasonics probe is at the same time, send ultrasonic wave and respectively etc. waiting
The signal of receipts positions the position of charging connector on bus with this.Charging connector on electric bus, length are bigger
In the spacing of two ultrasonic probes, enable the charging connector on the charging interface and bus on platform in same level, it is public
Hand over vehicle before driving into platform, if first level ultrasonic probe 311 detects the distance signal of object, and the second horizontal ultrasonic
Probe 312 does not detect distance signal, then judges that bus charging connector is located at the scanning of first level ultrasonic probe 311
Region I, controller 1 send out instruction, and the first arm 21 of control, the second arm 22 and charging interface 23 are in the horizontal direction to the first water
The direction of flat ultrasonic probe 311 moves.Second horizontal ultrasonic probe 312 detects the distance signal of charging connector,
And first level ultrasonic probe 311 does not detect distance signal, then it is horizontal super to judge that bus charging connector is located at second
The scanning area III of sonic probe 312, controller send out instruction, and the first arm 21 of control, the second arm 22 and charging interface 23 exist
It is moved to the direction of the second horizontal ultrasonic probe 312 in horizontal direction；If first level ultrasonic probe 311 and the second level
Ultrasonic probe 312 detects the distance signal of object simultaneously, then illustrates centering success, be located at charging connector on bus with
On same level straight line, the movement that adjustment mechanism need not be controlled again adjusts charging interface 23 on adjustment mechanism.It connects
After mouth docks successfully, controller 1 controls ultrasonic probe 31 and stepper motor 33 stops detection.The charging connector of bus is filling
In front of 23 ultrasonic probe of electrical interface, positioned using ultrasonic probe.
Detent mechanism 3 is equipped with video camera 32, and camera acquisition image data is transmitted to controller 1.Bus charging connector
In the lower section of ultrasonic probe and at the rear of ultrasonic probe, it is all made of video camera 32 and is positioned.32, video camera
In on charging interface 23, the image stream acquired by video camera 32, controller 1 calculates the three-dimensional coordinate of video camera 32 in real time.
It is previously written the target signature of banjo fixing butt jointing in controller 1, and the data shot under different distance position, establishes number of targets
According to library, to realize that program is quickly searched, three-dimensional coordinate positioning is carried out.Recognizer in controller 1 can Rapid matching it is current
Characteristic point similar in the characteristic point and database of 32 the image collected of video camera, according to pre-set three-dimensional system of coordinate,
Three-dimensional coordinate distance of the charging interface 23 relative to the charging connector on bus top, 1 controlled motion of controller are filled at this time for positioning
Electric adjustment mechanism carries out the position adjustment of X, Y, Z-direction.
Detent mechanism 3 also sets the reflective photoelectric switch 31 for detecting the docking of charging interface 23.When the charging on platform
After interface 23 docks successfully with the charging connector on bus, reflective photoelectric switch 31, which starts to detect charging interface 23 and dock, is
No accurate, if docking is accurate, charging carries out.
The workflow of the present invention is as shown in Figure 8：When Electric Transit automatic charging platform is in running order, vertical stepping
Motor 331 drives ultrasonic probe 31 to detect whether that bus will enter station with default pivot angle.Detecting public transport
When pulling in, vertical ultrasonic probe 313 acquires range data, judge bus whether stagnation of movement, it is vertical super after Public Transit Bus Stopping
Sonic probe 313 starts to position, and controller 1 controls turntable rotation, and 23 plane of charging interface is made to be in and bus charging connector
In the given plane of docking.331 output angle data of vertical stepper motor, controller 1 judge the position height of charging interface simultaneously
It sends out instruction the first arm servo motor 211 of control and the second arm servo motor 221 carries out pose adjustment, and control interface is watched simultaneously
It takes motor 231 to be adjusted charging interface 23, until charging interface 23 and bus charging connector position are horizontal.First level
Ultrasonic probe 311 and the second horizontal ultrasonic probe 312 are started to work, first level ultrasonic probe 311 and the second level
Ultrasonic probe 312 acquires range data, first level stepper motor 3321 and the second horizontal step motor 3322 with default pendulum
Angle move back and forth and output angle data, controller 1 judge charging interface relative to bus charging connector horizontal position away from
From the first arm servo motor 211 of control and the second arm servo motor 221 carry out pose adjustment, until charging interface 23 and public transport
The position centering of vehicle charging connector.Charging interface 23 with after charging connector centering success, start to work, and acquires bus by video camera 32
The location drawing picture of charging connector, controller 1 compare property data base, and each servo motor in the adjustment mechanism that charges carries out first
The exact posture adjustment of arm 21, the second arm 22 and charging interface 23 is required until meeting program image control.Two groups of reflecting lights
Electric switch 31 works, and whether the detection docking of charging interface 23 is correct, if docking failure, termination system charging procedure send out report
Alert signal waits for manual maintenance adjustment；If docking is correct, controller 1 sends out charging instruction, starts to charge up.
Embodiment 2
It is to be provided with multiple charging interfaces, multiple charging interface series connection in place of the present embodiment and the difference of embodiment 1.Such as Fig. 9-
Shown in 12, charging interface 23 is equipped with the first charging interface 234, the second charging interface 235 and third charging interface 236, and first fills
Electrical interface 234, the second charging interface 235 and third charging interface 236 are sequentially connected in series.
Second charging interface, 235 upper end is equipped with vertical ultrasonic probe 313, and 234 side of the first charging interface is equipped with first
Horizontal ultrasonic probe 311,236 side of third charging interface are equipped with the second horizontal ultrasonic probe 312, vertical stepper motor
333 drive vertical ultrasonic probe 313 to rotate, and first level stepper motor 331 drives 311 turns of first level ultrasonic probe
Dynamic, the second horizontal step motor 332 drives 312 rotation of the second horizontal ultrasonic probe.
Embodiment 3
It is in place of the present embodiment and the difference of embodiment 1：Adjustment mechanism and detent mechanism may be contained in mobile mechanism, other
Structure is same as Example 1, Motion Controlling Model, ultrasonic probe vertical direction positioning principle and the ultrasound of adjustment mechanism
Wave probe horizontal direction positioning principle is identical as in embodiment 1.
As illustrated in figs. 13-15, mobile mechanism 5 includes slide unit 51, synchronous belt 52, and the guide rail 53 being fixed on platform, the
One arm 21 and the first arm servo motor 211 are both secured on slide unit 51.Synchronous belt 52 includes upper band 521 and lower band 522, upper band
521 connect with slide unit 51, and lower band 522 passes through slide unit 51, synchronous belt 52 that slide unit 51 is driven to be moved along slide unit guide rail 53, and slide unit 51 is just
To when sliding, shift servo motor 54 dallies, and when slide unit 51 reversely slides, shift servo motor 54 rotates forward.Slide unit guide rail 53 1
End is equipped with correlation optoelectronic switch 531.When slide unit 51 moves to correlation 531 position of optoelectronic switch, the control of controller 1 is filled
Electric installation stops charging and controlling charging interface detaching with charging connector.In order to prevent because hitting slide unit in 51 taxiing procedures of slide unit
Guide rail 53 and the damage for causing slide unit 51 or slide unit guide rail 53,53 both sides of slide unit guide rail are equipped with buffer spring 532.Control line 541
It is around on reel 542, the shaft diameter of reel 542 is identical as the shaft diameter of shift servo motor 54, shift servo motor 54
Axis drive reel 542 rotate.Motion Controlling Model, the ultrasonic probe of the adjustment mechanism of mobile charging device are square vertically
As shown in figs. 16-18 to positioning principle and ultrasonic probe horizontal direction positioning principle.
Embodiment 4
It is to increase display module in the apparatus in place of the present embodiment and the difference of embodiment 2 and increases in the controller
It is capable of the wireless module of transmission range data information.
As shown in figs. 19-21, display module 6 is located on bus bridge.Display module 6 includes microcontroller, LED prompts
Lamp, wireless module and display screen, the input terminal of microcontroller connect wireless module, display screen and LED warning lights with microcontroller
Output end connects.
Vertical ultrasonic probe 313 acquires range data, 333 output angle data of vertical stepper motor, and controller 1 receives
The distance signal that vertical ultrasonic probe 313 is sent out, control adjustment mechanism 2 carry out the adjustment of short transverse, adjust charging interface
23 with charging connector at the top of bus in sustained height, at this point, vertical stepper motor 333 keeps vertical ultrasonic probe 313 to visit
The direction of survey is horizontal, and vertical ultrasonic probe 313 detects the horizontal distance of bus charging connector and charging interface 23.Controller
In NRF24L01 wireless modules, pass through what the vertical ultrasonic probe 313 of EnhancedShockBurstTM Mode Launch detected
The data packet of range information.NRF24L01 wireless modules in display module 6 are connect by EnhancedShockBurstTM patterns
The data packet that adjustment mechanism is sent is received, microcontroller reads range data, and carries out digital filtering processing using median filtering method, so
Afterwards by filtered numerical value real-time display on 12864 display screens.When distance values are less than or equal to 1m, LED light flash for prompting
Driver reaches charged area, and timely parking prevents from colliding.
Embodiment 5
A kind of electric bus charging connector device, the charging connector on the device are docked with the charging interface on platform.Such as figure
Shown in 22-25, a kind of electric bus charging connector device, including charging head case 7, charging connector mobile mechanism 8 and baffle
Elevating mechanism 9；Charging head case 7 is provided with the opening 71 passed in and out for charging connector；Charging connector mobile mechanism 8 and baffle lifting
Mechanism 9 is respectively positioned on inside charging head case 7, and charging connector mobile mechanism 8 includes the charging connector driving motor for providing driving force
81, charging connector driving motor 81 is fixed on babinet, charging connector 82, leading screw screw rod 83 and leading screw spiral shell by the first connector 88
Mother 84, charging connector driving motor 81 and leading screw screw rod 83 are coaxial, leading screw screw rod 83 and 84 engaged transmission of feed screw nut, leading screw spiral shell
Mother 84 is connect by connector 85 with charging connector 82, and 82 lower section of charging connector sets Guide rollers 86, and Guide rollers 86 are along guide rail
87 slide；Baffle elevating mechanism 9 includes the baffle 91 for being closed opening, and 91 side of baffle sets rack 92, rack 92 be set to
93 engaged transmission of gear on babinet, rotates synchronously with the fixed barrier driving motor 94 of babinet with moving gear 93.Charging connector
Driving motor 81 rotates forward, and charging connector 82 moves to designated position along guide rail 87 to box house；Charging connector driving motor 81
Reversion, charging connector 82 is along guide rail 87 to babinet external movement to designated position.Barrier driving motor 94 rotates forward, and baffle 91 declines
The designated position being closed to opening 71；Barrier driving motor 94 inverts, and baffle 91 rises to the specific bit that opening 71 is completely exposed
It sets.Charging connector device is additionally provided with controller, and controller controls the movement of charging connector and baffle in charging connector mobile mechanism 8
The lifting of baffle in elevating mechanism 9.
Reflective photoelectric switch 72 is set inside charging head case 7, and the radiated element of reflective photoelectric switch is set outside babinet
721 and receiving element 722.
Charging head case 7 is equipped with the limiting slot 73 moved for baffle 91.Baffle 91 is slided along about 73 limiting slot.
Baffle 91 is sealed at the closure of opening 71 with sealing element 74.Sealing element 74 can be rubber, plastics or stone
The materials such as ink are made.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (4)
1. a kind of electric bus automatic charge device, it is characterised in that：Including the controller being set to above platform, machine is adjusted
Structure and detent mechanism；Adjustment mechanism includes the first arm, the second arm and charging interface, and the first arm is fixed on turntable, and turntable is around turntable
Shaft rotates, and first the first arm of arm Serve Motor Control movement, the second arm servo motor is fixed with the first arm, the second arm servo electricity
Machine controls the movement of the second arm, and the second arm fixes with interface servo motor, interface servo motor axis connection connector, charging interface and
Interface electric rotating machine connects, and interface electric rotating machine is fixed on connector；Charging interface be equipped with detent mechanism, including with charging connector
The charging interface ontology of docking, ultrasonic probe and stepper motor, stepper motor drive ultrasonic probe rotation；Controller controls
Adjustment mechanism and detent mechanism.
2. a kind of electric bus automatic charge device according to claim 1, it is characterised in that：Charging interface is equipped with perpendicular
To ultrasonic probe, first level ultrasonic probe and the second horizontal ultrasonic probe, vertical stepper motor drive vertical ultrasound
Wave probe rotation, first level stepper motor drive the rotation of first level ultrasonic probe, the second horizontal step motor to drive the
The probe rotation of two horizontal ultrasonics.
3. a kind of electric bus automatic charge device according to claim 2, it is characterised in that：Charging interface setting is taken the photograph
Camera, camera acquisition image data are transmitted to controller.
4. a kind of electric bus automatic charge device according to claim 2, it is characterised in that：Charging interface, which is set, to be used for
Detect the reflective photoelectric switch of charging interface docking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810253106.0A CN108407646A (en) | 2018-03-26 | 2018-03-26 | A kind of electric bus automatic charge device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253106.0A CN108407646A (en) | 2018-03-26 | 2018-03-26 | A kind of electric bus automatic charge device |
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| CN108407646A true CN108407646A (en) | 2018-08-17 |
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| CN201810253106.0A Pending CN108407646A (en) | 2018-03-26 | 2018-03-26 | A kind of electric bus automatic charge device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112319290A (en) * | 2020-11-05 | 2021-02-05 | 厦门金龙联合汽车工业有限公司 | Control method of automatic lifting charging system for electric automobile |
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Application publication date: 20180817 |