CN108583310A - A kind of electric bus charging homing device - Google Patents
A kind of electric bus charging homing device Download PDFInfo
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- CN108583310A CN108583310A CN201810254663.4A CN201810254663A CN108583310A CN 108583310 A CN108583310 A CN 108583310A CN 201810254663 A CN201810254663 A CN 201810254663A CN 108583310 A CN108583310 A CN 108583310A
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- 239000002184 metal Substances 0.000 description 3
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- 230000005672 electromagnetic field Effects 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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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
- B60L2200/00—Type of vehicles
- B60L2200/18—Buses
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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
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- 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
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- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of electric bus charging homing devices, it include the controller with wireless module, adjustment mechanism, detent mechanism and display module, adjustment mechanism include the first arm, the second arm and charging interface, and the first arm is fixed on turntable, first the first arm of arm Serve Motor Control moves, second the second arm of arm Serve Motor Control moves, and 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 charging interface ontology, vertical ultrasonic probe and the vertical stepper motor for controlling vertical ultrasonic probe；Display module includes microcontroller, LED warning lights, display screen and the wireless module for receiving range data information, and the input terminal of microcontroller connects wireless module, and display screen and LED warning lights are connect with the output end of microcontroller.The present invention can show that bus at a distance from charging interface, avoids hitting, it is ensured that the safety of charging interface and bus car body.
Description
Technical Field
The invention relates to the technical field of automobile charging, in particular to an automatic guiding device for charging of an electric bus.
Background
With the continuous development of new energy technology, a large number of new energy buses are put into operation in each city, and the charging mode of the electric buses is divided into wired charging and wireless charging. The wireless charging utilizes inductive coupling, and energy is transferred through an electromagnetic field between a transmitting coil of the charger and a receiving coil of the automobile, but the charging mode has certain potential safety hazard. The charging device is provided with a certain space gap between the transmitting coil and the receiving coil, and the space is filled with the radiation of an electromagnetic field in the charging process, so that an eddy current effect is generated on a close metal object, the metal is heated, and fire hazard is generated; in addition, high frequency electromagnetic waves generated when the automobile is charged are harmful to the central nerve and other tissues of the human. Therefore, the wireless charging device must be provided with a protective facility for shielding electromagnetic waves and a metal detection device, and the cost is greatly increased, so that the charging device with high cost and potential safety hazard is not suitable for being arranged on a large number of routes of electric buses with intensive people flow.
At present, the automatic charging device for the electric bus appears on the market, namely the automatic charging device is arranged on the charging pile, the charging interface on the charging pile and the charging connector on the bus can be automatically butted, and potential safety hazards caused by personnel operation are avoided. However, when a bus driver drives to a charging position where the automatic charging pile is located, the bus automatic charging connector box is located at the top of the bus, so that the bus driver cannot see the distance between the charging connector box and the automatic charging mechanical arm in the stopping process, and the bus driver is easy to bump and is dangerous, so that the charging mechanical arm and the bus body are damaged.
Disclosure of Invention
The invention aims to provide an automatic electric bus charging guiding device which effectively avoids collision danger between a charging device and a bus body.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an automatic charging guiding device for an electric bus comprises a controller with a wireless module, an adjusting mechanism, a positioning mechanism and a display module, wherein the adjusting mechanism comprises a first arm, a second arm and a charging interface; the charging interface is provided with a positioning mechanism, the positioning mechanism comprises a charging interface body in butt joint with the charging connector, a vertical ultrasonic probe and a vertical stepping motor, and the vertical stepping motor controls the detection direction of the vertical ultrasonic probe; the display module comprises a single chip microcomputer, an LED prompting lamp, a display screen and a wireless module used for receiving distance data information, the input end of the single chip microcomputer is connected with the wireless module, and the display screen and the LED prompting lamp are connected with the output end of the single chip microcomputer. Vertical ultrasonic probe carries out ascending location of vertical side to the interface that charges: the vertical ultrasonic probe collects distance data, the vertical stepping motor outputs angle data, the controller receives distance signals sent by the vertical ultrasonic probe, the adjusting mechanism is controlled to adjust the height direction, the charging interface and the bus top charging interface are adjusted to be at the same height, at the moment, the vertical stepping motor keeps the direction level detected by the vertical ultrasonic probe, and the vertical ultrasonic probe detects the horizontal distance between the bus charging interface and the charging interface.
Further, the interface that charges is equipped with first horizontal ultrasonic transducer and the horizontal ultrasonic transducer of second, and first horizontal step motor drives first horizontal ultrasonic transducer and rotates, and the horizontal step motor of second drives the horizontal ultrasonic transducer of second and rotates. The horizontal ultrasonic probe positions the adjusting mechanism in the horizontal direction. The ultrasonic probe can be set to different frequencies, such as 40KHz (within 8 meters of detection) or 25KHz (within 20 meters), according to the actual detection distance.
Further, the wireless module adopts a monolithic radio frequency transceiver device of nRF24L01 model.
Furthermore, the input end of the singlechip is connected with a power supply for supplying electric energy to the display module. The power supply output voltage is 5V.
The working process of the invention is shown in figure 22: in the process that the bus drives to charging pile, the interface that charges is at vertical ultrasonic probe, vertical step motor and guiding mechanism's adjustment down, the interface that charges is at the direction of height and the bus joint parallel and level that charges, then, vertical step motor keeps the direction level that vertical ultrasonic probe surveyed, vertical ultrasonic probe continues to survey the horizontal distance that the interface and the bus joint that charges charge, display module is located the bus driver's cabin, wireless module receives the distance data that the interface that charges sent, the singlechip reads distance data, then show distance value in real time on the display screen. When the distance value is less than or equal to 1m, the LED prompting lamp flickers to prompt a driver to arrive at a charging area, parking is carried out in time, and collision is prevented; the charging interface is adjusted by the horizontal ultrasonic probe and the horizontal stepping motor to be accurately butted with the charging connector.
Compared with the prior art, the invention has the advantages that:
1. when a bus driver drives to the automatic charging pile, the automatic guiding device displays the distance between the bus and the charging interface, so that collision is avoided, and the safety of the charging interface and the bus body is ensured.
2. The electric energy is supplied by fully utilizing the stopping time of the bus during running, the cruising ability of the bus is greatly improved, the number of vehicle-mounted storage batteries is reduced, the cost of the electric bus is reduced, and meanwhile, the automobile load is reduced due to the reduction of the number of the vehicle-mounted storage batteries, so that the energy conservation and emission reduction are facilitated.
3. The long-time stop of the electric bus at the charging station is avoided, and the utilization rate of the bus is improved.
4. The charging device is arranged above the rain shelter of the station, does not occupy urban land resources, saves a large amount of land resources occupied by the charging pile and the charging station, reduces the scheduling and distribution problems of the charging pile and the charging station, and is safe and free of interference when being far away from pedestrians and other motor vehicles.
5. Adopt wired charging mode, through automatic butt joint of automatic arm charging, do not need operating personnel to carry out manually operation to high-voltage charging equipment, charging mode safe and reliable.
6. The method has the advantages that the camera is used for collecting position images of the bus charging connector, and the controller compares the position images with the characteristic database.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a left side view of the present invention.
Fig. 3 is a schematic diagram of a charging interface.
Fig. 4 is a schematic view of the positioning mechanism.
Fig. 5 shows a schematic diagram of a module.
Fig. 6 is a diagram of a motion control model of the adjustment mechanism.
Fig. 7 is a schematic view of the vertical positioning of the ultrasonic probe.
Fig. 8 is a schematic view of the positioning of the ultrasonic probe in the horizontal direction.
Fig. 9 is a schematic view of a charging device with multiple charging interfaces according to embodiment 2.
Fig. 10 is a schematic diagram of a multi-charging interface of embodiment 2.
Fig. 11 is a schematic view of a positioning mechanism with multiple charging interfaces according to embodiment 2.
Fig. 12 is a schematic view of a mobile charging device according to embodiment 3.
Fig. 13 is a left side view of embodiment 3.
Fig. 14 is a schematic structural view of an adjusting mechanism according to embodiment 3.
FIG. 15 is a model diagram of the motion control of the adjustment mechanism of embodiment 3.
Fig. 16 is a schematic view of the vertical positioning of the ultrasonic probe according to embodiment 3.
Fig. 17 is a schematic view of positioning the ultrasonic probe according to embodiment 3 in the horizontal direction.
Fig. 18 is a schematic structural diagram of a charging connector device according to embodiment 4.
Fig. 19 is a schematic structural view of a charging contact moving mechanism according to embodiment 4.
Fig. 20 is a schematic structural view of a shutter lifting mechanism according to embodiment 4.
Fig. 21 is a schematic structural view of the outside of a charging header box according to embodiment 4.
Fig. 22 is a flowchart of the operation of the automatic guiding apparatus.
The labels in the figure are: the controller 1, the adjusting mechanism 2, the positioning mechanism 3, the first arm 21, the second arm 22, the charging interface 23, the turntable 4, the turntable rotating shaft 41, the turntable driving motor 42, the first arm servo motor 211, the second arm servo motor 221, the interface servo motor 231, the interface rotating motor 232, the first charging interface 234, the second charging interface 235, the third charging interface 236, the ultrasonic probe 31, the first horizontal ultrasonic probe 311, the second horizontal ultrasonic probe 312, the vertical ultrasonic probe 313, the reflective photoelectric switch 31, the camera 32, the stepping motor 33, the charging interface body 34, the connecting member 233, the first horizontal stepping motor 331, the second horizontal stepping motor 332, the vertical stepping motor 333, the moving mechanism 5, the sliding table 51, the synchronous belt 52, the guide rail 53, the upper belt 521, the lower belt 522, the moving servo motor 54, the correlation photoelectric switch 531, the buffer spring 532, the control line 541, the reel 542, the display module 6, the charging connector box 7, the charging connector sliding mechanism 8, the baffle lifting mechanism 9, the opening 71, the charging connector driving motor 81, the charging connector 82, the lead screw rod 83, the lead screw nut 84, the first connecting piece 88, the second connecting piece 85, the guide rail pulley 86, the guide rail 87, the baffle 91, the rack 92, the gear 93, the baffle driving motor 94, the reflective photoelectric switch 72, the emitting element 721, the receiving element 722, the limiting groove 73 and the sealing element 74.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Example 1
As shown in fig. 1 to 5, an automatic electric bus charging guidance device includes a controller 1 having a wireless module, an adjustment mechanism 2, a positioning mechanism 3, and a display module 6, where the adjustment mechanism 2 includes a first arm 21, a second arm 22, and a charging interface 23, the first arm 21 is fixed to a turntable 4, the turntable 4 rotates around a turntable rotating shaft 41, a first arm servo motor 211 controls the first arm 21 to move, a second arm servo motor 221 is fixed to the first arm 21, the second arm servo motor 221 controls the second arm 22 to move, the second arm 22 is fixed to an interface servo motor 231, the interface servo motor 231 is connected to a shaft by a connecting member 233, the charging interface 23 is connected to the interface rotating motor 232, and the interface rotating motor 232 is fixed to the connecting member 233; the charging interface 13 is provided with a positioning mechanism 3, and comprises a charging interface body 34 in butt joint with the charging connector, a vertical ultrasonic probe 313 and a vertical stepping motor 333, wherein the vertical stepping motor 333 controls the detection direction of the vertical ultrasonic probe 313; the display module 6 comprises a single chip microcomputer, an LED prompting lamp, a wireless module and a display screen, wherein the input end of the single chip microcomputer is connected with the wireless module, and the display screen and the LED prompting lamp are connected with the output end of the single chip microcomputer.
The motion principle of the turntable is as follows: the lower part of the rear end of the rotary table 4 is designed to be a bevel gear surface, the coverage angle of the bevel gear surface is +/-60 degrees, the central line of the bevel gear is matched with a bevel gear driven by a rotary table driving motor 42, and the bevel gear is driven by the rotary table driving motor 42 to convert the rotation of the rotary table driving motor 42 into the rotation of the rotary table 4 through a bevel gear pair.
As shown in fig. 6, the adjustment principle of the adjustment mechanism 2 is: the axis of the first arm servo motor 211 is used as an origin O, the direction in which the first arm 21 and the second arm 22 horizontally extend outwards is the positive direction of the X axis, the vertical direction is the positive direction of the Y axis, a two-dimensional coordinate system is established on the motion plane of the first arm 21 and the second arm 22, and the coordinate of the midpoint of the charging interface 23 is (X, Y). For the charging interface 23 at any position, the spatial coordinates always satisfy the following relationship:
wherein,θ 1the angle of the first arm 21 to the positive direction of the X-axis,θ 2the angle of the second arm 22 to the negative direction of the Y-axis,θ 3the angle of the charging interface 23 to the second arm,l 1the length of the first arm 21 is such that,l 2the length of the second arm 22. The controller 1 controls the servo motor to adopt a position control mode, which determines the magnitude of the rotation speed through the frequency of externally input pulses and determines the rotation angle through the number of pulses, and the mode strictly controls the speed and the position. The memory of the controller records the number of pulses sent by the controller for controlling the servo motor from the initial position, and the rotation angle of each joint, namely the rotation angle of the joint in fig. 6, can be recorded in a program by combining the reduction ratio of the reducer designed by the mechanical structure and the preset parameter of the servo motorθ 1、θ 2、θ 3Therefore, any one-point coordinates of the first arm 11, the second arm 12, and the charging interface 13 can be obtained.
The charging interface 23 is first adjusted in the vertical direction, i.e. only the Y coordinate is adjusted, while keeping the X coordinate unchanged. Since the coordinate value of X is known at this time, it can be regarded as a constantTherefore, the adjustment mechanism 2 is adjusted in the vertical direction, and the rotation angles of the first arm servomotor 211 and the second arm servomotor 221 always satisfy:therefore, the ratio of the number of pulses generated by the controller 1 for the first arm servo motor 211 and the second arm servo motor 221 satisfies the formula, so that the first arm 21, the second arm 22, and the charging interface 23 can be ensured to move in the vertical direction.
After the vertical directions of the first arm 21, the second arm 22 and the charging interface 23 are adjusted, the charging interface 23 and the charging connector on the bus are located on the same horizontal plane, and the first arm 21, the second arm 22 and the charging interface 23 start to be adjusted in the horizontal direction, namely the Y coordinate is kept unchanged, and only the X coordinate is adjusted. The control principle is the same as the adjustment in the vertical direction, and the Y coordinate is a constantThe rotation angles of the first arm servo motor 211 and the second arm servo motor 221 always satisfy:therefore, it isThe controller 1 satisfies the formula with respect to the number of pulses generated by the first arm servo motor 211 and the second arm servo motor 221, and the movement of the adjustment mechanism in the horizontal direction is ensured.
The vertical ultrasonic probe 313 collects distance data, the vertical stepping motor 333 outputs angle data, the controller 1 receives a distance signal sent by the vertical ultrasonic probe 313, the adjusting mechanism 2 is controlled to adjust the height direction, the charging interface 23 and the bus top charging interface are adjusted to be at the same height, at the moment, the vertical stepping motor 333 keeps the direction level detected by the vertical ultrasonic probe 313, and the vertical ultrasonic probe 313 detects the horizontal distance between the bus charging interface and the charging interface 23. The NRF24L01 wireless module in the controller transmits a data packet of the distance information detected by the vertical ultrasonic probe 313 through the enhanced shockburst (tm) mode. The NRF24L01 wireless module in the display module 6 receives the data packet sent by the adjusting mechanism through the enhanced shockburst (TM) mode, the single chip microcomputer reads the distance data, digital filtering processing is carried out by adopting a median filtering method, and then the filtered numerical value is displayed on a 12864 display screen in real time. When the distance value is less than or equal to 1m, the LED lamp flickers to prompt a driver to arrive at a charging area, parking is carried out in time, and collision is prevented.
The procedure of data transmission of the NRF24L01 wireless module is as follows: firstly, setting the address of each bus receiving end, and configuring a CONFIG register to enable the bus receiving end to enter a sending mode. The controller then samples the read real-time distance data and then packs it with a certain number of data, and the data to be transmitted is sent in time sequence to NRF24L 01. The controller sets CE high and excites NRF24L01 for EnhancedShockBurstTM emission. Enhancedshockburst (tm) emission process of NRF24L 01: (1) supplying power to the radio frequency front end; (2) packing radio frequency data (adding a word header and a CRC check code); (3) transmitting the data packet at a high speed; (4) upon completion of transmission, NRF24L01 sends the next range packet.
The procedure of receiving data by the NRF24L01 wireless module is as follows: firstly, the local address of the bus receiving end and the size of a data packet to be received each time are configured. The CONFIG register is then configured to enter receive mode, setting CE high. Then, NRF24L01 enters a monitoring state to wait for the arrival of a packet at the transmitting end. When a bus drives to a charging pile and enters a wireless module transceiving range, after a receiving end of the bus receives a correct data packet (a correct address and a CRC check code), the NRF2401 automatically removes a word head, the address and the CRC check bit, the NRF24L01 informs the single chip microcomputer of an RX _ DR bit of the STATUS register, the single chip microcomputer reads data from the NewMsg _ RF2401, after all data are read, the STATUS register is cleared, and the NRF24L01 enters a monitoring state to wait for the next data packet.
As shown in fig. 7, the positioning process of the vertical ultrasonic probe 313 in the vertical direction is: the vertical stepping motor 333 drives the vertical ultrasonic probe 313 at a preset swing angle to detect whether a bus is about to enter a station. When a bus is detected to enter the station, the vertical ultrasonic probe 313 collects distance data, and the vertical stepping motor 333 outputs angle data to judge whether the bus stops. After the bus stops, the vertical ultrasonic probe 313 starts to be positioned, the controller 1 controls the rotary table to rotate, the plane of the charging interface 23 is located in a designated plane which can be in butt joint with the bus joint box, the rotating angle of the rotary table 4 is equal to the rotating angle of the interface servo motor 231 which controls the charging interface 23, and the plane of the charging interface 23 is guaranteed to be always parallel to the butt joint plane of the bus. The controller 1 determines the height of the charging interface on the second arm 22, issues an instruction to control the first arm servo motor 211 and the second arm servo motor 221 to perform posture adjustment on the first arm 21 and the second arm 22, respectively, and controls the interface servo motor 231 and the interface rotating motor 232 to perform posture adjustment on the charging interface 23.
Vertical step motor 333 and vertical ultrasonic probe 313 all set up at the top of the interface 23 that charges, and vertical step motor 333 controls vertical ultrasonic probe 313, carries out ascending location in vertical direction to first arm 21, second arm 22 and the interface 23 that charges. The scanning plane detected by the vertical ultrasonic probe 313 is forward perpendicular to the charging interface plane. When the vertical ultrasonic probe 313 detects the direction horizontally forward, the position of the vertical stepping motor 333 is set as the initial position at this time. The vertical stepping motor 333 circularly rotates at a constant speed of ± 10 ° with respect to the initial position, the detection direction is positive when higher than the initial position and negative when lower than the initial position, and the scanning regions of the vertical ultrasonic probe 313 are I, II, and III in the drawing. The regions where the vertical ultrasonic probe 313 can acquire distance signals are I and II, and no data is acquired in region III. If the data-free boundary is positive, the controller 1 adjusts the first arm 21 and the second arm 22 to move upward according to the rotation angle of the vertical stepping motor 333; if the boundary of the presence or absence of data is negative, the controller 1 moves downward according to the corner adjusting mechanism of the vertical stepping motor 333; if the boundary line of the data is 0 degrees, namely the boundary line is at the initial position, the adjustment is successful, at this time, the charging interface 23 and the charging connector on the bus are in the same horizontal plane, and the first arm 21, the second arm 22 and the charging interface 23 do not need to perform up-and-down movement adjustment. The display screen adopts a 12864 display screen.
Controller 1 sets up and fills inside the electric pile. The device is arranged inside to effectively avoid the damage of the natural environment.
The wireless modules all adopt nRF24L01 single-chip radio frequency transceiver.
The input end of the singlechip is connected with a power supply for supplying electric energy to the display module 6. The power supply output voltage is 5V.
The positioning mechanism is also provided with a horizontal ultrasonic probe, a horizontal stepping motor, a camera 32 and a reflective photoelectric switch 31; the horizontal ultrasonic probe includes a first horizontal ultrasonic probe 311 and a second horizontal ultrasonic probe 312, and the horizontal stepping motor includes a first horizontal stepping motor 331 and a second horizontal stepping motor 332.
As shown in fig. 8, the charging interface 23 is provided with a horizontal ultrasonic probe including a first horizontal ultrasonic probe 311 and a second horizontal ultrasonic probe 312, and a horizontal stepping motor including a first horizontal stepping motor 331 and a second horizontal stepping motor 332. The horizontal stepping motor can control the detection direction of the horizontal ultrasonic probe, and the charging interface is positioned in the horizontal direction. The horizontal ultrasonic probe performs the positioning process in the horizontal direction on the charging interface 23 as follows: the initial position of the horizontal stepping motor is set to enable the signal receiving and sending direction of the horizontal ultrasonic probe controlled by the horizontal stepping motor to be perpendicular to the plane of the charging interface to move forward, the first horizontal ultrasonic probe 311 positioned on the left side of the charging interface is detected by the initial position to the left side in an anticlockwise mode, the second horizontal ultrasonic probe 312 positioned on the right side is detected by the initial position to the right side in a clockwise mode, the two horizontal stepping motors rotate at the same speed, after a preset rotation angle is reached, the two horizontal ultrasonic probes rotate reversely to the initial position, circulation is conducted in the mode, meanwhile, the two horizontal ultrasonic probes send ultrasonic waves and wait for received signals respectively at the same time interval, and therefore the position of the.
The positioning mechanism is provided with a camera 32, and image data collected by the camera 32 is transmitted to the controller 1. The bus charging connector is positioned by the camera 32 below the ultrasonic probe of the charging interface 23 and behind the ultrasonic probe of the charging interface. The camera 32 is located on the surface where the charging interface body 34 is located, and the controller 1 calculates the three-dimensional coordinates of the camera 32 in real time through the image stream acquired by the camera 32. Target characteristics of the butt joint and data shot at different distance positions are written in the controller 1 in advance, and a target database is established to realize quick program search and carry out three-dimensional coordinate positioning. The recognition program in the controller can quickly match the feature points of the image acquired by the current camera 32 with the feature points close to the database, and the three-dimensional coordinate distance of the charging interface 23 relative to the charging connector on the upper part of the bus at the moment is located according to the preset three-dimensional coordinate system, and the controller 1 controls the adjusting mechanism to adjust the position towards X, Y, Z.
The positioning mechanism 3 is further provided with a reflection-type photoelectric switch 31 for detecting the butt joint of the charging interfaces. When the charging interface 23 on the station platform is successfully butted with the charging connector on the bus, the reflective photoelectric switch 31 starts to detect whether the butting of the charging interface is accurate or not, and if the butting is accurate, the charging is carried out.
Example 2
The present embodiment is different from embodiment 1 in that a plurality of charging interfaces are provided, and the plurality of charging interfaces are connected in series. As shown in fig. 9-11, the charging interface 23 is provided with a first charging interface 234, a second charging interface 235 and a third charging interface 236, wherein the first charging interface 234, the second charging interface 235 and the third charging interface 236 are sequentially connected.
The second interface 235 upper end that charges is equipped with vertical ultrasonic transducer 313, and the first interface 234 one side that charges is equipped with first horizontal ultrasonic transducer 311, and the third interface 236 one side that charges is equipped with second horizontal ultrasonic transducer 312, and vertical step motor 333 drives vertical ultrasonic transducer 313 and rotates, and first horizontal step motor 331 drives first horizontal ultrasonic transducer 311 and rotates, and second horizontal step motor 332 drives second horizontal ultrasonic transducer 312 and rotates.
Example 3
The adjusting mechanism and the positioning mechanism in this embodiment are both disposed on the moving mechanism. The motion control model, the vertical positioning principle of the ultrasonic probe and the horizontal positioning principle of the ultrasonic probe of the adjusting mechanism in the embodiment are the same as those in embodiment 1.
As shown in fig. 12 to 17, the moving mechanism 5 includes a slide table 51, a timing belt 52, and a slide table guide 53 fixed to the station, and the first arm 21 and the first arm servomotor 211 are fixed to the slide table 51. The synchronous belt 52 comprises an upper belt 521 and a lower belt 522, the upper belt 521 is connected with the sliding table 51, the lower belt 522 penetrates through the sliding table 51, the synchronous belt 52 drives the sliding table 51 to move along the sliding table guide rail 53, the moving servo motor 54 idles when the sliding table 51 slides in the forward direction, and the moving servo motor 54 rotates in the forward direction when the sliding table 51 slides in the reverse direction. One end of the sliding table guide rail 53 is provided with a correlation photoelectric switch 531. When the sliding table 51 moves to the position of the correlation photoelectric switch 531, the controller 1 controls the charging device to stop charging and controls the charging interface to be separated from the charging connector. In order to prevent the sliding table 51 or the guide rail 53 from being damaged due to the sliding of the sliding table 51 against the guide rail 53, buffer springs 532 are provided on both sides of the sliding table guide rail 53. The control line 541 is wound around the reel 542, the diameter of the reel 542 is the same as the diameter of the shaft of the movement servomotor 54, and the shaft of the movement servomotor 54 rotates the reel 542.
Example 4
A charging connector device of an electric bus is characterized in that a charging connector on the device is in butt joint with a charging interface on a platform. As shown in fig. 18 to 21, a charging connector device for an electric bus comprises a charging connector box 7, a charging connector moving mechanism 8 and a baffle lifting mechanism 9; the charging connector box 7 is provided with an opening 71 for the charging connector to enter and exit; the charging joint moving mechanism 8 and the baffle lifting mechanism 9 are located inside the charging joint box 7, the charging joint moving mechanism 8 comprises a charging joint driving motor 81 providing driving force, the charging joint driving motor 81 is fixed on the box body through a first connecting piece 88, the charging joint 82, a screw rod screw 83 and a screw rod nut 84, the charging joint driving motor 81 is coaxial with the screw rod screw 83, the screw rod screw 83 is in meshing transmission with the screw rod nut 84, the screw rod nut 84 is connected with the charging joint 82 through a connecting piece 85, a guide rail pulley 86 is arranged below the charging joint 82, and the guide rail pulley 86 slides along a guide rail 87; the baffle lifting mechanism 9 comprises a baffle 91 for closing the opening, a rack 92 is arranged on one side of the baffle 91, the rack 92 is in meshing transmission with a gear 93 arranged on the box body, and a baffle driving motor 94 fixed with the box body drives the gear 93 to synchronously rotate. The charging connector drives the motor 81 to rotate positively, and the charging connector 82 moves to a specified position towards the interior of the box body along the guide rail 87; the charging connector driving motor 81 rotates reversely, and the charging connector 82 moves to a designated position along the guide rail 87 to the outside of the box body. The shutter driving motor 94 rotates forward, and the shutter 91 descends to a specified position where the opening 71 is closed; the shutter drive motor 94 is reversed, and the shutter 91 is raised to a specified position where the opening 71 is completely exposed. The charging connector device is also provided with a controller which controls the movement of the charging connector in the charging connector moving mechanism 8 and the lifting of the baffle in the baffle lifting mechanism 9.
As shown in fig. 18, the reflective photoelectric switch 72 is provided inside the charging contact box 7, and as shown in fig. 21, the transmitting element 721 and the receiving element 722 of the reflective photoelectric switch are provided outside the box.
As shown in fig. 20, the charging connector box 7 is provided with a stopper groove 73 for movement of the shutter 91. The baffle 91 slides up and down along the limiting groove 73.
As shown in fig. 21, the closure of the shutter 91 with the opening 71 is sealed with a seal 74. The seal 74 may be made of rubber, plastic, or graphite, among other materials.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (4)
1. The utility model provides an electric bus automatic guiding device that charges which characterized in that: the wireless power supply device comprises a controller with a wireless module, an adjusting mechanism, a positioning mechanism and a display module, wherein the adjusting mechanism comprises a first arm, a second arm and a charging interface, the first arm is fixed on a rotary table, the rotary table rotates around a rotary table rotating shaft, a first arm servo motor controls the first arm to move, a second arm servo motor is fixed with the first arm, the second arm servo motor controls the second arm to move, the second arm is fixed with an interface servo motor, the interface servo motor is connected with a connecting piece through a motor shaft, the charging interface is connected with an interface rotating motor, and the interface rotating motor is fixed on the connecting piece; the charging interface is provided with a positioning mechanism and comprises a charging interface body, a vertical ultrasonic probe and a vertical stepping motor, wherein the charging interface body is in butt joint with the charging connector; the display module comprises a single chip microcomputer, an LED prompting lamp, a display screen and a wireless module used for receiving distance data information, the input end of the single chip microcomputer is connected with the wireless module, and the display screen and the LED prompting lamp are connected with the output end of the single chip microcomputer.
2. The automatic guiding device for electric bus charging according to claim 1, wherein: the interface that charges is equipped with first horizontal ultrasonic transducer and the horizontal ultrasonic transducer of second, and first horizontal step motor drives first horizontal ultrasonic transducer and rotates, and the horizontal step motor of second drives the horizontal ultrasonic transducer of second and rotates.
3. The automatic guiding device for electric bus charging according to claim 1, wherein: the wireless module adopts a monolithic radio frequency transceiver device of nRF24L01 model.
4. The automatic guiding device for electric bus charging according to claim 1, wherein: the input end of the singlechip is connected with a power supply for supplying electric energy to the display module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810254663.4A CN108583310A (en) | 2018-03-26 | 2018-03-26 | A kind of electric bus charging homing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810254663.4A CN108583310A (en) | 2018-03-26 | 2018-03-26 | A kind of electric bus charging homing device |
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| CN108583310A true CN108583310A (en) | 2018-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810254663.4A Pending CN108583310A (en) | 2018-03-26 | 2018-03-26 | A kind of electric bus charging homing device |
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| Country | Link |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110154808A (en) * | 2019-05-27 | 2019-08-23 | 陕西智多搭智能科技有限公司 | New energy shares charging electric car stake |
| CN112158091A (en) * | 2020-10-27 | 2021-01-01 | 于静丽 | Electric shock prevention's new energy automobile fills electric pile |
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Application publication date: 20180928 |