CN108621826B - Automatic charging device with multiple charging interfaces - Google Patents

Automatic charging device with multiple charging interfaces Download PDF

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Publication number
CN108621826B
CN108621826B CN201810254668.7A CN201810254668A CN108621826B CN 108621826 B CN108621826 B CN 108621826B CN 201810254668 A CN201810254668 A CN 201810254668A CN 108621826 B CN108621826 B CN 108621826B
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charging
interface
arm
charging interface
horizontal
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CN108621826A (en
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魏燕定
王彦哲
方升
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Zhejiang University ZJU
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Zhejiang University ZJU
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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
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/18—Buses
    • 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 an automatic charging device with multiple charging interfaces, which is positioned above a bus stop and comprises a controller, an adjusting mechanism and a positioning mechanism, wherein the controller is connected with the adjusting mechanism; the charging adjusting mechanism comprises a first arm, a second arm and a charging interface, the first arm is fixed on the 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, a second arm servo motor controls the second arm to move, the interface servo motor is connected with the connecting piece through the second arm, the charging interface is connected with the interface rotary motor, and the interface rotary motor is fixed on the connecting piece; a plurality of charging interfaces are arranged and are connected in series; the interface that charges is equipped with positioning mechanism, including the interface body that charges, ultrasonic probe and step motor, and step motor drives ultrasonic probe and rotates. The invention has a plurality of charging interfaces, realizes the quick charging of the bus in a short time, and obviously improves the cruising ability of the bus.

Description

Automatic charging device with multiple charging interfaces
Technical Field
The invention relates to the technical field of automobile charging, in particular to an automatic charging device with multiple charging interfaces.
Background
With the continuous development of new energy technology, a large number of new energy buses are put into operation in each city, but the electric buses have the following defects: firstly, the cost of the electric bus is relatively high, and the main reason is that the price of the storage battery of the electric bus is relatively high; secondly, the capacity of the existing battery is small, so that the cruising ability of the automobile is not high, and the cruising ability is improved by generally adopting a method of increasing a battery pack, but the method can increase the load of the automobile and is contrary to the goals of light weight, energy conservation and emission reduction of the automobile; thirdly, the charging facilities of the electric buses are imperfect, the number of the existing charging piles is limited, the charging efficiency is low, and the electric buses are not suitable for being used and distributed in large quantities. Therefore, if the electric energy can be supplied in the running path of the electric bus, the number of the vehicle-mounted storage batteries can be reduced, the automobile load can be reduced, energy can be saved, emission can be reduced, and the cruising ability of the electric bus can be greatly improved.
The charging mode of the electric bus 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 electric buses on the market basically adopt wired charging, and meanwhile, most operators are required to manually perform charging operation. In order to meet the requirement of the cruising ability of the bus, the bus is required to load a plurality of groups of storage battery packs for energy storage and stop at a charging station for a long time for charging. When a large number of electric buses are charged, the charging station needs to be enlarged in scale and the number of charging piles needs to be increased, which causes difficulties in resource allocation and scheduling and a problem of large land occupation. Utilize the time that electric bus berthhed the platform, through automatic charging device's butt joint, realize the quick charge of electric bus short time, but only one interface that charges can't provide sufficient electric energy for the bus in the short time, bus duration does not obviously improve.
Disclosure of Invention
The invention aims to provide an automatic charging device for charging an electric bus by multiple charging interfaces, which effectively improves the cruising ability of the bus.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an automatic charging device with multiple charging interfaces is positioned above a bus stop and comprises a controller, an adjusting mechanism and a positioning mechanism; the adjusting mechanism comprises a first arm, a second arm and a charging interface, the first arm is fixed on the 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 interface servo motor is connected with the connecting piece through the second arm, the charging interface is connected with the interface rotary motor, and the interface rotary motor is fixed on the connecting piece; a plurality of charging interfaces are arranged and are connected in series; the charging interface is provided with a positioning mechanism and comprises a charging interface body, an ultrasonic probe and a stepping motor, wherein the charging interface body is in butt joint with the charging connector; the controller controls the adjusting mechanism and the positioning mechanism. The initial position of the charging interface is higher than the highest height of the bus body.
Further, the charging interface comprises a first charging interface, a second charging interface and a third charging interface, and the first charging interface, the second charging interface and the third charging interface are sequentially connected.
Further, the second charges interface upper end and is equipped with vertical ultrasonic probe, and first interface one side that charges is equipped with first horizontal ultrasonic probe, and the third charges interface one side and is equipped with the horizontal ultrasonic probe of second, and vertical step motor drives vertical ultrasonic probe and rotates, and first horizontal step motor drives first horizontal ultrasonic probe and rotates, and the horizontal step motor of second drives the horizontal ultrasonic probe of second and rotates. Vertical ultrasonic probe carries out the location of vertical direction to the guiding mechanism that charges, and horizontal ultrasonic probe carries out the location of horizontal direction to the guiding mechanism that charges. 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 interface that charges is equipped with the camera, and the camera gathers image data and transmits to the controller. The bus charging connector is positioned by adopting the cameras below the charging interface ultrasonic probe and behind the charging interface ultrasonic probe. The camera is located the one side that the interface that charges is held, and through the image stream of camera collection, the three-dimensional coordinate of camera is calculated in real time to the controller. Target characteristics of the butt joint and data shot at different distance positions are written in the controller in advance, and a target database is established so as to realize quick searching of a program and carry out three-dimensional coordinate positioning. An identification program in the controller can quickly match the characteristic points of the image acquired by the current camera and the characteristic points close to the database, the three-dimensional coordinate distance of the charging interface relative to the charging connector on the upper portion of the bus at the moment is located according to a preset three-dimensional coordinate system, and the controller controls the moving mechanical adjusting mechanism to adjust the position towards X, Y, Z.
Further, the interface that charges is equipped with and is used for detecting the reflection type photoelectric switch of the interface butt joint that charges. When the charging interface on the platform is successfully butted with the charging connector on the bus, the reflective photoelectric switch 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.
The working process of the invention is as follows: when the automatic charging platform of the electric bus is in a working state, the vertical stepping motor drives the ultrasonic probe to detect whether a bus is about to enter the station or not by a preset swing angle. When a bus is detected to enter a station, the vertical ultrasonic probe acquires distance data and judges whether the bus stops, after the bus stops, the vertical ultrasonic probe starts to be positioned, and the controller controls the rotary table to rotate, so that the multi-charging interface plane on the station platform is located in a designated plane in butt joint with the bus charging connector. The vertical stepping motor outputs angle data, the controller judges the position height of the charging interface and sends an instruction to control the first arm servo motor and the second arm servo motor to perform posture adjustment, and the interface servo motor is controlled to adjust the charging interface at the same time until the charging interface is horizontal to the bus charging joint position. The first horizontal ultrasonic probe and the second horizontal ultrasonic probe start to work, the first horizontal ultrasonic probe and the second horizontal ultrasonic probe acquire distance data, the first horizontal stepping motor and the second horizontal stepping motor reciprocate at preset swing angles and output angle data, the controller judges the horizontal position distance of a charging interface relative to a bus charging connector, and controls the first arm servo motor and the second arm servo motor to perform posture adjustment until a plurality of charging interfaces on a platform are aligned with the bus charging connector. After the multiple charging interfaces of the platform are successfully aligned with the charging connectors on the bus, the camera starts to work, position images of the charging connectors of the bus are collected, the controller compares the position images with the characteristic database, and each servo motor in the charging adjusting mechanism adjusts the accurate posture of the first arm, the second arm and the charging interfaces until the program image control requirements are met. The two groups of reflective photoelectric switches work to detect whether the docking of the charging interface is correct or not, if the docking fails, the system charging program is terminated, an alarm signal is sent out, and manual maintenance and adjustment are waited; if the butt joint is correct, the controller sends a charging instruction to start charging.
Compared with the prior art, the invention has the advantages that: 1. the automatic charging device is provided with the plurality of charging interfaces, so that the bus can be rapidly charged in a short time, and the cruising ability of the bus is obviously improved.
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 schematic structural diagram of the adjusting mechanism and the positioning mechanism.
Fig. 3 is a schematic structural diagram of the connection between the charging interface and the second arm.
Fig. 4 is a schematic structural diagram of the positioning mechanism.
FIG. 5 is a diagram of a motion control model of a robotic arm of the present invention.
Fig. 6 is a schematic view of the vertical positioning of the ultrasonic probe of the present invention.
Fig. 7 is a schematic view of the horizontal orientation of the ultrasonic probe of the present invention.
Fig. 8 is a schematic structural diagram of a mobile charging device according to embodiment 2.
Fig. 9 is a left side view of embodiment 2.
Fig. 10 is a schematic structural view of an adjustment mechanism according to embodiment 2.
Fig. 11 is a schematic structural view of a positioning mechanism according to embodiment 2.
FIG. 12 is a model diagram of the motion control of the adjustment mechanism of embodiment 2.
Fig. 13 is a schematic view of the vertical positioning of the ultrasonic probe according to embodiment 2.
Fig. 14 is a schematic view of the horizontal positioning of the ultrasonic probe according to embodiment 2.
Fig. 15 is a schematic view of the automatic charging device disposed on the charging pile according to embodiment 3.
Fig. 16 is a left side view of the charging device of embodiment 3.
FIG. 17 is a schematic view of a charging interface positioning mechanism according to embodiment 3.
Fig. 18 is a schematic view of a display module according to embodiment 3.
Fig. 19 is a schematic structural diagram of a charging connector device according to embodiment 4.
Fig. 20 is a schematic structural view of a charging contact moving mechanism according to embodiment 4.
Fig. 21 is a schematic structural view of a shutter lifting mechanism according to embodiment 4.
Fig. 22 is a schematic structural view of the outside of a charging header box according to embodiment 4.
The labels in the figure are: the controller 1, the first arm 21, the second arm 22, the charging interface 23, the interface servo motor 231, the interface rotating motor 232, the connecting member 233, the first charging interface 234, the second charging interface 235, the third charging interface 236, 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 ultrasonic probe 31, the first horizontal ultrasonic probe 311, the second horizontal ultrasonic probe 312, the vertical ultrasonic probe 313, the reflection-type photoelectric switch 30, the camera 32, the stepping motor 33, the charging interface body 34, the first horizontal stepping motor 331, the second horizontal stepping motor 332, the vertical stepping motor 333, the slide 51, the slide rail 53, the upper belt 521, the lower belt 522, the movement servo motor 54, the correlation-type photoelectric switch 531, the buffer spring 532, the control line 541, the reel 542, the charging interface box 7, the opening 71, the device comprises a charging connector driving motor 81, a charging connector 82, a lead screw rod 83, a lead screw nut 84, a first connecting piece 88, a second connecting piece 85, a guide rail pulley 86, a guide rail 87, a baffle 91, a rack 92, a gear 93, a baffle driving motor 94, a reflective photoelectric switch 72, an emitting element 721, a receiving element 722, a limiting groove 73 and a sealing piece 74.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1-4, an automatic charging device for an electric bus is located above a bus stop and comprises a controller 1, an adjusting mechanism and a positioning mechanism, wherein the controller 1, the adjusting mechanism and the positioning mechanism are arranged inside a stand column of the stop; the adjusting mechanism comprises a first arm 21, a second arm 22 and a charging interface 23, the first arm 21 is fixed on the rotary table 4, the rotary table 4 rotates around the rotary table rotating shaft 41, the first arm servo motor 211 controls the first arm 21 to move, the second arm servo motor 221 is fixed with the first arm 21, the second arm servo motor 221 controls the second arm 22 to move, the interface servo motor 231 is connected with the connecting piece 233 through the second arm 22, the charging interface 23 is connected with the interface rotary motor 232, and the interface rotary motor 232 is fixed on the connecting piece 233; interface 23 that charges is equipped with positioning mechanism, and positioning mechanism includes a plurality of interface bodies 34 that charge with the joint butt joint that charges, a plurality of interface bodies 34 that charge establish ties, ultrasonic probe 31 and step motor 33. The initial position of the charging interface 23 is higher than the highest height of the bus body.
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. 4, 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 connected in series.
As shown in fig. 5, the adjustment principle of the adjustment mechanism 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:
x＝l1cosθ1+l2sinθ2，y＝l1sinθ1-l2cosθ2wherein, theta1Angle of first arm 21 to positive X-axis direction, θ2Angle of second arm 22 to the negative direction of Y-axis, θ3Angle of charging interface 23 to the second arm,/1The length of the first arm 21,/, l2The 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 1 records the number of pulses sent by the controller 1 for controlling the servo motor from the initial position, and the angle of rotation of each joint, i.e. theta in fig. 5, can be recorded in the program by combining the reduction ratio of the reducer designed by the mechanical structure and the preset parameters of the servo motor1、θ2、θ3Therefore, any one-point coordinates of the first arm 21, the second arm 22, and the charging interface 23 can be obtained.
The charging interface 23 is first adjusted in the vertical directionI.e. keeping the X coordinate unchanged, only the Y coordinate is adjusted. Since the coordinate value of X is known at this time, it can be regarded as a constant X0Therefore, the adjustment mechanism is adjusted in the vertical direction, and the rotation angles of the first arm servo motor 211 and the second arm servo motor 221 always satisfy: x is the number of0＝l1cosθ1+l2sinθ2Therefore, the temperature of the molten steel is controlled,
Figure GDA0002391052720000061
the ratio of the number of pulses emitted by the controller 1 to the first arm servo motor 211 and the second arm servo motor 221 satisfies the formula, and 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, that is, 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 constant Y0The rotation angles of the first arm servo motor 211 and the second arm servo motor 221 always satisfy: y is0＝l1sinθ1-l2cosθ2Therefore, it is
Figure GDA0002391052720000062
The controller 1 satisfies the formula with respect to the number of pulses generated by the first arm servomotor 211 and the second arm servomotor 221, and the movement of the charging adjustment mechanism in the horizontal direction can be ensured.
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. The vertical ultrasonic probe 313 positions the adjusting mechanism in the vertical direction, and 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.
As shown in fig. 6, 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 acquires 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.
The vertical stepping motor 333 and the vertical ultrasonic probe 313 are both arranged in the middle of the upper portion of the charging interface 23, and the vertical stepping motor 331 controls the vertical ultrasonic probe 313 to vertically position the first arm 21, the second arm 22 and the charging interface 23. 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 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 line with or without data is negative, the controller 1 adjusts the mechanical arm to move downwards according to the rotation angle 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.
Two sides of the charging interface 23 are respectively provided with a horizontal stepping motor, the horizontal stepping motors control the detection direction of the horizontal ultrasonic probe, and the first arm 21, the second arm 22 and the charging interface 23 are positioned in the horizontal direction, as shown in fig. 7. The positioning process of the horizontal ultrasonic probe in the horizontal direction comprises the following steps: the initial positions of the two horizontal stepping motors are set to enable the signal receiving and sending directions of the horizontal ultrasonic probes controlled by the two horizontal stepping motors to be perpendicular to the plane of the charging interface forward, the first horizontal ultrasonic probe 311 on the left side of the charging interface 23 is detected by the initial position to the left side in an anticlockwise mode, the second horizontal ultrasonic probe 312 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 to the initial position in a reverse mode, circulation is conducted in the mode, meanwhile, the two horizontal ultrasonic probes send ultrasonic waves at the same time interval and wait for received signals respectively, and therefore the position of the. The length of the charging connector on the electric bus is slightly larger than the distance between the two ultrasonic probes, the charging connector on the platform and the charging connector on the bus are on the same horizontal plane, before the bus enters the platform, if the first horizontal ultrasonic probe 311 detects a distance signal of an object and the second horizontal ultrasonic probe 312 does not detect the distance signal, it is determined that the charging connector of the bus is located in the scanning area I of the first horizontal positioning ultrasonic probe 311, the controller 1 sends an instruction to control the first arm 21, the second arm 22 and the charging connector 23 to move in the horizontal direction towards the direction of the first horizontal ultrasonic probe 311. If the second horizontal ultrasonic probe 312 detects the distance signal of the charging connector and the first horizontal ultrasonic probe 311 does not detect the distance signal, it is determined that the bus charging connector is located in the scanning area III of the second horizontal ultrasonic probe 312, and the controller issues an instruction to control the first arm 21, the second arm 22 and the charging interface 23 to move in the horizontal direction towards the second horizontal ultrasonic probe 312; if the first horizontal ultrasonic probe 311 and the second horizontal ultrasonic probe 312 detect the distance signal of the object at the same time, it indicates that the centering is successful, the charging connector on the bus and the charging interface 23 on the charging adjustment mechanism are on the same horizontal straight line, and the adjustment mechanism does not need to perform the left-right movement adjustment. After the docking is successful, the controller 1 controls the ultrasonic probe 31 and the stepping motor 33 to stop the detection. The charging connector of the bus is arranged in front of the ultrasonic probe of the charging interface 23, and the ultrasonic probe is used for positioning.
The interface that charges is equipped with camera 32, and the camera gathers image data and transmits to controller 1. The bus charging connector is positioned by the camera 32 below the charging interface ultrasonic probe and behind the charging interface ultrasonic probe. The camera 32 is located on the surface where the end of the charging interface 23 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 1 can quickly match the feature points of the image acquired by the current camera 32 with the feature points close to the database, and position the three-dimensional coordinate distance of the charging interface 23 relative to the charging connector on the upper portion of the bus according to a preset three-dimensional coordinate system, and the controller 1 controls the motion charging adjustment mechanism to adjust the position towards X, Y, Z.
The charging interface 23 is further provided with a reflection-type photoelectric switch 31 for detecting the butting of the charging interface 23. 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 23 is accurate, and if the butting is accurate, the charging is carried out.
Example 2
This embodiment is different from embodiment 1 in that: the adjusting mechanism and the positioning mechanism are both arranged on the moving mechanism, other structures are the same as those in embodiment 1, and the motion control model, the ultrasonic probe vertical direction positioning principle and the ultrasonic probe horizontal direction positioning principle of the adjusting mechanism in the embodiment are the same as those in embodiment 1.
As shown in fig. 8 to 11, the moving mechanism includes a slide table 51, a timing belt, and a slide table guide 53 fixed to the station, and both the first arm 21 and the first arm servomotor 211 are fixed to the slide table 51. The synchronous belt 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 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 sliding table guide rail 53 from being damaged due to the sliding table guide rail 53 being hit by the sliding table 51 during sliding, 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. The movement control model of the adjustment mechanism, the vertical positioning principle of the ultrasonic probe, and the horizontal positioning principle of the ultrasonic probe of the present embodiment are shown in fig. 12 to 14.
Example 3
The present embodiment is different from embodiment 2 in that a display module is added to the apparatus and a wireless module capable of transmitting distance data information is added to the controller.
As shown in fig. 15-18, the display module 6 is located on the bus deck. 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 vertical ultrasonic probe 313 acquires 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 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 liquid crystal 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.
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. 19-22, the charging connector device for the electric bus comprises a charging connector box 7, a charging connector moving mechanism and a baffle lifting mechanism; the charging connector box 7 is provided with an opening 71 for the charging connector to enter and exit; the charging joint moving mechanism and the baffle lifting mechanism 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 are coaxial, the screw rod screw 81 and the screw rod screw 83 are in meshed transmission, 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 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 meshed 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.
As shown in fig. 19, the reflective photoelectric switch 72 is provided inside the charging contact box 7, and as shown in fig. 22, the transmitting element 721 and the receiving element 722 of the reflective photoelectric switch are provided outside the box.
As shown in fig. 21, charging connector case 7 is provided with a stopper groove 73 for movement of shutter 91. The baffle 91 slides up and down along the limiting groove 73.
As shown in fig. 22, 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 working process of the invention is as follows: when the automatic electric bus charging station is in a working state, the vertical stepping motor 331 drives the ultrasonic probe 31 to detect whether a bus is about to enter the station or not at a preset swing angle. When a bus is detected to enter the station, the vertical ultrasonic probe 313 acquires distance data to judge whether the bus stops, after the bus stops, the vertical ultrasonic probe 313 starts to be positioned, and the controller 1 controls the rotary table to rotate, so that the plane of the charging interface 23 is in a designated plane in butt joint with the bus charging connector. Vertical step motor 331 outputs angle data, and controller 1 judges the position height of the interface that charges and sends the instruction and controls first arm servo motor 211 and second arm servo motor 221 and carry out the attitude adjustment to control interface servo motor 231 simultaneously and adjust interface 23 that charges, until interface 23 and the bus joint position level that charges charge. The first horizontal ultrasonic probe 311 and the second horizontal ultrasonic probe 312 start to work, the first horizontal ultrasonic probe 311 and the second horizontal ultrasonic probe 312 acquire distance data, the first horizontal stepping motor 3321 and the second horizontal stepping motor 3322 reciprocate at preset swing angles and output angle data, the controller 1 judges the horizontal position distance of a charging interface relative to a bus charging interface, and controls the first arm servo motor 211 and the second arm servo motor 221 to perform posture adjustment until the charging interface 23 is aligned with the bus charging interface. After the charging interface 23 and the charging connector are successfully aligned, the camera 32 starts to work to acquire position images of the bus charging connector, the controller 1 compares the position images with the characteristic database, and each servo motor in the charging adjusting mechanism adjusts the accurate postures of the first arm 21, the second arm 22 and the charging interface 23 until the program image control requirements are met. The two groups of reflective photoelectric switches 31 work to detect whether the docking of the charging interface 23 is correct or not, if the docking fails, the system charging program is terminated, an alarm signal is sent out, and manual maintenance and adjustment are waited; if the docking is correct, the controller 1 sends a charging instruction to start charging.
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 (3)

1. The utility model provides a many interfaces automatic charging device that charges which characterized in that: comprises a controller, an adjusting mechanism and a positioning mechanism; the charging adjusting mechanism comprises a first arm, a second arm and a charging interface, the first arm is fixed on the 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, a second arm servo motor controls the second arm to move, the interface servo motor is connected with the connecting piece through the second arm, the charging interface is connected with the interface rotary motor, and the interface rotary motor is fixed on the connecting piece; a plurality of charging interfaces are arranged and are connected in series; the charging interface is provided with a positioning mechanism and comprises a charging interface body, an ultrasonic probe and a stepping motor, wherein the charging interface body is in butt joint with the charging connector; the controller controls the adjusting mechanism and the positioning mechanism; the charging interface comprises a first charging interface, a second charging interface and a third charging interface, and the first charging interface, the second charging interface and the third charging interface are sequentially connected; the second charges interface upper end and is equipped with vertical ultrasonic transducer, and first interface one side that charges is equipped with first horizontal ultrasonic transducer, and the third charges interface one side and is equipped with the horizontal ultrasonic transducer of second, and vertical step motor drives vertical ultrasonic transducer and rotates, 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.
2. The automatic charging device with multiple charging interfaces as claimed in claim 1, wherein: the charging interface is provided with a camera, and the camera acquires image data and transmits the image data to the controller.
3. The automatic charging device with multiple charging interfaces as claimed in claim 2, wherein: the interface that charges is equipped with and is used for detecting the reflection type photoelectric switch of the interface butt joint that charges.
CN201810254668.7A 2018-03-26 2018-03-26 Automatic charging device with multiple charging interfaces Expired - Fee Related CN108621826B (en)

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