CN110803065A - Automatic charging control method based on movable charging robot - Google Patents
Automatic charging control method based on movable charging robot Download PDFInfo
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- CN110803065A CN110803065A CN201911124335.3A CN201911124335A CN110803065A CN 110803065 A CN110803065 A CN 110803065A CN 201911124335 A CN201911124335 A CN 201911124335A CN 110803065 A CN110803065 A CN 110803065A
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- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations 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
- 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
- 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
- B60L53/60—Monitoring or controlling charging stations
-
- 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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an automatic charging control method based on a movable charging robot, which comprises the following steps: the charging induction terminal acquires vehicle identity information; sending the in-place vehicle and the vehicle identity information to a charging service background; starting charging operation at regular time according to the ordered charging plan arrangement; the vehicle automatically opens the charging hatch; informing the charging robot to move to the position near a vehicle charging socket and grabbing a charging gun; the robot identifies a vehicle charging socket, executes automatic gun inserting operation and confirms that a charging gun is inserted in place; after receiving the in-place plugging signal of the charging gun, the charging pile executes a charging process; after charging, the robot backs down; during charging, the power output value of the charging pile is automatically controlled; during charging, whether the vehicle is charged or not is inquired, and if the charging is finished, the robot is started to execute gun pulling operation; and after the charging and gun pulling operations are finished, the vehicle automatically closes the charging hatch cover. The invention has low operation cost and high safety, and meets the matching functional requirements of vehicles on charging facilities.
Description
Technical Field
The invention relates to the field of new energy automobile charging facilities, in particular to an automatic charging control method based on a movable charging robot.
Background
At present, a lot of existing public transport charging stations adopt a manned mode to charge electric buses, and operators on duty need to frequently provide charging service for incoming vehicles in daytime public transport operation periods, and provide charging service for electric vehicles at specific time according to electricity price change and actual requirements of the charging vehicles in night periods, so that the working intensity of the operators on duty is high, the working time is long, and the operation cost is high.
In addition, because the high rate of utilization and the ageing risk of battery charging outfit of electronic public transit charging station to and consider outdoor environment and bad weather's influence, the operating personnel that charges has the high voltage risk of electrocuting.
In the future, the common electric vehicles and the unmanned electric vehicles are popularized and applied, the traditional manual charging mode is difficult to adapt, and an automatic charging technology is also needed to meet new requirements.
Therefore, research and development of an automatic charging control method based on a charging robot are urgently needed to reduce labor input cost, eliminate potential safety hazards in operation and adapt to application of future unmanned electric vehicles.
Disclosure of Invention
The invention aims to solve the technical problems and provides an automatic charging control method based on a movable charging robot, which can realize automatic butt joint operation of charging interfaces of a plurality of automobiles at a bus station, replaces manpower with machines, reduces configuration of operators on duty, lightens the intensity of operators on duty, reduces the operation cost of charging stations, resists the electrical safety risk of charging operation, and meets the matching function requirements of future buses on charging facilities.
In order to solve the technical problems, the invention adopts the following technical scheme:
1. when a vehicle to be charged enters a charging potential, the charging induction terminal detects the in-place state of the vehicle, establishes wireless communication with the vehicle and acquires the identity information of the vehicle;
2. charging induction terminal sends vehicle in place and vehicle identity information to charging service background system
2.1, if the vehicle data are sent to a charging service background in real time through the internet of vehicles, the charging service background generates a vehicle ordered charging plan (including a charging time interval, charging power and the like) according to the current data of the vehicle, the vehicle operation scheduling requirement and the power supply capacity of a power distribution network, for example, the charging gun is operated to connect and start charging in a night valley electricity time interval 22:00-06: 00;
2.2, if the vehicle information is not accessed to the charging service background in real time, the charging induction terminal acquires actual charging demand data of the vehicle through local wireless communication and uploads the actual charging demand data to the charging service background, and the charging service background generates an ordered charging plan (including charging time interval, charging power and the like);
3. the charging induction terminal starts charging operation at regular time according to the ordered charging plan arrangement;
4. the vehicle automatically opens a charging hatch cover of the vehicle according to a communication instruction of the charging induction terminal;
5. the charging induction terminal informs the charging robot to move to the position near a vehicle charging socket to be charged through the slide rail, the robot grabs a charging gun on the charging induction terminal and moves the mechanical arm tail end sensing part to a robot visual identification position (the vertical distance from the robot to the vehicle charging socket is 300-400 mm);
6. in the robot visual identification position near the vehicle charging socket, after the robot accurately identifies the three-dimensional coordinate of the vehicle charging socket, executing automatic gun inserting operation and confirming that the charging gun is inserted in place;
7. after receiving the in-place plugging signal of the charging gun, the charging pile executes a charging process;
8. after charging is started, the mechanical arm of the robot returns, and the robot body returns to the standby cabin of the robot at the same time;
9. during charging, the charging pile automatically controls the power output value of the charging pile according to a load current limiting curve (obtained by power grid load flow calculation) of a charging service background system;
10. during charging, the charging induction terminal inquires whether the vehicle is charged or not through wireless communication, and if the charging is finished, the robot is started to return to a charging position to execute gun pulling operation;
11. and the charging induction terminal informs the charging vehicle of finishing charging and gun pulling operations, and the vehicle automatically closes the charging hatch cover.
In the invention, the charging robot is adopted to replace a charging attendant to assist in executing charging operation, and the charging time period and charging power of the electric automobile for orderly charging can be controlled according to the scheduling arrangement of the system. Compared with manual operation, the automatic charging control method is more intelligent, economical and efficient.
The invention has the beneficial effects that: the automatic charging control method based on the movable charging robot is adopted, so that automatic butt joint operation of charging interfaces of a plurality of automobiles in a bus station can be realized, a machine replaces manpower, configuration of operators on duty is reduced, duty working intensity is relieved, operating cost of a charging station is reduced, electrical safety risks of charging operation are resisted, and the matching function requirements of future buses on charging facilities are met.
Drawings
FIG. 1 is a working scene diagram of a mobile charger robot at a bus station;
FIG. 2 is a schematic diagram of the robot automatic charging control flow at stage 1 according to the present invention;
FIG. 3 is a schematic diagram of the stage 2 of the robot automatic charging control flow in the present invention;
fig. 4 is a control flow chart of the invention for intelligently controlling the charging period to realize ordered power utilization.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
working scene of mobile charger robot for bus station
As shown in fig. 1, in the working scene of the mobile charging robot in the bus station, the mobile charging robot comprises a charging robot 1 (including a platform trolley 2), a mobile sliding rail 5, a robot standby cabin 13, charging induction terminals 4, 10 and 12, charging piles 3, 9 and 11, vehicles to be charged 6, 7 and 8, and the like. The charging port of the vehicle to be charged is usually positioned behind or laterally behind each vehicle, an intelligent charging induction terminal is fixedly installed on the ground near the position and used for storing a charging gun, inducing the parking state of the vehicle and carrying out communication interaction with the vehicle to be charged (an automatic vehicle charging control unit), and the charger robot is installed on a platform trolley which can move back and forth on a track to provide charging service for vehicles in a plurality of parking spaces in turn. When the charging robot is in an idle state, the charging robot automatically returns to the standby cabin at the tail end of the track, and the charging robot and related control equipment are prevented from being damaged due to long-term exposure in an outdoor environment.
Second, automatic charging control working process of charger robot
The automatic charging control flow of the charging robot is shown in fig. 2 and 3:
stage 1: automatically sensing vehicle charging demand and generating charging plan
When a vehicle to be charged runs into the specified parking space, the charging induction terminal induces the vehicle to be in place, initiates wireless communication with the vehicle, acquires the identity information of the vehicle, and sends the state change of the charging position and the identity information of the vehicle to the charging service background system.
If the charging service background has the charging demand information of the identity vehicle shared by the Internet of vehicles, the charging service background automatically generates an ordered charging plan in combination with the ordered power utilization requirement of the power distribution network; if the charging service background does not receive the vehicle charging demand information, the charging induction terminal communicates with the vehicle, the vehicle charging demand information is requested and sent to the charging service background, and the charging service background generates an ordered charging plan according to the vehicle charging demand information.
And the charging induction terminal starts automatic charging operation at regular time according to the ordered charging plan.
Stage 2:
and the electric vehicle receives the command of starting automatic charging and automatically opens the charging interface hatch cover of the vehicle.
The charging robot receives the command of starting automatic charging and moves to the vicinity of the charging induction terminal; grabbing a charging gun, and turning to a visual identification working position near a vehicle socket; after the three-dimensional coordinates of the vehicle socket are identified, the charging gun is automatically plugged, and a plugging in-place signal is sent to the charging pile. And then the robot releases the charging gun and retreats to the waiting cabin of the robot.
After receiving the signal that the charging gun is inserted in place, the charging pile detects whether the guide control signal in the charging loop is correct again, and after no error is confirmed, communication is established with the vehicle according to GB/T18487 and GB/T27930 standards, and the charging output power is controlled in real time by automatically combining with the load current-limiting control curve of ordered charging.
During charging, the charging induction terminal continuously inquires the charging state of the charging vehicle, if charging is completed, the charging induction terminal informs the charging pile to stop outputting, and the charging robot is started to pull out the gun.
The charging robot receives the gun pulling operation instruction, reaches the position near the vehicle interface, grabs the charging gun and pulls out and inserts the charging gun back into the charging gun storage position of the charging induction terminal.
And the charging induction terminal detects that the charging gun is returned, and informs the charging vehicle that the charging is finished.
And the electric vehicle receives the command of finishing the charging, and automatically closes the charging interface hatch cover.
Orderly charging control method for electric automobile
Along with the popularization of city electric buses, the vehicle charge amount is gradually increased, and higher requirements are provided for the construction of a power distribution network. Time-sharing multiplexing of existing power distribution capacity, particularly charging of vehicles at night using off-peak electricity periods, is an effective method for solving this problem. However, the existing electric vehicles generally have the problems that the charging connection cannot be performed in advance, the charging is started at a later period in a timing mode (the vehicles can enter a dormant state, and the charging gun needs to be unplugged and plugged again when awakened), and if the night charging is to be realized, workers need to be on duty. The automatic charging mode of the charging robot is adopted, the night field operation of workers can be avoided, the economic operation of the power grid is effectively realized by utilizing the ordered charging control technology, and the capital construction investment of the power grid is reduced.
The ordered charging control method of the electric vehicle is shown in fig. 4:
after the electric vehicle is parked in the charging parking place, the charging induction terminal acquires the parking state of the vehicle, identifies the identity information of the vehicle and sends the identity information to the charging service platform. The electric vehicle sends the battery state (charging requirement) of the electric vehicle to the Internet of vehicles platform, and the Internet of vehicles platform also sends the vehicle charging requirement and the vehicle scheduling plan to the charging service platform.
The charging service platform can acquire the power distribution network operation flow control information of the power production management system. And generating an ordered charging plan according to a charging load control algorithm by combining charging demand data from the Internet of vehicles platform and the charging induction terminal, and issuing the ordered charging plan to the charging induction terminal.
The charging induction terminal controls the charging robot in a timing mode according to the ordered charging plan, starts charging connection operation, controls power output of the charging pile in real time during charging, and finishes ordered control of power load of the whole charging process.
In summary, the present invention is not limited to the above-mentioned embodiments, and those skilled in the art can propose other embodiments within the technical teaching of the present invention, but these embodiments are included in the scope of the present invention.
Claims (1)
1. An automatic charging control method based on a movable charging robot is characterized by comprising the following steps:
1) when a vehicle to be charged enters a charging potential, the charging induction terminal detects the in-place state of the vehicle, establishes wireless communication with the vehicle and acquires the identity information of the vehicle;
2) charging induction terminal sends vehicle in place and vehicle identity information to charging service background
2.1, if the vehicle data are sent to a charging service background in real time through the Internet of vehicles, the charging service background generates a vehicle ordered charging plan according to the current data of the vehicle, the vehicle operation scheduling requirement and the power supply capacity of a power distribution network;
2.2, if the vehicle information is not accessed to the charging service background in real time, the charging induction terminal acquires actual charging demand data of the vehicle through local wireless communication and uploads the actual charging demand data to the charging service background, and the charging service background generates an ordered charging plan;
3) the charging induction terminal starts charging operation at regular time according to the ordered charging plan arrangement;
4) the vehicle automatically opens a charging hatch cover of the vehicle according to a communication instruction of the charging induction terminal;
5) the charging induction terminal informs the charging robot to move to the position near a vehicle charging socket to be charged through the slide rail, the robot grabs a charging gun on the charging induction terminal and moves the mechanical arm tail end sensing part to the robot visual identification position near the vehicle charging socket;
6) in the robot visual identification position near the vehicle charging socket, after the robot accurately identifies the three-dimensional coordinate of the vehicle charging socket, executing automatic gun inserting operation and confirming that the charging gun is inserted in place;
7) after receiving the in-place plugging signal of the charging gun, the charging pile executes a charging process;
8) after charging is started, the mechanical arm of the robot returns, and the robot body returns to the standby cabin of the robot at the same time;
9) during the charging period, the charging pile automatically controls the power output value of the charging pile according to the load current-limiting curve of the charging service background;
10) during charging, the charging induction terminal inquires whether the vehicle is charged or not through wireless communication, and if the charging is finished, the robot is started to return to a charging position to execute gun pulling operation;
11) and the charging induction terminal informs the charging vehicle of finishing charging and gun pulling operations, and the vehicle automatically closes the charging hatch cover.
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| CN201911124335.3A CN110803065A (en) | 2019-11-18 | 2019-11-18 | Automatic charging control method based on movable charging robot |
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| CN201911124335.3A CN110803065A (en) | 2019-11-18 | 2019-11-18 | Automatic charging control method based on movable charging robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111746330A (en) * | 2020-07-09 | 2020-10-09 | 北京华商三优新能源科技有限公司 | Robot control method, robot and charging system |
| CN111776109A (en) * | 2020-08-05 | 2020-10-16 | 苏州玖物互通智能科技有限公司 | Autonomous mobile charging system and control method thereof |
| CN111923776A (en) * | 2020-08-06 | 2020-11-13 | 南京普斯迪尔电子科技有限公司 | Unattended robot charging station and charging method |
| CN111959336A (en) * | 2020-08-26 | 2020-11-20 | 上海振华重工(集团)股份有限公司 | Intelligent automatic charging system and method for heavy-load electric carrying equipment |
| CN111976532A (en) * | 2020-08-24 | 2020-11-24 | 深圳市健网科技有限公司 | Automatic charging control method and system for mobile charger |
| CN112265452A (en) * | 2020-10-30 | 2021-01-26 | 南京汽车集团有限公司 | Automatic connection recognition and charging system for electric vehicle charging gun and operation method thereof |
| CN112319294A (en) * | 2020-10-16 | 2021-02-05 | 开迈斯新能源科技有限公司 | Cloud platform, charging processing method, device and system of charging field management system |
| CN113119769A (en) * | 2021-05-14 | 2021-07-16 | 哈尔滨工业大学 | Automatic electric automobile charging robot based on two-machine cooperation and charging method |
| CN114475312A (en) * | 2022-02-09 | 2022-05-13 | 奇瑞汽车股份有限公司 | Charging device and charging method for vehicle |
| WO2023161127A1 (en) * | 2022-02-28 | 2023-08-31 | Volkswagen Aktiengesellschaft | Method, computer program, device and communication interface for a communication between a robot and a transport means, and transport means and robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111746330A (en) * | 2020-07-09 | 2020-10-09 | 北京华商三优新能源科技有限公司 | Robot control method, robot and charging system |
| CN111776109A (en) * | 2020-08-05 | 2020-10-16 | 苏州玖物互通智能科技有限公司 | Autonomous mobile charging system and control method thereof |
| CN111923776A (en) * | 2020-08-06 | 2020-11-13 | 南京普斯迪尔电子科技有限公司 | Unattended robot charging station and charging method |
| CN111976532A (en) * | 2020-08-24 | 2020-11-24 | 深圳市健网科技有限公司 | Automatic charging control method and system for mobile charger |
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