CN111016692B - Electric vehicle wireless charging control method based on LoRa network - Google Patents

Electric vehicle wireless charging control method based on LoRa network Download PDF

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Publication number
CN111016692B
CN111016692B CN201911172284.1A CN201911172284A CN111016692B CN 111016692 B CN111016692 B CN 111016692B CN 201911172284 A CN201911172284 A CN 201911172284A CN 111016692 B CN111016692 B CN 111016692B
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charging
electric vehicle
server
vehicle
charging device
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CN111016692A (en
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刘文财
王思远
张洁
王江华
吴星华
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Yango University
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Yango University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10Methods 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
    • B60L53/12Inductive energy transfer
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30Constructional details of charging stations
    • B60L53/35Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60Monitoring or controlling charging stations
    • B60L53/66Data transfer between charging stations and vehicles
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/14Plug-in electric vehicles
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/16Information 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)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a wireless charging control method of an electric vehicle based on an LoRa network in the technical field of electric vehicle charging, which comprises the electric vehicle, a charging device, a server and a LoRa base station, wherein the electric vehicle, the charging device and the server are all connected on the LoRa network established by the LoRa base station, the electric vehicle and the charging device are all controlled by the server through the LoRa network, the charging does not need to be supervised by personnel at any time, the electric vehicle can automatically work and charge under the control of the server, and the charging position is calibrated for many times, so that the charging position is accurate, the condition of false alarm caused by inaccurate charging position in the existing charging equipment is well improved, so that the equipment generally has real faults as long as the alarm is given, the charging range is wider through wireless charging, and the system can directly receive the alarm sent by the server through a terminal, reminding workers to overhaul.

Description

Electric vehicle wireless charging control method based on LoRa network
Technical Field
The invention relates to the technical field of electric vehicle charging, in particular to an electric vehicle wireless charging control method based on an LoRa network,
background
At present, all the unmanned transport vehicles for logistics are electric vehicles which need to be charged, and the AGV has a wide application range at present, and aims to save manpower and improve transport efficiency, but the charging procedure is difficult to control;
at present, the charging modes of the automatic guided vehicle are also three, and some modes are the differentiation of manual charging, battery charging and automatic charging;
manual charging: when the power of the unmanned transport vehicle is insufficient, the ground control center is oriented to a designated charging area or platform, the electrical connection between the unmanned transport vehicle and the charger is manually completed by a full-time worker, then charging is carried out, and after the charging is completed, the connection can be disconnected from a connecting circuit to recover the working state;
when the battery is charged, when the electric quantity of the unmanned transport vehicle is insufficient, the battery is manually replaced by a full-time person, the unmanned transport vehicle can be put into use, and the replaced battery pack is used after charging, so that the method is characterized by being simple and rapid, and the unmanned transport vehicle capable of continuously working for 24 hours can be realized, but the battery pack needs to be doubled, the cost is high, the method is novel, the method is often used for the conditions of high timeliness and lack of vehicle response work, the two methods both need at least one worker to supervise the unmanned transport vehicle in a working place for a long time, the automation degree is low, and once the battery pack is lost, the unmanned transport vehicle cannot work;
the automatic charging is that when the unmanned transport vehicle needs to be supplemented with energy, the automatic charging can be automatically reported and requested, the automatic charging is commanded by a ground control center to go to a designated charging area or platform, a vehicle charging connector is automatically connected to a ground charging system and is charged, after the charging is completed, the unmanned transport vehicle is automatically separated from the charging system and runs to a working area or a standby area, and the automatic charging unmanned transport vehicle is suitable for long-time work and can achieve higher efficiency through automation by using fewer vehicles.
However, the charging position of the existing automatic charging mode is difficult to calibrate, and the system is difficult to match with a proper unmanned carrier and a charging device, so that the system can not operate perfectly and reasonably, and the unmanned carrier is difficult to align with a charging port completely and accurately during charging, so that charging errors are caused, the charging can not be successful, maintenance personnel are often required to correct the charging equipment and the unmanned carrier, the automatic charging efficiency is greatly reduced, the automatic charging also needs to be maintained by people all the time, the charging accuracy is higher at present, the charging position can be confirmed repeatedly, the situation that the charging is abnormal due to inaccurate walking position and the alarm is avoided, the situation that the charging is repeated due to the inaccurate re-enclosure and the inaccurate maintenance is avoided, the monitoring times of the personnel are reduced, and the charging control method is arranged according to the charging sequence.
Based on the above, the invention designs an electric vehicle wireless charging control method based on an LoRa network to solve the above problems.
Disclosure of Invention
The invention aims to provide an electric vehicle wireless charging control method based on a LoRa network, which can be more automatic, does not need to be supervised by personnel at any time during charging, has a certain error correction capability, effectively avoids the condition that an unmanned transport vehicle cannot run in the absence of power, can charge in the absence of power, can repeatedly confirm the charging position, and avoids the occurrence of false alarm caused by inaccurate warranty due to the displacement.
The invention is realized by the following steps: an electric vehicle wireless charging control method based on a LoRa network is needed, the control method needs to provide an electric vehicle wireless charging system based on the LoRa network, the system comprises an electric vehicle, a charging device, a server and a LoRa base station, a LoRa network is established through the LoRa base station, the electric vehicle, the charging device and the server are all connected to the LoRa network established by the LoRa base station, the electric vehicle and the charging device are controlled by the server through the LoRa network, a wireless charging sending end is arranged on the charging device, a wireless charging receiving end is arranged on the electric vehicle, and the wireless charging receiving end and the wireless charging sending end are charged through a wireless charging technology; the bottom of the electric vehicle is also provided with a wireless charging receiving end, the electric vehicle is also provided with a vehicle-mounted camera, a vehicle-mounted power supply and a vehicle-mounted LoRa module, the vehicle-mounted power supply is electrically connected with the wireless charging receiving end, the vehicle-mounted camera and the vehicle-mounted LoRa module are both electrically connected with the vehicle-mounted power supply, and the vehicle-mounted LoRa module is in data connection with a server through a LoRa base station;
the charging devices comprise a circle of charging range marked lines, each charging range marked line is a circle of annular coil provided with an opening, the shape of each charging range marked line is the same as that of a vertical projection of the electric vehicle, and the surrounding range of each charging range marked line is larger than the vertical projection area of the electric vehicle; the wireless charging sending terminal is arranged in the charging range marking, the whole conveying range of the wireless charging sending terminal covers the charging range marking, and the wireless charging sending terminal is embedded on the ground; one end of the charging guide marking is connected with the waiting area, and the other end of the charging guide marking is connected with the opening of the charging range marking; the charging confirmation camera is arranged on one side of the charging range marking and is over against the wireless charging sending end;
the method comprises the following steps:
step 1, classifying a plurality of electric vehicles and a plurality of charging devices, numbering the electric vehicles and the charging devices independently, recording the numbers into a server, recording position data of each charging device into the server, corresponding the position data of the charging devices to the numbers of the charging devices one by one, and recording the position data of a working area and a waiting area into the server;
step 2, establishing an LoRa network through the LoRa base station, ensuring that the LoRa network covers a working area, a waiting area, all charging devices and all electric vehicles, and connecting the electric vehicles and the charging devices with a server through the LoRa network;
step 3, when any one electric vehicle is low in electric quantity and no-load, a low electric signal is sent to the server;
step 4, when the server receives a low-level electric signal of the electric vehicle, matching the number of the idle and normal charging device which is recorded in the server with the electric vehicle, if the idle and normal charging device exists, entering step 6, and if the idle and normal charging device does not exist, entering step 5;
step 5, the server indicates the electric vehicle to enter a waiting area for queuing and waiting, and returns to the step 3;
step 6, matching the numbers of the idle charging devices with the electric vehicle which is sending a low electric signal, sending the position data of the charging devices to the electric vehicle, simultaneously indicating the electric vehicle to drive into the matched charging devices according to the indication lines of the charging guide marking lines, and marking the matched charging devices as busy;
step 7, after the vehicle-mounted camera of the electric vehicle shoots that the electric vehicle is positioned in the charging range marking line of the matched charging device, the electric vehicle sends a positioning signal to a server;
step 8, after receiving the confirmation signal, the server starts a matched charging device, and a charging confirmation camera on the charging device starts to operate and searches whether the electric vehicle is in a charging position;
step 9, the charging device sends a signal for confirming the in-place to the server, the server indicates the charging device to start the wireless charging sending terminal and start to charge the electric vehicle, if the charging is successful, the step 12 is carried out, and if the charging is unsuccessful, the step 10 is carried out;
step 10, marking the electric vehicle and the matched charging device which are not charged successfully for each time as a monitoring device for 1 time, returning to step 6, and entering step 11 if the same electric vehicle or the same charging device is marked for 2 times within a certain time t;
step 11, the server sends a device fault notification to a worker, the server closes the electric vehicle and the charging device marked as the fault device, after the service personnel finish overhauling, the overhauling-finished fault device is restarted, the fault device is directly and manually charged in a matched mode, and the step 12 is carried out;
step 12, the electric vehicle keeps continuously charging, the wireless charging transmitting end of the charging device keeps on being started, the wireless charging receiving end of the electric vehicle starts to receive charging of the wireless charging transmitting end, the wireless charging receiving end stores received electric energy to a vehicle-mounted power supply, after the vehicle-mounted power supply of the electric vehicle is fully charged, a charging completion signal is sent to the server, and the server receives the charging completion signal and indicates the electric vehicle which is charged to return to a working area;
and step 13, after the electric vehicle enters a working area according to the indication of the server, the server indicates that the wireless charging sending end of the matched charging device is closed, and meanwhile, the server marks the charging device closed by the wireless charging sending end as idle and normal.
Further, the normal charging device is all charging devices except the marked fault device.
Further, the vehicle-mounted camera of the electric vehicle detects a charging guide marking of the matched charging device, the electric vehicle feeds back a signal for capturing the charging guide marking to the server, the server indicates the electric vehicle to move along the charging guide marking to the direction matched with the charging device and indicates the electric vehicle to enter the charging range marking, and the server indicates the electric vehicle to stay in the charging range marking.
Further, when the electric vehicle has a power level as low as 10% or less of the total power level and is in an idle state, the electric vehicle sends a low electric signal to a server, and the time t is 5 minutes.
The invention has the beneficial effects that:
1. according to the invention, the server, the electric vehicle and the charging device are connected through the LoRa network established by the LoRa base station, so that the characteristics of low power consumption, long transmission distance, good encryption property and the like of the LoRa network are utilized, the occupation ratio of electric energy used for communication with the server on the electric vehicle is reduced, more electric energy can be used for carrying work by the electric vehicle, and the LoRa network can cover a larger range, so that the electric vehicle can have a larger working range;
2. the electric vehicle and the charging device are charged by a wireless charging technology, so that the operation of socket butt joint is avoided, the situation of charging failure caused by inaccurate butt joint can not occur any more, the charging range of the charging device covers a certain range by wireless charging, the electric vehicle can be charged as long as the electric vehicle enters the charging range, and the charging error rate is greatly reduced;
3. the calibration condition of the device is that the calibration position of the electric vehicle needs to be repeatedly confirmed and calibrated by the electric vehicle and the charging device, the condition that the driving position of the electric vehicle is inaccurate is effectively reduced, the charging guide marking line is added, and the situation that the electric vehicle starts to be charged without being in place is avoided, so that the fault of error reporting caused by unsuccessful charging is avoided, and even if the electric vehicle is not charged once, the method can correct the electric vehicle again to perform position matching, so that the error rate of in-place charging is greatly reduced, and the charging accuracy is improved;
4. according to the charging control method, the charging is carried out without the operation of personnel, the electric quantity state is automatically judged, so that the charging is carried out, the charging efficiency is improved, the server can control the electric vehicle to work again after the charging is finished, the electric vehicle does not have unnecessary idle stop, the working time of the electric vehicle can be fully used, and the idle time of the electric vehicle can be reduced.
Drawings
The invention will be further described with reference to examples of embodiments with reference to the accompanying drawings,
fig. 1 is a schematic overall layout diagram of a system required by the charge control method;
FIG. 2 is a schematic structural diagram of a charging device according to the present invention;
FIG. 3 is a schematic view of the internal structure of the electric vehicle according to the present invention;
FIG. 4 is a schematic diagram of a LoRa network connection relationship according to the present invention;
FIG. 5 is a flow chart of a charging method according to the present invention,
in the drawings, the components represented by the respective reference numerals are listed below:
1-LoRa base station, 11-work area, 12-waiting area, 2-electric vehicle, 21-wireless charging receiving end, 22-vehicle-mounted camera, 23-vehicle-mounted power supply, 24-vehicle-mounted LoRa module, 3-server, 4-charging device, 41-charging guide marked line, 42-wireless charging transmitting end, 43-charging confirmation camera and 44-charging range marked line.
Detailed Description
Referring to fig. 1 to 5, the present invention provides a technical solution: a wireless charging control method of an electric vehicle based on a LoRa network is required to provide a wireless charging system of the electric vehicle based on the LoRa network, the system comprises an electric vehicle 2, a charging device 4, a server 3 and a LoRa base station 1, the LoRa network is established through the LoRa base station 1, the electric vehicle 2, the charging device 4 and the server 3 are all connected on the LoRa network established by the LoRa base station 1, the electric vehicle 2 and the charging device 4 are all controlled by the server 3 through the LoRa network, a wireless charging sending end 42 is arranged on the charging device 4, a wireless charging receiving end 21 is arranged on the electric vehicle 2, the wireless charging receiving end 21 and the wireless charging sending end 42 are charged through a wireless charging technology, the setting enables the control method to be wider in connection range, lower in communication energy consumption of the electric vehicle 2 and more in electric energy for carrying work, the wireless charging can be carried out, the trouble of repeated docking of the charging interface is avoided, the docking charging interface needing to be accurately is easy to deviate, faults can be frequently reported by mistake, and the control method avoids the situation that the sockets are difficult to match;
wherein, the bottom of the electric vehicle 2 is further provided with a wireless charging receiving end 21, the electric vehicle 2 is further provided with a vehicle-mounted camera 22, a vehicle-mounted power supply 23 and a vehicle-mounted loRa module 24, the vehicle-mounted power supply 23 is electrically connected with the wireless charging receiving end 21, the vehicle-mounted camera 22 and the vehicle-mounted loRa module 24 are both electrically connected with the vehicle-mounted power supply 23, the vehicle-mounted loRa module 24 is in data connection with the server 3 through the loRa base station 1, wireless charging is convenient, electric energy is stored, the vehicle-mounted camera 22 is an infrared camera, the vehicle-mounted power supply 23 is a super capacitor, the electric vehicle 2 is an unmanned transport vehicle, charging is faster, the stored electric energy is more, the vehicle-mounted camera 22 serving as the infrared camera enables the electric vehicle 2 to be more accurately calibrated, the electric vehicle 2 can accurately advance along the charging guide marking 41, and the, the system can be increased or decreased according to actual workload, and further comprises a working area 11 and a waiting area 12, wherein the working area 11, the waiting area 12 and all the charging devices 4 are arranged in the coverage range of the LoRa base station 1, the allowable moving range of the electric vehicle 2 is limited in the coverage range of the LoRa base station 1, so that all the devices can be covered in a LoRa network to effectively communicate, the charging device 4 comprises a charging range marking 44, the charging range marking 44 is a ring of annular coil provided with an opening, the shape of the charging range marking 44 is the same as that of the vertical projection of the electric vehicle 2, and the surrounding range of the charging range marking 44 is larger than that of the vertical projection of the electric vehicle 2; the wireless charging system comprises a wireless charging transmitting terminal 42, wherein the wireless charging transmitting terminal 42 is arranged in a charging range marked line 44, the whole conveying range of the wireless charging transmitting terminal 42 covers the charging range marked line 44, and the wireless charging transmitting terminal 42 is embedded on the ground; a charging guide marking 41, one end of the charging guide marking 41 is connected with the waiting area 12, and the other end of the charging guide marking 41 is connected with an opening of a charging range marking 44; the charging confirmation camera 43 is arranged on one side of the charging range marking 44, the charging confirmation camera 43 is over against the wireless charging sending end 42, so that the running of the electric vehicle 2 is not influenced, and the vehicle-mounted power supply 23 of the electric vehicle 2 can be charged wirelessly more conveniently, because the coverage range of the wireless charging sending end 42 is wider, the electric vehicle can be effectively charged as long as the electric vehicle is positioned in the charging range marking 44, a point-to-point interface is not needed for charging, the charging accuracy is higher, and the situation that the charging position is not matched is not easy to occur;
a control method of an electric vehicle wireless charging control method based on an LoRa network is completed by the electric vehicle wireless charging control method based on the LoRa network, and comprises the following steps:
step 1, classifying and respectively numbering a plurality of electric vehicles 2 and a plurality of charging devices 4 independently, recording the numbers into a server 3, recording position data of each charging device 4 into the server 3, corresponding the position data of the charging devices 4 to the respective numbers one by one, and recording the position data of a working area 11 and a waiting area 12 into the server 3;
step 2, establishing an LoRa network through the LoRa base station 1, ensuring that the LoRa network covers the working area 11, the waiting area 12, all the charging devices 4 and all the electric vehicles 2, and connecting the electric vehicles 2 and the charging devices 4 with the server 3 through the LoRa network;
step 3, when any electric vehicle 2 is low in electric quantity and no-load, a low electric signal is sent to the server 3;
step 4, when the server 3 receives the low electric signal of the electric vehicle 2, matching the idle and normal charging device 4 number recorded in the server 3 with the electric vehicle 2, if the idle and normal charging device 4 exists, entering step 6, and if the idle and normal charging device 4 does not exist, entering step 5;
step 5, the server 3 instructs the electric vehicle 2 to enter the waiting area 12 for queuing and waiting, and returns to the step 3;
step 6, matching the number of the idle charging device 4 with the electric vehicle 2 which is sending a low electric signal, sending the position data of the charging device 4 to the electric vehicle 2, simultaneously indicating the electric vehicle 2 to drive into the matched charging device 4 according to the indication line of the charging guide marking line 41, and marking the matched charging device 4 as busy;
step 7, after the vehicle-mounted camera 22 of the electric vehicle 2 shoots that the electric vehicle 22 is located in the charging range marking 44 of the matched charging device 4, the electric vehicle 2 sends a positioning signal to the server 3;
step 8, after receiving the confirmation signal, the server 3 starts the matched charging device 4, and the charging confirmation camera 43 on the charging device 4 starts to operate and searches whether the electric vehicle 2 is already at the charging position;
step 9, the charging device 4 sends a signal for confirming the in-position to the server 3, the server 3 instructs the charging device 4 to start the wireless charging sending terminal 42 and start charging the electric vehicle 2, if the charging is successful, the step 12 is carried out, and if the charging is unsuccessful, the step 10 is carried out;
step 10, marking the electric vehicle 2 which is not successfully charged and the matched charging device 4 as a monitoring device for 1 time each time, returning to step 6, and entering step 11 if the same electric vehicle 2 or the same charging device 4 is marked for 2 times within a certain time t;
step 11, the server 3 sends an equipment fault notification to an operation terminal of a worker, meanwhile, the server 3 closes the electric vehicle 2 and the charging device 4 marked as fault equipment, after the overhaul by a service worker is finished, the overhaul finished fault equipment is restarted, meanwhile, the fault equipment is directly and manually matched and charged, and the step 12 is carried out;
step 12, the electric vehicle 2 keeps continuously charging, the wireless charging transmitting terminal 42 of the charging device 4 keeps on, the wireless charging receiving terminal 21 of the electric vehicle 2 starts to receive the charging of the wireless charging transmitting terminal 42, the wireless charging receiving terminal 21 stores the received electric energy into the vehicle-mounted power supply 23, after the vehicle-mounted power supply 23 of the electric vehicle 2 is fully charged, the server 3 sends a charging completion signal to the server 3, and the server 3 receives the charging completion signal and indicates the electric vehicle 2 which is charged to return to a working area.
Step 13, after the electric vehicle 2 enters the working area 11 according to the indication of the server 3, the server 3 indicates that the wireless charging transmitting terminal 42 of the matched charging device 4 is closed, and simultaneously the server 3 marks the charging device 4 with the closed wireless charging transmitting terminal 42 as idle and normal, so that the electric vehicle 2 can be charged accurately and effectively, and the electric vehicle 2 can automatically work and charge under the control of the server 3 without the need of personnel on duty, and has the steps of calibrating the charging position for many times, thereby ensuring the accuracy of the charging position, well improving the situation that the false alarm occurs frequently because the charging position is inaccurate in the existing charging equipment, so that the equipment generally has real faults as long as the alarm is given, and the charging range is wider and the charging is simpler, and the control method can directly receive the alarm sent by the server 3 through the terminal, reminding workers to overhaul;
the normal charging device 4 is all the charging devices 4 except the fault equipment, false alarm is eliminated as much as possible, other marking equipment is prevented from being used as fault equipment, the vehicle-mounted camera 22 of the electric vehicle 2 detects the charging guide marking line 41 of the matched charging device 4, the electric vehicle 2 feeds back a signal capturing the charging guide marking line 41 to the server 3, the server 3 indicates the electric vehicle 2 to move along the charging guide marking line 41 to the direction matched with the charging device 4 and indicates the electric vehicle 2 to drive into the charging range marking line 44, the server 3 indicates the electric vehicle 2 to stay in the charging range marking line 44, so that the electric vehicle 2 is more effectively guided to enter a charging position, the electric vehicle 2 is ensured to be in the charging range marking line 44, when the electric quantity of the electric vehicle 2 is as low as 10% or below of the total electric quantity, and the electric vehicle 2 is in an idle, the electric vehicle 2 sends a low electric signal to the server 3, so that the electric vehicle 2 has enough electric quantity to queue for charging or directly charge, the situation of complete power-off without electricity is avoided, the time t is 5 minutes, the misinformation is avoided again, the situation that the electric vehicle 2 is inaccurate in position walking is eliminated, if the position walking is inaccurate and the charging is successful again, the control method automatically clears the fault alarm, and the personnel are not informed of the maintenance.
One specific application of the embodiment is as follows: according to the construction of the invention, according to the working range of the electric vehicle 2, a proper number of LoRa base stations 1 are laid, so that a LoRa network with a proper size is constructed, generally speaking, one LoRa base station 1 in the range of 500 square meters can be constructed, the number of the LoRa base stations 1 is properly increased according to the actual size, so that the electric vehicle 2 for transportation is positioned in the LoRa network at any time, the charging device 4 is adjusted according to the number of the electric vehicle, generally, about 5-10 electric vehicles 2 need one charging device 4, the charging device 4 needs to be built in the coverage area of the LoRa network, the working area 11 needs to be connected and close to the waiting area 12, the charging device 4 is separated from the working area 11 through the waiting area 12, so that the electric vehicle 2 can conveniently enter the charging device 4 to be queued, and the LoRa base stations 1 can be constructed at the central position of the working area 11, therefore, the coverage is wider, in some workplaces, for more convenient carrying and working of the electric vehicle 2, the LoRa base station is sometimes built around the working area 11 to avoid interference with the working of the electric vehicle 2, then all the electric vehicles 2, all the charging devices 4 and the server 3 are connected through the LoRa network built by the LoRa base station 1, and all the electric vehicles 2 and all the charging devices 4 are controlled by the server 3, the server 3 is operated through a terminal, the terminal can be a mobile phone or a computer, the server 3 is an ariloc server used in the embodiment, because the server 3 and the terminal which are operated are devices well known by those skilled in the art, the detailed description of the application is omitted;
when the control method is used, all the electric vehicles 2 are placed in the coverage range of the LoRa network,
step 1, classifying a plurality of electric vehicles 2 and a plurality of charging devices 4 which need to work in a lora network range, and numbering the electric vehicles independently, for example, one electric vehicle 2 is coded as a trolley 001, one charging device 4 is numbered as a charging 001, namely, the electric vehicles 2 and the charging devices 4 are classified into different categories, the numbers of the electric vehicles 2 are different, the numbers of the charging devices 4 are different, then the numbers are recorded into a server 3, the position data of each charging device 4 is recorded into the server 3, the position data of the charging devices 4 correspond to the numbers of the charging devices 4 one by one, and the position range data of a working area 11 and a waiting area 12 are also recorded into the server 3;
step 2, establishing a loRa network through the loRa base station 1, ensuring that the loRa network covers the working area 11, the waiting area 12, all the charging devices 4 and all the electric vehicles 2, and then connecting the electric vehicles 2 and the charging devices 4 with the server 3 through the loRa network, wherein the LoRa network has the position identification capability;
step 3, the electric vehicle 2 can continuously consume electric quantity in the carrying working process, when the electric quantity of the electric vehicle 2 is consumed to 10% of the total electric quantity of the electric vehicle 2, the electric quantity metering device has the functions of all automatic guided vehicles AGV or equipment with batteries, an STM8L152K4 chip is arranged on the electric vehicle 2, the chip monitors whether the electric vehicle 2 is in an idle state, if the electric vehicle is in the idle state, the chip of the electric vehicle 2 can be started, and when any electric vehicle 2 is low in electric quantity and idle, the electric vehicle 2 can send a low electric signal to the server 3 through the vehicle-mounted LoRa module 24;
step 4, when the server 3 receives the low electric signal of the electric vehicle 2, matching the idle and normal charging device 4 number recorded in the server 3 with the electric vehicle 2, if the idle and normal charging device 4 exists, the server 3 judges the charging device 4 closest to the electric vehicle 2 according to the vehicle-mounted LoRa module 24 signal, matches the closest charging device 4, and then enters step 6, and if the idle and normal charging device 4 does not exist, then enters step 5;
step 5, the server 3 indicates the electric vehicle 2 to enter the waiting area 12 to be queued, the electric vehicle 2 can enter the waiting area 12 to be queued according to the instruction of the server 3, and because the electric vehicle 2 is in an idle and power-lack state, the electric vehicle 2 can continuously send a low electric signal to the server and return to the step 3;
step 6, matching the number of the nearest idle charging device 4 with the electric vehicle 2 which is sending a low electric signal, sending the position data of the charging device 4 to the electric vehicle 2, wherein the charging guide marking line 41 is connected with the waiting area 12 and different charging range marking lines 44, and when the server 3 indicates the electric vehicle 2 to enter the matched charging device 4 according to the line indicated by the charging guide marking line 41, marking the matched charging device 4 as busy, and no longer matching the busy charging device 4 of another electric vehicle 2;
step 7, after the vehicle-mounted camera 22 of the electric vehicle 2 shoots that the electric vehicle 22 is located in the charging range marking 44 of the matched charging device 4, the electric vehicle 2 sends a positioning signal to the server 3;
step 8, after receiving the confirmation signal, the server 3 starts the charging device 4 with the matching number, and the charging confirmation camera 43 on the charging device 4 starts to operate and searches whether the electric vehicle 2 is already at the charging position;
step 9, the charging device 4 sends a signal for confirming the in-position to the server 3, the server 3 instructs the charging device 4 to start the wireless charging sending terminal 42 and start charging the electric vehicle 2, if the charging is successful, the step 12 is carried out, and if the charging is unsuccessful, the step 10 is carried out;
step 10, marking the electric vehicle 2 which is not successfully charged and the matched charging device 4 as a monitoring device for 1 time each time, returning to step 6, and entering step 11 if the same electric vehicle 2 or the same charging device 4 is marked for 2 times within a certain time t;
step 11, the server 3 sends a device fault notification to an operation terminal of a worker, the operation terminal can be a handheld terminal and a computer terminal which operate simultaneously, the fault notification is sent to the handheld terminal and the computer terminal simultaneously, the electric vehicle 2 and the charging device 4 marked as a fault device are closed, after the service personnel finish overhauling, the overhauling-finished fault device is restarted, meanwhile, the fault device is directly and manually matched and charged, and the step 12 is carried out;
step 12, the electric vehicle 2 keeps continuously charging, the wireless charging transmitting terminal 42 of the charging device 4 keeps on, the wireless charging receiving terminal 21 of the electric vehicle 2 starts to receive the charging of the wireless charging transmitting terminal 42, the wireless charging receiving terminal 21 stores the received electric energy into the vehicle-mounted power supply 23, after the vehicle-mounted power supply 23 of the electric vehicle 2 is fully charged, the server 3 sends a charging completion signal to the server 3, and the server 3 receives the charging completion signal and indicates the electric vehicle 2 which is charged to return to a working area.
Step 13, after the electric vehicle 2 enters the working area 11 according to the instruction of the server 3, the server 3 instructs the wireless charging sending terminal 42 of the matched charging device 4 to close, and meanwhile, the server 3 marks the charging device 4 with the closed wireless charging sending terminal 42 as idle and normal, and the idle charging device 4 can be matched and charged again.
The control method can select the optimal path to charge according to the position matching of the electric vehicle 2 and the nearest charging device 4, and the vehicle-mounted power supply 23 of the device is a super capacitor, so that the charging is faster, the power storage capacity is larger, the condition of inaccurate point-to-point butt charging is avoided in a wireless charging mode, the range charging is realized, a stronger error correction function is realized, and the charging can be started even if the position is not a particularly accurate position;
according to the invention, the server 3, the electric vehicle 2 and the charging device 4 are connected through the LoRa network established by the LoRa base station 1, so that the electric vehicle 2 can use the characteristics of low power consumption, long transmission distance, good encryption property and the like of the LoRa network to reduce the proportion of electric energy used for communication with the server 3 on the electric vehicle 2, so that the electric vehicle can use more electric energy for carrying work, and the LoRa network can cover a larger range, so that the electric vehicle 2 can have a larger working range;
the electric vehicle 2 and the charging device 4 are charged through a wireless charging technology, so that the operation of socket butt joint is avoided, the situation of charging failure caused by inaccurate butt joint can not occur any more, the charging range of the charging device 4 covers a certain range through wireless charging, the electric vehicle 2 can be charged as long as the electric vehicle enters the charging range, and the charging error rate is greatly reduced;
the calibration condition of the device is that the electric vehicle 2 and the charging device 4 are required to repeatedly confirm and calibrate the calibration position of the electric vehicle, the condition that the driving position of the electric vehicle 2 is inaccurate is effectively reduced, the charging guide marking 41 is added, the traveling range of the electric vehicle 2 is not wrong primarily, the vehicle-mounted camera 22 is an infrared camera, the vehicle-mounted camera 22 captures the path of the charging guide marking 41, the colors of the charging guide marking 41 and the charging range marking 44 are obviously different from the ground color, the electric vehicle 2 can travel along the charging guide marking 41 and extend to the opening of the charging range marking 44, the electric vehicle 2 can move along with the charging guide marking 41 captured by the vehicle-mounted camera 22 and move to the vicinity of the charging range marking 44 of the matched charging device 4, and at the moment, the vehicle-mounted camera 22 of the electric vehicle 2 captures the position of the charging range marking 44, then the electric vehicle 2 starts to rotate in situ, the electric vehicle 2 is ensured to be positioned in the charging range marking 44, the position of the electric vehicle 2 is confirmed twice, the function is the same as the principle that the tracking robot follows the line to travel, the charging confirmation camera 43 is used for confirming whether the electric vehicle 2 is positioned in place, 3 times of position matching is carried out, the situation that the charging is started without being positioned in place is effectively avoided, if the charging is unsuccessful, the matched position information of the charging device 4 can be returned again, the electric vehicle 2 runs into the charging range marking 44 of the charging device 4 again, the fault of false reporting caused by the unsuccessful charging is avoided, even if the charging is unsuccessful once, the control method can correct the position matching of the electric vehicle 2 again, and the error rate of the charging in place is greatly reduced, thereby improving the charging accuracy;
the control method has the advantages that the charging does not need to be operated by personnel, the electric quantity state is automatically judged, each electric vehicle 2 is provided with the weighing device, the weighing device is connected with the vehicle-mounted STM8L152K4 chip on the electric vehicle 2, whether the electric vehicle is in idle load can be accurately judged, the charging regulation and judgment are carried out, the charging efficiency is improved, the server can control the electric vehicle 2 to work again after the charging is finished, the electric vehicle 2 cannot have unnecessary idle stop, the working time of the electric vehicle 2 can be fully used, and the idle time of the electric vehicle 2 can be reduced.
The LoRa name is Long Range Radio, which is characterized in that the distance of the Long Range Radio is longer than that of other Radio modes under the same power consumption condition, thereby realizing the unification of low power consumption and Long distance, and the Long Range Radio is enlarged by 3-5 times than that of the traditional Radio frequency communication under the same power consumption condition;
when any LoRa terminal equipment sends a data packet, the data packet is received by all gateways in the range of the network where the LoRa terminal equipment is located, each message is reported to a network server, all gateways are the same and always receive signals with all data rates on all channels, which means that no overhead is caused on the LoRa terminal equipment because the LoRa terminal equipment does not need to scan and connect to a specific gateway, a sensor is simply awakened to send the data packet, all gateways in the range of the network can receive the data packet, all gateways send the received same data packet to the network server, special hardware and software built in the latest generation gateway are used for capturing high-precision arrival time, and an algorithm at the network server end compares the arrival time, the signal strength, the signal to noise ratio and other parameters to calculate the most possible specific position of the terminal node, the lora network can acquire the specific location of the lora terminal device within the range.
The server 3 is a cloud server, and can also be an SR590-3104 server, if the server is a cloud server, the server is controlled by on-site terminal equipment, and the method belongs to a mature technology, and is not described any more;
an Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guiding device, which can travel along a predetermined guiding path, and has safety protection and various transfer functions, and a transport Vehicle without a driver in industrial application, and uses a rechargeable battery as its power source, and generally uses a computer to control its traveling route and behavior, or uses an electromagnetic rail to set up its traveling route, the electromagnetic rail is adhered to the floor, and the AGV moves and operates according to the information brought by the electromagnetic rail.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.

Claims (4)

1. The electric vehicle wireless charging control method based on the LoRa network is characterized by comprising the following steps: the control method needs to provide an electric vehicle wireless charging system based on a LoRa network, the system comprises an electric vehicle (2), a charging device (4), a server (3) and a LoRa base station (1), the LoRa network is established through the LoRa base station (1), the electric vehicle (2), the charging device (4) and the server (3) are all connected to the LoRa network established by the LoRa base station (1), the electric vehicle (2) and the charging device (4) are controlled by the server (3) through the LoRa network, a wireless charging sending end (42) is arranged on the charging device (4), a wireless charging receiving end (21) is arranged on the electric vehicle (2), and the wireless charging receiving end (21) and the wireless charging sending end (42) are charged through a wireless charging technology; the bottom of the electric vehicle (2) is further provided with a wireless charging receiving end (21), the electric vehicle (2) is further provided with a vehicle-mounted camera (22), a vehicle-mounted power supply (23) and a vehicle-mounted LoRa module (24), the vehicle-mounted power supply (23) is electrically connected with the wireless charging receiving end (21), the vehicle-mounted camera (22) and the vehicle-mounted LoRa module (24) are both electrically connected with the vehicle-mounted power supply (23), and the vehicle-mounted LoRa module (24) is in data connection with the server (3) through a LoRa base station (1);
the charging devices (4) comprise a circle of charging range marked lines (44), the charging range marked lines (44) are a circle of annular coils provided with openings, the shape of the charging range marked lines (44) is the same as that of the vertical projection of the electric vehicle (2), and the surrounding range of the charging range marked lines (44) is larger than that of the vertical projection of the electric vehicle (2); the wireless charging system comprises a wireless charging sending end (42), wherein the wireless charging sending end (42) is arranged in a charging range marking (44), the whole conveying range of the wireless charging sending end (42) covers the charging range marking (44), and the wireless charging sending end (42) is embedded on the ground; one end of the charging guide marking (41) is connected with the waiting area (12), and the other end of the charging guide marking (41) is connected with an opening of the charging range marking (44); a charging confirmation camera (43), wherein the charging confirmation camera (43) is arranged on one side of a charging range marking (44), and the charging confirmation camera (43) is opposite to the wireless charging transmitting terminal (42);
the method comprises the following steps:
step 1, classifying a plurality of electric vehicles (2) and a plurality of charging devices (4), numbering the electric vehicles and the charging devices independently, recording the numbers into a server (3), recording position data of each charging device (4) into the server (3), corresponding the position data of each charging device (4) to the numbers of the charging devices one by one, and recording the position data of a working area (11) and a waiting area (12) into the server (3);
step 2, establishing an LoRa network through the LoRa base station (1), ensuring that the LoRa network covers a working area (11), a waiting area (12), all charging devices (4) and all electric vehicles (2), and connecting the electric vehicles (2) and the charging devices (4) with a server (3) through the LoRa network;
step 3, when any electric vehicle (2) is low in electric quantity and no-load, a low electric signal is sent to the server (3);
step 4, when the server (3) receives a low electric signal of the electric vehicle (2), matching the electric vehicle (2) with the number of the idle and normal charging device (4) which is already recorded in the server (3), if the idle and normal charging device (4) exists, entering step 6, and if the idle and normal charging device (4) does not exist, entering step 5;
step 5, the server (3) instructs the electric vehicle (2) to enter a waiting area (12) for queuing and waiting, and returns to the step 3;
step 6, matching the number of the idle charging device (4) with the electric vehicle (2) sending a low electric signal, sending the position data of the charging device (4) to the electric vehicle (2), simultaneously indicating the electric vehicle (2) to drive into the matched charging device (4) according to the indication line of the charging guide marking line (41), and marking the matched charging device (4) as busy;
7, after the vehicle-mounted camera (22) of the electric vehicle (2) shoots that the electric vehicle (2) is positioned in the charging range marking (44) of the matched charging device (4), the electric vehicle (2) sends a positioning signal to the server (3);
step 8, after the server (3) receives the confirmation signal, starting the matched charging device (4), starting a charging confirmation camera (43) on the charging device (4) to operate and searching whether the electric vehicle (2) is in a charging position;
step 9, the charging device (4) sends a signal for confirming the in-position to the server (3), the server (3) instructs the charging device (4) to start the wireless charging sending terminal (42) and start to charge the electric vehicle (2), if the charging is successful, the step 12 is carried out, and if the charging is unsuccessful, the step 10 is carried out;
step 10, marking the electric vehicle (2) which is not successfully charged and the matched charging device (4) as a monitoring device for 1 time each time, returning to step 6, and entering step 11 if the same electric vehicle (2) or the same charging device (4) is marked for 2 times within a certain time t;
step 11, the server (3) sends an equipment fault notification to a worker, the server (3) closes the electric vehicle (2) and the charging device (4) marked as the fault equipment, after the service personnel finishes overhauling, the overhauling-finished fault equipment is restarted, the fault equipment is directly and manually matched and charged, and the step 12 is carried out;
step 12, the electric vehicle (2) keeps charging continuously, the wireless charging transmitting end (42) of the charging device (4) keeps on being started, the wireless charging receiving end (21) of the electric vehicle (2) starts to receive charging of the wireless charging transmitting end (42), the wireless charging receiving end (21) stores received electric energy into the vehicle-mounted power supply (23), the vehicle-mounted power supply (23) of the electric vehicle (2) sends a charging completion signal to the server (3) after being fully charged, and the server (3) receives the charging completion signal and indicates the electric vehicle (2) which is charged to return to a working area;
and step 13, after the electric vehicle (2) enters the working area (11) according to the indication of the server (3), the server (3) indicates the wireless charging sending end (42) of the matched charging device (4) to be closed, and meanwhile, the server (3) marks the charging device (4) with the closed wireless charging sending end (42) as idle and normal.
2. The method for controlling the wireless charging of the electric vehicle based on the LoRa network, according to claim 1, is characterized in that: the normal charging device (4) is the charging device (4) except the fault marking device.
3. The method for controlling the wireless charging of the electric vehicle based on the LoRa network, according to claim 1, is characterized in that: the charging guide marking (41) of the matched charging device (4) is detected by the vehicle-mounted camera (22) of the electric vehicle (2), the electric vehicle (2) feeds back a signal capturing the charging guide marking (41) to the server (3), the server (3) indicates the electric vehicle (2) to move along the charging guide marking (41) to the direction of the matched charging device (4) and indicates the electric vehicle (2) to drive into the charging range marking (44), and the server (3) indicates the electric vehicle (2) to stay in the charging range marking (44).
4. The method for controlling the wireless charging of the electric vehicle based on the LoRa network, according to claim 1, is characterized in that: when the electric quantity of the electric vehicle (2) is as low as 10% or less of the total electric quantity, and the electric vehicle (2) is in an idle state, the electric vehicle (2) sends a low electric signal to the server (3), and the time t is 5 minutes.
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