CN111731161A - Electric energy receiving device and method - Google Patents

Abstract

The invention relates to an electric energy receiving device and a method, wherein the device comprises a robot electric energy receiving device, a self-adaptive adjusting system, a visual perception system, an electric energy metering device, a rectifying device, an inverter device, a charging conversion head and a main control center; the invention solves the problem of the trade settlement of the electric quantity of a plurality of automobiles on the same contact network, really reduces the emission of carbon dioxide and other harmful gases in the high-speed running process of heavy-duty trucks, realizes the electric energy substitution and is green for going out.

Description

Electric energy receiving device and method

Technical Field

The invention belongs to the technical field of intelligent traffic measurement substituted by electric energy, and particularly relates to an electric energy receiving device and method, which are suitable for obtaining energy of a public power grid.

Background

The development of high-speed traffic has led to an increasing number of heavy goods vehicles, and in developed countries, such as the uk, the emission of carbon dioxide by road transport accounts for 91.6% of the total traffic. The fuel oil pollution emission of China traffic accounts for 1/4 of the pollution emission of the whole society, the freight volume of the roads of Jingjin Ji and the surrounding areas accounts for more than 80 percent of the total freight volume and is 10 percent higher than the whole country, the fuel oil consumption of traffic transportation accounts for 64 percent of the total emission, and the diesel vehicle accounts for the total emission of automobiles: nitrogen oxide compound (b): 65%, particulate emissions: 99 percent. One heavy duty diesel vehicle emits pollutants equivalent to 750 light duty gasoline vehicles, resulting in high nitrogen oxide and PM2.5 emissions.

The International Energy Agency (IEA) proposed that highway freight electrification has become the direction of development and predicted that in 2050, 36% of heavy freight trucks will adopt the pantograph solution. The german siemens company formally introduced the "electrified highway technology" (eHighway) and constructed the test road segment in 2012. In 2017, 14 departments such as the China department of transportation and finance and the like also propose a process for comprehensively promoting the electromotion of urban freight vehicles in documents, and the popularization and application of the technology can promote the intercommunication and interaction of the traffic energy Internet and the electric power ubiquitous Internet of things and realize multi-network integration.

Most of documents and patents describe the structure and system of the receiving device, and the problem of electric quantity trade settlement after electricity taking on one most key point of the electrified road is less researched. The conventional power supply sources like an electrified road, an urban trolley bus and the like are special for a special line, and the departments of electric quantity settlement are used for uniformly settling accounts, but for personal vehicles of end customers, how to conduct electric quantity trade settlement and accurate measurement on the electrified road by vehicles on an expressway is a big problem which is difficult to solve by intelligent traffic. The invention discloses a system for power utilization of a trolley bus on a highway of a patent CN20170544240 and a device for power utilization and charging of an electric vehicle on the highway of the patent CN20170540996, and the invention discloses that a card-inserted electric meter applied to the market is arranged at the position of an alternating current access opening of the trolley bus. The patent CN104210366 discloses an improved high-speed electric vehicle and its supporting facilities, which has overtaking function and is mainly powered by power grid. Therefore, the device and the method for receiving the electric energy can solve the problem of trade settlement of the electrified road technology under the power supply of a public power grid, are compatible with a public power system powered by an alternating current power supply and a direct current power supply, and are detachable, common for multiple vehicles and convenient to carry.

Disclosure of Invention

The invention aims to provide an electric energy receiving device and method, which can effectively solve the problem that a public contact network for the private cars of a trolley bus or an electrified road cannot settle the electric quantity.

The technical scheme adopted by the invention is as follows: an electric energy receiving device comprises a robot electric energy receiving device, a self-adaptive adjusting system, a visual perception system, an electric energy metering device, a charging conversion head and a main control center, wherein the electric energy input end of the robot electric energy receiving device is connected with a power supply network of a power system, the visual perception system and the self-adaptive adjusting system are both arranged on the robot electric energy receiving device, and the main control center is connected with the visual perception system, the self-adaptive adjusting system and the electric energy metering device; the electric energy metering device is connected with the charging conversion head.

The electric energy metering device is an alternating current metering device, an electric energy input end of the alternating current metering device is connected with an electric energy output end of the robot electric energy receiving device, an electric energy output end of the alternating current metering device is respectively connected with an input end of the rectifying device and an output end of the inverting device, and an output end of the rectifying device and an input end of the inverting device are connected with the charging conversion head.

Furthermore, the alternating current metering device comprises a first power supply unit, a first MCU unit, a first metering unit, a first data storage unit, a first display unit and a first communication unit;

the first MCU unit is connected with the first metering unit, the first data storage unit and the first communication unit for bidirectional communication, and the first display unit is connected with the first MCU unit and externally displays the processing result of the first MCU unit so that a user can check the electric quantity data information;

the first metering unit converts high voltage or medium voltage provided by an electric power supply network into voltage and current suitable for the alternating current metering device and outputs the voltage and current.

The electric energy metering device is a direct current metering device, an electric energy input end of the direct current metering device is connected with an electric energy output end of the electric energy receiving device of the robot, an electric energy output end of the direct current metering device is connected with an input end of the inversion device and an output end of the rectification device, and an input end of the rectification device and an output end of the inversion device are connected with the charging conversion head.

Furthermore, the electric energy metering device is a direct current electric quantity charging device, an electric energy input end of the direct current electric quantity charging device is connected with an electric energy output end of the robot electric energy receiving device, and an electric energy output end of the robot electric energy receiving device is connected with the charging conversion head.

Further, the direct current metering device or the direct current electric quantity charging device comprises a second power supply unit, a second MCU unit, a second metering unit, a second data storage unit, a second display unit, a second communication unit and a wave reduction unit;

the second MCU unit is connected with the second metering unit, the second data storage unit and the second communication unit for bidirectional communication, and the second display unit is connected with the second MCU unit and externally displays the processing result of the second MCU unit so that a user can conveniently view electric quantity data information;

the wave reduction unit is connected with the second metering unit and comprises a zero-crossing comparison circuit, a phase locking circuit, a sinusoidal signal generation circuit and a PWM pulse generation circuit;

and the second metering unit converts the high-voltage or medium-voltage power provided by the electric power supply network into voltage and current suitable for the direct-current metering device and outputs the voltage and current.

Further, the robot electric energy receiving device comprises a base, a first support arm, a second support arm, a T-shaped structure support and a robot top rolling bow, the base, the first support arm, the second support arm and the T-shaped structure support are connected sequentially through a driving mechanism, the robot top rolling bow is installed at the top of the T-shaped structure support, and the robot top rolling bow realizes six-axis movement in the directions of three coordinate axes of XYZ under the driving of the first support arm and the second support arm.

Furthermore, the visual perception system comprises a visual device, a storage control module and a communication module;

the visual device is installed on the T-shaped structural support and used for transmitting acquired data information to the storage control module, the storage control module and the communication module are in communication connection with the master control center, the storage control module is connected with the driving mechanism, and the communication module adopts a 5G wireless transmission technology.

Further, the self-adaptive adjusting system comprises a pantograph-catenary contact acquisition sensing module, a data storage processing module and a signal output control module;

the pantograph-catenary contact acquisition sensing module is arranged on a rolling pantograph head at the top of the robot and transmits acquired data to the data storage processing module and the main control center, the data storage processing module transmits analysis processing results to the signal output control module, and the signal output control module is connected with the driving mechanism.

Furthermore, the main control center is connected with a GIS system, a storage control module of a visual perception system, a pantograph-catenary contact acquisition sensing module of a self-adaptive adjusting system, a communication module of an electric energy metering device, a storage battery state monitoring module of a vehicle and a prompting module, the GIS system is linked with a navigation system, and the storage battery state monitoring module transmits the acquired electric quantity state of the storage battery to the main control center;

the prompting module is used for receiving pantograph-catenary contact state prompt, safe overtaking prompt, current exit route notification prompt, front catenary state prompt, front road condition state prompt, storage battery charging capacity prompt and information which can be prompted by storage battery charging and discharging scheme switching sent by the master control center.

A method of power reception using a power reception device, comprising:

the storage control module of the visual perception system of the robot electric energy receiving device transmits the collected front contact network state, the height between the contact network and the vehicle body and the left and right offset data information of the vehicle body to the master control center, the master control center returns the longitudinal and transverse data calculation results to the robot electric energy receiving device, and the driving mechanism drives the first support arm and the second support arm to move to reach the preset contact position to complete the accurate access of the rolling bow and the contact network;

the pantograph-catenary contact acquisition sensing module of the self-adaptive adjustment system adjusts the first support arm and the second support arm of the robot electric energy receiving device to move up, down, left and right according to the pantograph-catenary pressure.

A method for smart metering using an electrical energy receiving device, comprising:

determining basic information in the driving process according to the driving destination positioned by the GIS system, and transmitting the basic information to a master control center;

determining the number of power supply intervals and the length of a power supply arm of each power supply interval according to the network-access driving mileage, and determining the number of real-time vehicles on the power supply arm according to the real-time positions of the vehicles;

acquiring the SOC of the battery according to the storage battery state monitoring module, transmitting the SOC data to a master control center, setting a threshold value to be 95%, and not charging when the SOC reaches the threshold value;

if the SOC does not reach a given threshold, calculating the charging power according to a charging power distribution method:

charging power of the ith vehicle on the power supply arm:

determining a charging time t from the charging power W and the power supply system U, I:

determining an optimal charging scheme according to the charging time t, the network-access driving mileage and the peak-valley electricity price time period;

similarly, an optimal discharging-charging scheme of the battery with the SOC greater than 95% of the threshold value can be obtained according to the network-access driving mileage and the peak-valley electricity price time period;

and transmitting the result to a prompt module to prompt a driver to switch the optimal scheme according to the obtained optimal charging-discharging scheme.

The invention has the positive effects that:

the invention solves the problem of the trade settlement of the electric quantity of a plurality of automobiles on the same contact network, really reduces the emission of carbon dioxide and other harmful gases in the high-speed running process of heavy-duty trucks, realizes the electric energy substitution and is green for going out.

The device of the invention is movable and detachable, is convenient to carry, and can be shared by multiple vehicles.

The robot receives the electric energy device and only moves the first support arm and the second support arm above to realize network access and self-adaptive action, thereby avoiding the instability of the vehicle body caused by the realization of moving the base together with other inventions.

The communication unit of the electric energy metering device adopts a 5G + HPLC communication technology, and the electric energy metering device is ensured to transmit the acquired electric load data to the electric power acquisition system under the condition of high-speed movement.

The method of the invention realizes peak clipping and valley filling according to the calculation of the data acquisition information, fully utilizes the battery state and realizes the economic settlement of the power consumption of the truck driver during the electrification driving.

Drawings

FIG. 1 is a schematic diagram of the principles of the present invention;

FIG. 2 is a schematic structural diagram of a power receiving device of a robot according to the present invention;

FIG. 3 is a connection diagram of the components of the visual perception system of the present invention;

FIG. 4 is a connection diagram of the components of the electric energy metering device of the present invention;

FIG. 5 is a connection diagram of the components of the module for automatically identifying current type according to the present invention;

FIG. 6 is a connection diagram of the components of the AC metering module of the present invention;

FIG. 7 is a connection diagram of the components of the DC metering module of the present invention;

FIG. 8 is a connection diagram of the down-conversion unit according to the present invention;

FIG. 9 is a diagram of the adaptive modulation system connection of the present invention;

FIG. 10 is a connection diagram of a key center according to the present invention;

FIG. 11 is a flow chart of the method of the present invention.

Detailed Description

Example 1

As shown in fig. 1 and 6, the present embodiment provides an electric energy receiving device with an ac charging function, which includes a robot electric energy receiving device, a visual perception system, an electric energy metering device, a rectifying device, an inverter device, a charging conversion head, an adaptive adjustment system, and a main control center.

In this embodiment, the electric energy metering device is an ac metering module. The vision perception system and the self-adaptive adjusting system are both arranged on the robot electric energy receiving device, and the main control center is in communication connection with the vision perception system, the alternating current metering device and the self-adaptive adjusting system. The electric energy input end of the alternating current metering device is connected with the electric energy output end of the robot electric energy receiving device, the electric energy output end is respectively connected with the input end of the rectifying device and the output end of the inverting device, the output end of the rectifying device and the input end of the inverting device are connected with the charging conversion joint, the alternating current metering device has a bidirectional charging function, the charging conversion joint is provided with a plurality of different types of interfaces, the corresponding charging conversion joint can be selected according to the type of a storage battery charging interface of a vehicle, and the bidirectional electrifying function is also achieved.

As shown in fig. 2, the robot power receiving device includes a plurality of robot top rolling bows 5, a T-shaped structural support 4, a driving mechanism 6, a first support arm 2, a second support arm 3 and a base 1. The base 1 is fixed on the roof and does not move. The number of the rolling bow heads 6 on the top of the robot can be 2, the rolling bow heads are used for forming a power supply loop and are arranged at the upper end of a T-shaped structure support 4, the T-shaped structure support 4 is connected with the upper end of a second support arm 3, the second support arm 3 is connected with the upper end of a first support arm 2, the lower end of the first support arm 2 is arranged on a base 1, a driving mechanism 6 is arranged at the joint of the base 1 and the first support arm 2, the first support arm 2 and the second support arm 3, and the second support arm 3 and the T-shaped structure support 4, and the base 1 is fixed on the roof and does. The robot receives electric energy device support body preparation material and chooses for use aluminum alloy material, and this aluminum alloy material is firm light, and convenient to detach removes. The robot top rolling bow 5, the first support arm 2 and the second support arm 3 can realize six-axis movement in three coordinate axis directions of XYZ under the driving action.

As shown in fig. 3, the visual perception system includes a visual device, a storage control module and a communication module, the visual device is installed on a T-shaped structural support 4, collected data information is transmitted to the storage control module, the storage control module and the communication module are in communication connection with a main control center, the storage control module is connected with a driving mechanism of a robot electric energy receiving device, the communication module adopts a 5G wireless transmission technology, and the visual device is provided with a camera with at least 1600 ten thousand pixels.

The electric power system transmits electricity to an electric power contact network, an electric energy receiving device compatible with the alternating current and direct current charging function is stored in a storage box of the hybrid heavy truck, and a driver takes out the portable electric energy receiving device compatible with the alternating current and direct current charging function before the electric highway and installs the portable electric energy receiving device compatible with the alternating current and direct current charging function on the roof of the electric highway. The hybrid heavy truck judges the length of the contact net of the front expressway and the condition of the route according to a GIS system of a main control center, starting an electrified highway driving mode, driving the robot to receive the electric energy device to rise, adjusting the relative position of a rolling bow head at the top of the robot and a contact net by a visual device of a visual perception system, transmitting the acquired relative position information to a storage control module, connecting the storage control module with a main control center through a communication module in a communication way, transmitting data to the main control center for calculation, and the calculation result is returned to the storage control module, the driving mechanism receives the data analysis result of the storage control module and drives the robot to act, when the master control center 8 judges that the rolling pantograph deviates from the right side of the contact net, the robot electric energy receiving device driving mechanism 13 drives the first support arm 14 to move along the positive direction of the Y axis, and the second support arm 15 moves along the positive direction of the Z axis; when the master control center 8 judges that the rolling pantograph deviates from the right side of the contact net, the robot electric energy receiving device driving mechanism 13 drives the first support arm 14 to rotate along the positive direction of the Y axis, and the second support arm 15 rotates along the negative direction of the Y axis; when the master control center 8 judges that the rolling pantograph deviates from the lower side of the overhead line system, the robot power receiving device driving mechanism 13 drives the first support arm 14 to rotate along the X-axis negative direction, the second support arm 15 rotates along the Z-axis positive direction until the angle is adjusted, and the rolling pantograph head 11 at the top of the robot is accurately connected to the overhead line system.

The electric power system transmits electricity to an electric power contact net in a public power grid of a certain section of the electrified highway, the electric energy receiving device of the embodiment is stored in the storage box of the hybrid power heavy truck, and a driver takes out the electric energy receiving device of the embodiment before the electric power system is arranged on the highway and fixes the position of the roof of the vehicle. The hybrid heavy truck judges the length of the contact net of the front expressway and the condition of the route according to a GIS system of a main control center, starting an electrified highway driving mode, driving the robot to receive the electric energy device to rise, adjusting the relative position of the rolling bow 5 at the top of the robot and a contact net by a visual device of a visual perception system, transmitting the acquired relative position information to a storage control module, connecting the storage control module with a main control center through a communication module in a communication way, transmitting data to the main control center for calculation, and the calculation result is returned to the storage control module, the driving mechanism 6 receives the data analysis result of the storage control module to drive the robot to act, when the master control center judges that the rolling bow deviates from the right side of the contact net, the robot electric energy receiving device driving mechanism 6 drives the first support arm 2 to move along the positive direction of the Y axis, and the second support arm 3 moves towards the positive direction of the Z axis; when the master control center judges that the rolling bow deviates from the right side of the contact net, the robot electric energy receiving device driving mechanism 6 drives the first support arm 2 to rotate along the positive direction of the Y axis, and the second support arm 3 rotates along the negative direction of the Y axis; when master control center judges that the roll bow deviates from the lower side of the contact net, the robot receives the first support arm 2 to rotate along the X-axis negative direction of the electric energy device driving mechanism 6, and the second support arm 3 rotates along the Z-axis positive direction until the angle is adjusted, and the roll bow 5 at the top of the robot is accurately connected into the electric contact net.

When the heavy truck enters the electrified highway, the master control center controls the robot to receive the electric energy device to rise, the visual perception system is communicated with the master control center to judge whether the front contact net line condition is suitable for net entrance, if the contact net state is abnormal, the rolling bow is lifted to be ready to be connected into the contact net, and the visual perception system drives the robot to receive six-axis movement in three coordinate axis directions of a first support arm and a second support arm XYZ of the electric energy device to carry out seamless connection of the rolling bow and the contact net according to the relative position of the vehicle and the contact net.

As shown in fig. 6, the ac metering module includes a first power supply unit, a first MCU unit, a first metering unit, a first data storage unit, a first display unit, and a first communication unit. The first power supply unit is connected with other units of the alternating current metering module and provides power required by work, the first MCU unit is connected with the first metering unit, the first data storage unit and the first communication unit to carry out two-way communication, the first display unit is connected with the first MCU unit, and the processing result of the first MCU unit is displayed externally so that a user can check electric quantity data information conveniently.

The first metering unit converts high voltage or medium voltage provided by the electric power supply network into voltage and current suitable for the alternating current metering device and outputs the voltage and current, and the first metering unit also has a reverse electric quantity metering function, meters regenerative braking feedback electric energy overflowing from the storage battery and generated during deceleration or braking of the electric vehicle, and can also meter electric quantity generated by discharge of the storage battery.

The robot of this embodiment receives electric power contact net electric energy from electric energy device electric energy input, the output is carried the electric energy to exchanging metering device, it begins work to exchange metering device, first power supply unit provides the required power of work for other units that exchange metering device, first metering unit carries out the electric quantity and calculates, first communication unit adopts 5G + HPLC communication technology, guarantee to exchange metering device and convey the electric power load data of gathering and conveying to the electric power collection system under the condition of high-speed removal, will net the off-line time of going into simultaneously and electric quantity data send to the main control center, the main control center sends electric quantity settlement information to customer's cell-phone through electric power APP. First communication unit still communicates each other with on-vehicle OBU, and on-vehicle OBU passes to first communication unit with the basic information of vehicle, like identity data, position data, state data, and on-vehicle OBU is given with the electric quantity settlement data of measurement to on-vehicle OBU, and on-vehicle OBU communicates with the RSU, accomplishes the unified settlement of ETC system.

As shown in fig. 9, the adaptive adjustment system includes a pantograph-catenary contact acquisition sensing module, a data storage processing module, and a signal output control module. In the operation process, the wireless transmission pre-judges the road condition in advance, the vehicle runs off the net when meeting a cave, or the vehicle causes the stress offset change of a rolling bow and a contact net due to uneven road or other reasons, in order to ensure the stable current collection of the bow net, the self-adaptive adjustment system bow net contact acquisition sensing module acquires the bow net pressure and the direction of the tension force and transmits the bow net pressure and the direction of the tension force to the data storage processing module and the main control center, the data storage processing module calculates the direction to be adjusted by the bow net according to the magnitude of the bow net pressure and the direction of the tension force and transmits the analysis result to the signal output control module, the signal output control module is connected with the driving mechanism 6 of the robot electric energy receiving device, and the driving mechanism 6 of the robot electric energy receiving device receives the data analysis result of the self-adaptive adjustment system and drives the first support arm 2 and. When the data storage processing module judges that the rolling bow 5 at the top of the robot deviates from the right side of the contact net, the robot receives the electric energy device driving mechanism 6 to drive the first support arm 2 to move along the positive direction of the Y axis, and the second support arm 3 moves along the positive direction of the Z axis; when the data storage processing module judges that the rolling bow 5 at the top of the robot deviates from the right side of the contact net, the robot receives the electric energy device driving mechanism 6 to drive the first support arm 2 to rotate along the positive direction of the Y axis, and the second support arm 3 rotates towards the negative direction of the Y axis; when the data storage processing module judges that the top rolling pantograph head 5 of the robot deviates from the lower side of the contact net, the robot receives the electric energy device driving mechanism 6 to drive the first support arm 2 to rotate along the X-axis negative direction, and the second support arm 3 rotates along the Z-axis positive direction, so that the contact between the top rolling pantograph head 5 of the robot and the contact line is reliable, and stable current collection is obtained.

As shown in fig. 10, the main control center is connected to the GIS system, the storage control module of the visual perception system, the pantograph-catenary contact acquisition sensing module of the adaptive adjustment system, the first communication unit of the alternating current metering device, the storage battery state monitoring module, and the prompting module. The main control center can be installed on a display screen in the vehicle, and can also be used for logging in a main control website by a mobile phone to input an account number and a password for display. The GIS system can link navigation systems of any version, the battery state monitoring module transmits the electric quantity state of the collected storage battery to the main control center, and the prompting module is used for receiving bow net contact state prompt, safe overtaking prompt, current route driving-out notification prompt, front contact net state prompt, front road condition state prompt, storage battery charging electric quantity prompt and information which can be prompted by switching of storage battery charging and discharging schemes and sent by the main control center. The data obtained by the main control center can complete the vehicle-road cooperation and intelligent driving mode, the position information and the road surface information of other vehicles are obtained by the sensor, the driving route is planned automatically, the vehicles are controlled to reach the preset target, and the wind resistance of the vehicles can be reduced by about 30% when a plurality of trucks are grouped and operated.

A method for receiving electric energy by using an electric energy receiving device is characterized in that a storage control module of a vision perception system of the electric energy receiving device of a robot transmits collected front contact network state, height between a contact network and a vehicle body and vehicle body left and right offset data information to a main control center, the main control center returns longitudinal and transverse data calculation results to the electric energy receiving device of the robot, and a driving mechanism 6 drives a first support arm 2 and a second support arm 3 to move to reach preset contact positions to finish accurate access of a rolling bow and the contact network. The pantograph-catenary contact acquisition sensing module of the self-adaptive adjustment system adjusts the first support arm 2 and the second support arm 3 of the robot electric energy receiving device to move up, down, left and right according to the contact pressure acquired by the pantograph-catenary contact acquisition sensing module.

As shown in fig. 11, a method for performing intelligent metering by using an electric energy receiving device determines basic information in a driving process according to a driving destination located by a GIS system, and is not limited to whether a contact network, a network access driving distance, an off-network time, a power supply section and a power supply arm length of a power supply system, a front traffic road condition, a contact network state and a vehicle real-time position are arranged on a highway along the way, and transmits the data information to a master control center. And determining the number of power supply intervals and the length of a power supply arm of each power supply interval according to the mileage after network access and determining the number of real-time vehicles on the power supply arm according to the real-time positions of the vehicles. And acquiring the SOC of the battery according to the storage battery state monitoring module, transmitting the SOC data to the main control center, setting a threshold value to be 95%, and not charging when the SOC reaches the threshold value. And if the SOC does not reach the given threshold value, calculating the charging power according to a charging power distribution method.

Charging power of the ith vehicle on the power supply arm:

determining a charging time t from the charging power W and the power supply system U, I:

and determining an optimal charging scheme according to the charging time t, the network-access driving mileage and the peak-valley electricity price time period. And similarly, the optimal discharging-charging scheme of the battery with the SOC greater than 95% threshold value can be obtained according to the network-access driving mileage and the peak-valley electricity price time period. And transmitting the result to a prompt module to prompt a driver to switch the optimal scheme according to the obtained optimal charging-discharging scheme.

Example 2

The embodiment provides an electric energy receiving device with a direct current charging function, which comprises a robot electric energy receiving device, a visual perception system, an electric energy metering device, a rectifying device, an inverter device, a charging conversion head, a self-adaptive adjusting system and a main control center.

In this embodiment, the electric energy metering device is a dc metering device. The electric energy input end of the direct current metering device is connected with the electric energy output end of the robot electric energy receiving device, the electric energy output end of the direct current metering device is connected with the input end of the inverter device and the output end of the rectifier device, the input end of the rectifier device and the output end of the inverter device are connected with the charging conversion joint, the direct current metering device has a bidirectional charging function, the charging conversion joint is provided with a plurality of different types of interfaces, the corresponding charging conversion joint can be selected according to the type of a storage battery charging interface of a vehicle, and the bidirectional electrifying function is.

As shown in fig. 7, the dc metering module includes a second power supply unit, a second MCU unit, a second metering unit, a second data storage unit, a second display unit, a second communication unit, and a down-wave unit. The second power supply unit comprises an auxiliary power supply which is used for supplying power for the charging module and a working power supply which is used for providing power support for other units of the direct current metering module, the second MCU unit is connected with the second metering unit, the second data storage unit and the second communication unit to carry out two-way communication, the second display unit is connected with the second MCU unit, and the second MCU unit is used for processing result external display so that a user can check electric quantity data information. As shown in fig. 8, the down-wave unit is connected to the second metering unit, and includes a zero-cross comparison circuit, a phase-locked circuit, a sinusoidal signal generation circuit, and a PWM pulse generation circuit.

The second metering unit converts high voltage or medium voltage provided by the electric power supply network into voltage and current suitable for the direct current metering device and outputs the voltage and current, and the second metering unit also has a reverse electric quantity metering function, meters regenerative braking feedback electric energy overflowing from the storage battery and generated during deceleration or braking of the electric vehicle, and can also meter electric quantity generated by discharge of the storage battery.

The robot of this embodiment receives electric power contact net electric energy of electric energy device electric energy input, the output is carried the electric energy to direct current metering device, direct current metering device begins work, it falls the ripples unit and carries out falling ripples retransmission to the electric energy of input for other units, second power supply unit provides the required power of work for other units, second metering unit carries out the electric quantity and calculates, second communication unit adopts 5G + HPLC communication technology, guarantee that direct current metering device will gather under the condition of high-speed removal electric load data and convey to electric power collection system, will net time and electric quantity data transmission to the master control center of leaving the net simultaneously, the master control center sends electric quantity settlement information to customer's cell-phone through electric power APP. The second communication unit still communicates each other with on-vehicle OBU, and on-vehicle OBU passes to the second communication unit with the basic information of vehicle, like identity data, position data, state data, and the second communication unit is with the electric quantity settlement data of measurement for on-vehicle OBU, and on-vehicle OBU communicates with the RSU, accomplishes ETC system and settles accounts in unison.

Example 3

The embodiment provides an electrified highway electric energy receiving device with a direct current charging function, which comprises a robot electric energy receiving device, a visual perception system, a direct current electric quantity charging device, a charging conversion head, a self-adaptive adjusting system and a main control center. The vision perception system and the self-adaptive adjusting system are both arranged on the electric energy receiving device of the robot, and the main control center is in communication connection with the vision perception system, the direct current electric quantity charging device and the self-adaptive adjusting system.

The electric energy input end of the direct current electric quantity charging device is connected with the electric energy output end of the robot electric energy receiving device, the electric energy output end of the robot electric energy receiving device is connected with the charging conversion head, the direct current electric quantity charging device further has a bidirectional charging function, the charging conversion head is provided with a plurality of different types of interfaces, the corresponding charging conversion head can be selected according to the type of a storage battery charging interface of a vehicle, and the bidirectional electrifying function is further achieved.

The structure of the dc power charging device in this embodiment is the same as that of the dc metering device in embodiment 2.

Embodiment 4 this embodiment provides an electric energy receiving device compatible with ac/dc charging function, which includes a robot electric energy receiving device, a visual perception system, an electric energy metering device, a rectifying device, an inverter, a charging converter, an adaptive adjustment system, and a main control center. The vision perception system and the self-adaptive adjusting system are both arranged on the robot electric energy receiving device, and the main control center is in communication connection with the vision perception system, the electric energy metering device and the self-adaptive adjusting system. Correspondingly, the earth-current gasification highway is provided with a matched contact network facility, and the contact network obtains electric energy from a public power grid of the power system.

In this embodiment, as shown in fig. 4, the electric energy metering device includes an automatic current type identification module, a dc metering module and an ac metering module, an electric energy input end of the automatic current type identification module is connected to an electric energy output end of the electric energy receiving device of the robot, an electric energy output end is connected to an input end of the dc metering module and an input end of the ac metering module, an output end of the ac metering module is connected to an input end of the rectifying device and an output end of the inverting device, an output end of the dc metering module, an output end of the rectifying device and an input end of the inverting device are connected to the charging converter, the dc metering module and the ac metering module have a bidirectional charging function, the charging converter has a plurality of different types of interfaces, and can select a corresponding charging converter according to types of battery charging interfaces of the vehicle, and further. The direct current metering module and the alternating current metering module of the present embodiment have the same structures as those of the direct current metering module and the alternating current metering module mentioned in embodiments 1 and 2.

As shown in fig. 5, the automatic recognition current type module includes an input unit, a recognition unit, and an output unit; the input unit is connected with the pantograph circuit, the identification unit is connected with the input unit at one end and the output unit at the other end, and the output unit is provided with two output channels, wherein one channel is used for outputting direct current d and the other channel is used for outputting alternating current a. The direct current metering module is connected with a direct current output channel d of the automatic identification current type module output unit, and the alternating current metering module is connected with an alternating current output channel a of the automatic identification current type module output unit.

The robot on the vehicle receives the electric energy of the electric energy device, the electric energy input end of the electric energy device receives electric energy of an electric power contact net, the output end of the electric energy device transmits the electric energy to the input unit of the electric energy metering device automatic identification current type module, and the identification unit carries out waveform identification on the current input by the input unit.

The result of the identification is the alternating current, then the output unit transmits the alternating current to the alternating current metering module, the alternating current metering module starts to work, the first power supply unit provides power required by work for other units, the first metering unit performs electric quantity calculation, the first communication unit adopts a 5G + HPLC communication technology, the electric energy metering device is guaranteed to collect electric power load data and transmit the electric power collection system under the condition of high-speed movement, meanwhile, the network access and network leaving time and the electric quantity data are transmitted to the main control center, and the main control center transmits the electric quantity settlement information to a client mobile phone through an electric power APP. First communication unit still communicates each other with on-vehicle OBU, and on-vehicle OBU passes to first communication unit with the basic information of vehicle, like identity data, position data, state data, and on-vehicle OBU is given with the electric quantity settlement data of measurement to on-vehicle OBU, and on-vehicle OBU communicates with the RSU, accomplishes the unified settlement of ETC system.

The electric energy metering device automatically identifies the current type module identification unit to obtain a direct current, the output unit transmits the direct current to the direct current metering module, the direct current metering module starts to work, the wave reduction unit reduces waves of input electric energy and transmits the electric energy to other units, the second power supply unit provides power required by work for other units, the second metering unit calculates electric quantity, the second communication unit adopts a 5G + HPLC communication technology, the electric energy metering device is guaranteed to collect electric load data and transmit the electric load data to an electric power collection system under the condition of high-speed movement, meanwhile, the network access off-network time and the electric quantity data are transmitted to a main control center, and the main control center transmits electric quantity settlement information to a client mobile phone through an electric power APP. The second communication unit still communicates each other with on-vehicle OBU, and on-vehicle OBU passes to the second communication unit with the basic information of vehicle, like identity data, position data, state data, and the second communication unit is with the electric quantity settlement data of measurement for on-vehicle OBU, and on-vehicle OBU communicates with the RSU, accomplishes ETC system and settles accounts in unison.

In the present invention, the electric power APP, the vehicle-mounted OBU, the RSU, and the ETC all adopt the existing electronic information technology, and therefore, detailed description thereof is omitted.

Claims (12)

1. An electric energy receiving device is characterized by comprising a robot electric energy receiving device, a self-adaptive adjusting system, a visual perception system, an electric energy metering device, a charging conversion head and a main control center, wherein the electric energy input end of the robot electric energy receiving device is connected with a power supply network of an electric system, the visual perception system and the self-adaptive adjusting system are both arranged on the robot electric energy receiving device, and the main control center is connected with the visual perception system, the self-adaptive adjusting system and the electric energy metering device; the electric energy metering device is connected with the charging conversion head.

2. The electric energy receiving device of claim 1, further comprising a rectifying device and an inverting device, wherein the electric energy metering device is an ac metering device, an electric energy input end of the ac metering device is connected with an electric energy output end of the robot electric energy receiving device, electric energy output ends are respectively connected with an input end of the rectifying device and an output end of the inverting device, and an output end of the rectifying device and an input end of the inverting device are connected with the charging converter.

3. The electric energy receiving device according to claim 2, wherein the alternating current metering device comprises a first power supply unit, a first MCU unit, a first metering unit, a first data storage unit, a first display unit and a first communication unit;

the first MCU unit is connected with the first metering unit, the first data storage unit and the first communication unit for bidirectional communication, and the first display unit is connected with the first MCU unit and externally displays the processing result of the first MCU unit so that a user can check the electric quantity data information;

the first metering unit converts high voltage or medium voltage provided by an electric power supply network into voltage and current suitable for the alternating current metering device and outputs the voltage and current.

4. The electric energy receiving device of claim 1, further comprising a rectifying device and an inverting device, wherein the electric energy metering device is a direct current metering device, an electric energy input end of the direct current metering device is connected with an electric energy output end of the robot electric energy receiving device, an electric energy output end of the direct current metering device is connected with an input end of the inverting device and an output end of the rectifying device, and an input end of the rectifying device and an output end of the inverting device are connected with the charging conversion head.

5. The power receiving device of claim 1, wherein the power metering device is a dc power billing device, a power input end of the dc power billing device is connected to a power output end of the robot power receiving device, and a power output end of the dc power billing device is connected to the charging adapter.

6. The electric energy receiving device according to claim 4 or 5, wherein the direct current metering device or the direct current electric quantity billing device comprises a second power supply unit, a second MCU unit, a second metering unit, a second data storage unit, a second display unit, a second communication unit and a wave reduction unit;

the second MCU unit is connected with the second metering unit, the second data storage unit and the second communication unit for bidirectional communication, and the second display unit is connected with the second MCU unit and externally displays the processing result of the second MCU unit so that a user can conveniently view electric quantity data information;

the wave reduction unit is connected with the second metering unit and comprises a zero-crossing comparison circuit, a phase locking circuit, a sinusoidal signal generation circuit and a PWM pulse generation circuit;

and the second metering unit converts the high-voltage or medium-voltage power provided by the electric power supply network into voltage and current suitable for the direct-current metering device and outputs the voltage and current.

7. The power receiving device according to claim 1, wherein the robot power receiving device comprises a base (1), a first support arm (2), a second support arm (3), a T-shaped structure support (4) and a robot top rolling bow (5), the base (1), the first support arm (2), the second support arm (3) and the T-shaped structure support (4) are sequentially connected through a driving mechanism (6), the robot top rolling bow (5) is installed on the top of the T-shaped structure support (4), and the robot top rolling bow (5) is driven by the first support arm (2) and the second support arm (3) to realize six-axis movement in XYZ coordinate axis directions.

8. The power receiving device of claim 7, wherein the visual perception system comprises a visual device, a storage control module, and a communication module;

the visual device is installed on the T-shaped structural support (4) and used for transmitting acquired data information to the storage control module, the storage control module and the communication module are in communication connection with the master control center, the storage control module is connected with the driving mechanism (6), and the communication module adopts a 5G wireless transmission technology.

9. The electric energy receiving device of claim 3, wherein the adaptive adjusting system comprises a pantograph-catenary contact acquisition sensing module, a data storage processing module and a signal output control module;

the pantograph-catenary contact acquisition sensing module is arranged on a rolling pantograph head (5) at the top of the robot and used for transmitting acquired data to the data storage processing module and the master control center, the data storage processing module is used for transmitting analysis processing results to the signal output control module, and the signal output control module is connected with the driving mechanism (6).

10. The electric energy receiving device according to claim 1, wherein the main control center is connected with a GIS system, a storage control module of a visual perception system, a pantograph-catenary contact acquisition sensing module of an adaptive adjustment system, a communication module of an electric energy metering device, a storage battery state monitoring module of a vehicle and a prompting module, the GIS system is linked with a navigation system, and the storage battery state monitoring module transmits the acquired electric quantity state of a storage battery to the main control center;

the prompting module is used for receiving pantograph-catenary contact state prompt, safe overtaking prompt, current exit route notification prompt, front catenary state prompt, front road condition state prompt, storage battery charging capacity prompt and information which can be prompted by storage battery charging and discharging scheme switching sent by the master control center.

11. A method of receiving electric power using the electric power receiving apparatus according to any one of claims 1 to 10, characterized by comprising:

the storage control module of the visual perception system of the robot electric energy receiving device transmits the collected front contact network state, the height between the contact network and the vehicle body and the left and right offset data information of the vehicle body to the master control center, the master control center returns the longitudinal and transverse data calculation results to the robot electric energy receiving device, and the driving mechanism drives the first support arm and the second support arm to move to reach the preset contact position to complete the accurate access of the rolling bow and the contact network;

the pantograph-catenary contact acquisition sensing module of the self-adaptive adjustment system adjusts the first support arm and the second support arm of the robot electric energy receiving device to move up, down, left and right according to the pantograph-catenary pressure.

12. A method for smart metering using the power receiving device of any one of claims 1-10, characterized in that it comprises:

determining basic information in the driving process according to the driving destination positioned by the GIS system, and transmitting the basic information to a master control center;

determining the number of power supply intervals and the length of a power supply arm of each power supply interval according to the network-access driving mileage, and determining the number of real-time vehicles on the power supply arm according to the real-time positions of the vehicles;

acquiring the SOC of the battery according to the storage battery state monitoring module, transmitting the SOC data to a master control center, setting a threshold value to be 95%, and not charging when the SOC reaches the threshold value;

if the SOC does not reach a given threshold, calculating the charging power according to a charging power distribution method:

charging power of the ith vehicle on the power supply arm:

determining a charging time t from the charging power W and the power supply system U, I:

determining an optimal charging scheme according to the charging time t, the network-access driving mileage and the peak-valley electricity price time period;

similarly, an optimal discharging-charging scheme of the battery with the SOC greater than 95% of the threshold value can be obtained according to the network-access driving mileage and the peak-valley electricity price time period;

and transmitting the result to a prompt module to prompt a driver to switch the optimal scheme according to the obtained optimal charging-discharging scheme.

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