CN113128874A - Energy storage mobile charging vehicle, control method, electronic equipment and storage medium - Google Patents
Energy storage mobile charging vehicle, control method, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses an energy storage mobile charging vehicle, a control method, electronic equipment and a storage medium. Energy storage removes storage battery car includes: the vehicle body is provided with the charging energy storage system, the driving module, the control module and the plurality of following modules, the control module controls the driving module to drive the vehicle body according to the distance and the angle information between the following modules and the transmitting device, and the distance and the angle information between the following modules and the transmitting device are calculated by the following signals received by the plurality of following modules. This application calculates the automobile body and is followed distance and angle information between the emitter that the operating personnel held of charging according to the following signal that a plurality of signal reception module received to by control module control drive module drive automobile body, make the energy storage remove the storage battery car and can follow the operating personnel that charges, guarantee that the storage battery car is automatic to follow the operating personnel that charges to the assigned position for the new forms of energy vehicle charges, remove in a flexible way, follow the accuracy, the range of application is wide.
Description
Technical Field
The application relates to the related technical field of electric automobiles, in particular to an energy storage mobile charging vehicle, a control method, electronic equipment and a storage medium.
Background
With the development of science and technology and the continuous improvement of environmental protection consciousness of people, under the vigorous development of the country, the acceptance of new energy automobiles is gradually increased and the new energy automobiles are rapidly developed. However, the problem of charging convenience is becoming more and more obvious. Some old districts can't build and fill electric pile because of lacking fixed parking stall or the not enough scheduling problem of distribution capacity, lead to unable satisfying new forms of energy car owner's the demand of charging.
For this reason, the prior art provides a mobile charging vehicle for charging. Fig. 1 is a schematic structural diagram of a conventional mobile charging vehicle, including: the charging energy storage system consisting of a charging socket 2 ', an AC/DC circuit 3 ', a battery 4 ', a DC/DC converter 5 ' and a quick charging gun 6 ' is arranged on the vehicle body 1 ' and the vehicle body 1 '. The end, e.g., the front end, of the vehicle body 1 'is provided with a handle 7', and the bottom of the vehicle body 1 'is provided with a wheel 8'. When the charging device is used, an operator pushes and pulls the charging device to a new energy automobile for charging.
However, the existing energy storage mobile charging vehicle needs to be pushed and pulled manually, and is heavy and heavy, so that the workload of an operator is large and the operation is not flexible.
Disclosure of Invention
In view of the above, it is necessary to provide an energy storage mobile charging cart, a control method, an electronic device, and a storage medium, for solving the technical problem that the energy storage mobile charging cart needs to be pushed and pulled manually in the prior art.
The application provides a storage mobile charging car, includes: install energy storage system's that charges automobile body, drive module, control module and a plurality of follow module, follow the module drive module and control module sets up on the automobile body, the drive module drive the automobile body, follow the module the output with control module's input communication connection, control module's output with drive module's input communication connection is a plurality of follow module receives respectively and is followed the signal of following of the emitter that the operating personnel held of charging, control module is according to following distance and angle information between module and the emitter, controls the drive module drive the automobile body, distance and angle information between follow module and the emitter are by a plurality of follow the signal calculation that the follow module received obtains.
Further, the following module comprises a first following module and a second following module, the first following module and the second following module are respectively fixed to the same end part of the vehicle body, a preset distance is reserved between the first following module and the second following module, and the first following module and the second following module receive the following signal of the transmitting device.
Furthermore, the first following module and the second following module are ultra-wideband following modules, and the transmitting device is an ultra-wideband signal transmitting source.
Furthermore, the driving module comprises a plurality of hub motors, each hub motor drives one hub of the vehicle body, and the control module controls the on-off of each hub motor.
The application provides a control method of the energy storage mobile charging vehicle, which comprises the following steps:
acquiring following signals received by a plurality of following modules;
for each following signal, calculating the flight time of the following signal from the transmitting device to the following module, and determining the distance between the transmitting device and each following module according to the flight time;
determining an angle between each following module and the transmitting device and a distance between the vehicle body and the transmitting device based on the distance between the transmitting device and each following module and the distance between the plurality of following modules;
and controlling the steering, advancing or stopping of the vehicle body through the driving module according to the angle between each following module and the transmitting device and the distance between the vehicle body and the transmitting device.
Further, the following module of the energy storage mobile charging vehicle comprises a first following module and a second following module, the first following module and the second following module are respectively fixed on two sides of the same end part of the vehicle body, the first following module and the second following module have a preset distance a, and based on the distance between the transmitting device and each following module and the distances between the plurality of following modules, the angle between each transmitting device and the distance between the vehicle body and the transmitting device are determined, and the following module specifically comprises:
determining a first angle alpha of the first following module and the transmitting device, a second angle beta of the second following module and the transmitting device, and a distance L between the vehicle body and the transmitting device based on a first distance b between the transmitting device and the first following module, a second distance c between the transmitting device and the second following module, and a distance a between the first following module and the second following module, wherein:
the first angle alpha is arccos { [ a ]2+b2－c2]/(2ab)}；
The second angle beta is arccos { [ a ]2+c2－b2]/(2ac)}；
The distance L is sin α × b or sin β × c.
Furthermore, the controlling the turning, advancing or stopping of the vehicle body through the driving module according to the angle between each following module and the transmitting device and the distance between the vehicle body and the transmitting device specifically comprises:
and controlling the turning, advancing or stopping of the vehicle body through the driving module according to the difference value of the angle between each following module and the transmitting device and the distance between the vehicle body and the transmitting device.
Still further, according to the difference between the angle of each following module and the emitting device and the distance between the vehicle body and the emitting device, the driving module controls the steering, advancing or stopping of the vehicle body, and specifically comprises:
when a first angle alpha between the first following module and the transmitting device is larger than a second angle beta between the second following module and the transmitting device, controlling the rotating speed of the hub on the side where the first following module is located to be smaller than the rotating speed of the hub on the side where the second following module is located;
when the first angle alpha is smaller than the second angle beta, controlling the rotation speed of the hub at the side where the second following module is located to be smaller than the rotation speed of the hub at the side where the first following module is located;
when the first angle alpha is equal to the second angle beta, controlling the rotation speeds of the hubs on the two sides to be consistent;
and when the distance L between the vehicle body and the transmitting device reaches a preset following distance, controlling the hub to stop rotating.
The application provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling an energy storage mobile charging cart as described above.
The application provides a storage medium, wherein the storage medium stores computer instructions, and when a computer executes the computer instructions, the storage medium is used for executing the control method of the energy storage mobile charging vehicle.
This application is according to a plurality of following signal calculation automobile body that signal reception module received is followed distance and angle information between the emitter that charging operation personnel held by the follow to by control module control drive module drive automobile body, make the energy storage remove the storage battery car and can follow the charging operation personnel, guarantee that the storage battery car is automatic to follow the charging operation personnel and charge to the assigned position for the new forms of energy vehicle, remove in a flexible way, follow the accuracy, the range of application is wide.
Drawings
Fig. 1 is a schematic structural diagram of a conventional mobile charging vehicle;
fig. 2 is a schematic structural diagram of an energy storage mobile charging vehicle according to an embodiment of the present disclosure;
fig. 3 is a flowchart illustrating a control method of the energy storage mobile charging vehicle according to an embodiment of the present application;
fig. 4 is a flowchart illustrating a control method of the energy storage mobile charging vehicle according to an embodiment of the present application;
FIG. 5 is a schematic view of a follower module and label system according to one embodiment of the present application;
fig. 6 is a schematic diagram of a hardware structure of an electronic device according to the present application.
Description of the marks
1' -a vehicle body; 2' -a charging socket; 3' -AC/DC circuit; 4' -a battery; 5' -DC/DC converter; 6' -quick-charging gun; 7' -a handle; 8' -a wheel; 1-a vehicle body; 2-charging an energy storage system; 21-a charging socket; 22-AC/DC charging circuit; 23-an energy storage battery; 24-a dc/dc converter; 25-quick charging gun; 3-a drive module; 4-a control module; 5-a following module; 51-a first follower module; 52-a second follower module; 6-transmitting device.
Detailed Description
The present application will now be described in further detail with reference to the accompanying drawings and specific examples.
Fig. 2 is a schematic structural diagram of an energy storage mobile charging vehicle according to an embodiment of the present invention, including: a vehicle body 1 provided with a charging energy storage system 2, a driving module 3, a control module 4 and a plurality of following modules 5, the following module 5, the driving module 3 and the control module 4 are arranged on the vehicle body 1, the driving module 3 drives the vehicle body 1, the output end of the following module 5 is in communication connection with the input end of the control module 4, the output end of the control module 4 is in communication connection with the input end of the driving module 3, a plurality of the following modules 5 respectively receive following signals of a transmitting device 6 held by a following charging operator, the control module 4 controls the driving module 3 to drive the vehicle body 1 according to the distance and angle information between the following module 5 and the transmitting device 6, the distance and angle information between the following module 5 and the transmitting device 6 are calculated by following signals received by a plurality of following modules 5.
Specifically, the vehicle body 1 is mounted with a charging energy storage system 2. The charging energy storage system 2 includes, but is not limited to: a charging socket 21, an alternating current/direct current (AC/DC) charging circuit 22, an energy storage Battery (Battery)23, a direct current/direct current (DC/DC) converter 24, and a quick charging gun 25. When the three-phase alternating current power supply exists near the electric vehicle to be charged, the alternating current voltage can be connected through the charging socket 21, the electric vehicle is rapidly charged through the AC/DC charging circuit 22, and when the alternating current power supply does not exist near the electric vehicle, the energy storage battery 23 of the charging device is used for converting through the DC/DC converter 24, and the electric vehicle is charged.
The drive module 3 is controlled by the control module 4 to drive the vehicle body 1. The Control module 4 may be a Microprocessor (MCU). The following charging operator holds the transmitting device 6, sends a following signal through the transmitting device 6, and receives the following signal by the following module 5 arranged on the vehicle body 1. The following module 5 may calculate the distance and angle information between the following module 5 and the transmitting device 6 after receiving the following signal and then transmit the distance and angle information to the control module 4, or the following module 5 may transmit the following signal to the control module 4, and the control module 4 calculates the distance and angle information between the following module 5 and the transmitting device 6 according to the following signals received by the plurality of following modules 5. The control module 4 controls the driving module 3 to drive the vehicle body 1 to turn, advance or stop according to the distance and angle information between the following module 5 and the transmitting device 6.
This application is according to a plurality of following signal calculation automobile body that signal reception module received is followed distance and angle information between the emitter that charging operation personnel held by the follow to by control module control drive module drive automobile body, make the energy storage remove the storage battery car and can follow the charging operation personnel, guarantee that the storage battery car is automatic to follow the charging operation personnel and charge to the assigned position for the new forms of energy vehicle, remove in a flexible way, follow the accuracy, the range of application is wide.
Fig. 2 is a schematic structural diagram of an energy storage mobile charging vehicle according to an embodiment of the present invention, including: the energy-saving vehicle comprises a vehicle body 1 provided with a charging energy storage system 2, a driving module 3, a control module 4 and a plurality of following modules 5, wherein the following modules 5, the driving module 3 and the control module 4 are arranged on the vehicle body 1, the following modules 5 are fixed at the same end part of the vehicle body 1, the driving module 3 drives the vehicle body 1, the driving module 3 comprises a plurality of hub motors, each hub motor drives one hub of the vehicle body 1, and the control module 4 controls the on-off of each hub motor;
the output end of the following module 5 is in communication connection with the input end of the control module 4, the output end of the control module 4 is in communication connection with the input end of the driving module 3, the following modules 5 respectively receive following signals of a transmitting device 6 held by a following charging operator, the control module 4 controls the driving module 3 to drive the vehicle body 1 according to the distance and angle information between the following modules 5 and the transmitting device 6, and the distance and angle information between the following modules 5 and the transmitting device 6 are calculated by the following signals received by the following modules 5;
the following module 5 comprises a first following module 51 and a second following module 52, the first following module 51 and the second following module 52 are respectively fixed on the vehicle body 1, the first following module 51 and the second following module 52 have a preset distance, the first following module 51 and the second following module 52 receive the following signal of the transmitting device 6, the first following module 51 and the second following module 52 are ultra-wideband following modules, and the transmitting device 6 is an ultra-wideband signal transmitting source.
Specifically, the driving module 3 includes a plurality of in-wheel motors, each of which drives one of the hubs of the vehicle body 1, and the in-wheel motors have the characteristic of independent driving of a single wheel, so that it can be easily implemented regardless of forward, backward, and turning. Meanwhile, a large number of transmission components and steering components are omitted, and the automatic following energy storage mobile charging car is simpler in structure.
The following module 5 adopts an Ultra Wide Band (UWB) following module, and the corresponding transmitting device 6 is also an Ultra Wide Band (UWB) signal transmitting source. The UWB has the characteristics of good anti-interference performance, high transmission rate, extremely wide bandwidth, large system capacity, low transmitting power and the like. Because the narrow pulse with extremely short duration is adopted, the time resolution and the space resolution are extremely strong, the activities such as ranging, positioning, tracking and the like can be conveniently carried out, and the narrow pulse has good penetrability and cannot be interfered by too many external factors. The first follower module 51 and the second follower module 52 are provided at the same end portion of the vehicle body 1, for example, the front end of the vehicle body 1.
This embodiment is convenient for realize advancing, retreat, turn through a plurality of in-wheel motor independent drive vehicle respectively, omits a large amount of transmission parts and turns to the part simultaneously, lets the energy storage removal storage battery car structure of automatic following simpler. Meanwhile, UWB is adopted for communication, so that the development of activities such as ranging, positioning and tracking is facilitated, and narrow pulses have good penetrability and cannot be interfered by too many external factors. Finally, the two following modules with fixed distances are adopted, so that the distance and angle information between the vehicle body and the transmitting device can be accurately measured and calculated.
As shown in fig. 2, the energy storage mobile charging vehicle with automatic following according to one embodiment of the present application includes a vehicle body 1, and a UWB communication module, a hub motor, a control module 4, and a charging energy storage system 2 are arranged on the vehicle body 1. The UWB module is as following module 5, in-wheel motor is as drive module 3, and control module 4 is as following the execution module, the energy storage system 2 that charges is as the execution module that charges, through UWB module and the communication of charging operation personnel UWB label, and the UWB label is emitter 6. Calculating the distance and angle between the charging device and the followed charging operator, and inputting the distance and angle to the control module 4; the control module 4 controls the on-off of a power switch of each hub motor according to the input distance and angle information between the charging vehicle and the followed charging operator, so that the forward movement, the backward movement and the turning of the charging vehicle are controlled, and the automatic following of the charging vehicle is realized; and following to the vehicle to be charged, and charging the electric vehicle through the charging system.
This application mainly relates to UWB, in-wheel motor and control, three aspects of charging, specifically as follows:
1, UWB aspect:
the UWB has the characteristics of good anti-interference performance, high transmission rate, extremely wide bandwidth, large system capacity, low transmitting power and the like. Because the narrow pulse with extremely short duration is adopted, the time resolution and the space resolution are extremely strong, the activities such as ranging, positioning, tracking and the like can be conveniently carried out, and the narrow pulse has good penetrability and cannot be interfered by too many external factors.
2, in the aspect of in-wheel motor and control:
the hub motor has the characteristic of independent driving of a single wheel, so that the hub motor can be easily realized no matter whether the hub motor moves forwards, backwards or turns. Meanwhile, a large number of transmission components and steering components are omitted, and the automatic following energy storage mobile charging car is simpler in structure.
3, charging system aspect:
the charging system is provided with a charging socket, an AC/DC charging circuit, an energy storage battery, a DC/DC converter and a quick charging gun. When the three-phase alternating current power supply is arranged near the electric vehicle to be charged, the electric vehicle can be rapidly charged through the AC/DC charging circuit, and when the alternating current power supply is not arranged near the electric vehicle, the energy storage battery of the charging equipment is used for charging the electric vehicle through DC/DC conversion.
As shown in fig. 3, an embodiment of the present application is a flowchart of a control method of the energy storage mobile charging vehicle, which includes:
step S301, acquiring a plurality of following signals received by the following modules 5;
step S302, for each following signal, calculating the flight time of the following signal from the transmitting device 6 to the following module 5, and determining the distance between the transmitting device 6 and each following module 5 according to the flight time;
step S303, determining the angle between each following module 5 and each transmitting device 6 and the distance between the vehicle body 1 and the transmitting device 6 based on the distance between the transmitting device 6 and each following module 5 and the distances between the plurality of following modules 5;
and step S304, controlling the steering, advancing or stopping of the vehicle body 1 through the driving module 3 according to the angle between each following module 5 and the transmitting device 6 and the distance between the vehicle body 1 and the transmitting device 6.
Specifically, steps S301 to S303 may be independently calculated by the follower module 5, and then step S304 is executed by the control module. Steps S301 to S304 may also be performed by the control module 4.
When step S301 is executed, the following signals received by a plurality of following modules 5 are acquired. Then, step S302 is executed to determine the distance between the transmitting device 6 and each following module 5 according to the flight time of the following signal from the transmitting device 6 to the following module 5. The transmitting means 6 carries the transmission time in the following signal when transmitting each following signal. When receiving the following signal, each following module 5 records the receiving time, analyzes the following signal at the same time, and obtains the transmitting time of the following signal, and the difference value between the receiving time and the transmitting time is the flight time of the following signal. The distance of the transmitting device 6 from the follower module 5 can be obtained by multiplying the time of flight t by the propagation velocity of the follower signal in space. Since the following modules 5 are mounted at the end, for example, the front end, of the vehicle body 1, the angle of each following module 5 from the transmitting device 6 and the distance between the vehicle body 1 and the transmitting device 6 are determined based on the distance between the transmitting device 6 and each following module 5 and the distances between the plurality of following modules 5 in step S303. Finally, in step S304, steering, forward traveling, or stopping of the vehicle body 1 is controlled. Specifically, a control signal can be output by the control module 4 to control the on-off of the power supply of each hub motor of the driving module 3, so that the automatic following of the steps and the positions of the energy storage mobile charging equipment is realized.
This application is according to a plurality of following signal calculation automobile body that signal reception module received is followed distance and angle information between the emitter that charging operation personnel held by the follow to by control module control drive module drive automobile body, make the energy storage remove the storage battery car and can follow the charging operation personnel, guarantee that the storage battery car is automatic to follow the charging operation personnel and charge to the assigned position for the new forms of energy vehicle, remove in a flexible way, follow the accuracy, the range of application is wide.
As shown in fig. 4, in an embodiment of the present application, a control method of an energy storage mobile charging vehicle as described above, wherein the following modules 5 of the energy storage mobile charging vehicle include a first following module 51 and a second following module 52, the first following module 51 and the second following module 52 are respectively fixed on two sides of the same end of the vehicle body 1, and the first following module 51 and the second following module 52 have a preset distance a, the method includes:
step S401, acquiring a plurality of following signals received by the following modules 5;
step S402, for each following signal, calculating the flight time of the following signal from the transmitting device 6 to the following module 5, and determining the distance between the transmitting device 6 and each following module 5 according to the flight time;
step S403, determining a first angle α of the first following module 51 and the transmitting device 6, a second angle β of the second following module 52 and the transmitting device 6, and a distance L between the vehicle body 1 and the transmitting device 6, based on a first distance b of the transmitting device 6 and the first following module 51, a second distance c of the transmitting device 6 and the second following module 52, and a distance a between the first following module 51 and the second following module 52, wherein:
the first angle alpha is arccos { [ a ]2+b2－c2]/(2ab)}；
The second angle beta is arccos { [ a ]2+c2－b2]/(2ac)}；
Distance L is sin α × b or sin β × c;
step S404, controlling the steering, advancing or stopping of the vehicle body 1 through the driving module 3 according to the difference value of the angle between each following module 5 and the emitting device 6 and the distance between the vehicle body 1 and the emitting device 6;
the control of the steering, advancing or stopping of the vehicle body 1 through the driving module 3 according to the difference value of the angle between each following module and the transmitting device 6 and the distance between the vehicle body 1 and the transmitting device 6 specifically comprises:
when a first angle alpha between the first following module 51 and the transmitting device 6 is larger than a second angle beta between the second following module 52 and the transmitting device 6, controlling the rotating speed of the hub on the side where the first following module 51 is located to be smaller than the rotating speed of the hub on the side where the second following module 52 is located;
when the first angle a is smaller than the second angle β, controlling the hub rotation speed of the side where the second following module 52 is located to be smaller than the hub rotation speed of the side where the first following module 51 is located;
when the first angle alpha is equal to the second angle beta, controlling the rotation speeds of the hubs on the two sides to be consistent;
and when the distance L between the vehicle body 1 and the transmitting device 6 reaches a preset following distance, controlling the hub to stop rotating.
Specifically, in steps S401 to S403, the following module 5 may calculate the distance and angle between the charging operator and the energy storage mobile charging device in real time, transmit the distance and angle to the control module through a signal, and then the control module executes step S404, calculates and analyzes the distance and angle between the charging operator and the energy storage mobile charging device transmitted in real time, outputs a control signal, controls the power supply of each hub motor to be turned on and off, and realizes automatic following of the step and position of the energy storage mobile charging device. Step S401 to step S404 can also be executed by the control module 4, the distance and the angle between the charging operator and the energy storage mobile charging device are calculated in real time, the distance and the angle between the charging operator and the energy storage mobile charging device transmitted in real time are calculated and analyzed, a control signal is output, the power supply on-off of each hub motor is controlled, and automatic following of the step and the position of the energy storage mobile charging device is realized.
This application is through 1) UWB module and UWB label system, calculates distance and angle between operating personnel and the energy storage mobile charging equipment that charges in real time, and signal transmission gives MCU. Through 2) MCU and wheel hub motor system, carry out calculation analysis to the distance and the angle between charging operation personnel that real-time transmission comes and the energy storage mobile charging equipment, output control signal controls the power break-make of each wheel hub motor, realizes the automatic following of energy storage mobile charging equipment step and position.
As shown in fig. 5, the following mobile charging vehicle is mounted with UWB following modules, specifically, a first following module 51 mounted on the right side in the vehicle advancing direction and a second following module 52 mounted on the left side in the vehicle advancing direction. The UWB transmitting device 6 is held by a following charging operator in a handheld mode, the transmitting device 6 is a transmitting source and is provided with a tag A, a signal of the tag A transmitted by the transmitting device 6 is a following signal, and the advancing direction of a vehicle faces the tag A. The first following module 51 is provided with a tag B, the second following module 52 is provided with a tag C, and the transmitting device 6 is provided with a tag C. The identification information of the label is recorded on each label respectively and is used for distinguishing each label. The three labels A, B, C are mounted in a triangular shape with a spacing of greater than 20cm between the three labels. The installation distance between the label B and the label C is fixed to be a, the time when the label B receives the signal of the emission source label A is t1, the time when the label C receives the signal of the emission source label A is t2, the distance B between the label A and the label B and the distance C between the label A and the label C can be calculated through the flight time of electromagnetic waves in the air, and the angle alpha between the emission source A and the label B and the angle beta between the emission source A and the label C and the linear distance between the emission source and the trolley can be calculated according to the trigonometric function relation.
An angle and angle calculation formula:
cos2＝[a2+b2－c2]/(2ab)
cosβ＝[a2+c2－b2]/(2ac)
A. b, C, the steps S401 to S403 are performed through wireless communication, the distance between A and B, C is calculated, and the modules B and C send the distance information and the angle information to the main control board (i.e. the control module 4) of the trolley through the serial port. After the main control board of the following mobile charging vehicle receives the distance and angle information of the tag, step S404 is executed. Or the first following module 51 and the second following module 52 transmit the received following signal to the control module 4, and the control module 4 performs steps S401 to S404.
When step S404 is executed:
1): when the angle of the module a is greater than the angle β, the angle difference of β -a is negative, and the control module 4 controls the input amount as a main board Proportional Integral (PI) regulator, and controls the left-side hub rotation speed to be greater than the right-side hub rotation speed, that is, controls the hub rotation speed on the right side of the vehicle where the first following module 51 is located to be less than the hub rotation speed on the left side of the vehicle where the second following module 52 is located, so that the vehicle is steered to the right while the vehicle is moving forward.
2): when the angle of the module alpha is smaller than the angle beta, the angle difference value of the angle beta-alpha is positive, the control module 4 serves as a main board PI regulator to control the input quantity, and control the right-side hub rotation speed to be larger than the left-side hub rotation speed, namely, control the hub rotation speed on the left side of the vehicle where the second following module 52 is located to be smaller than the hub rotation speed on the right side of the vehicle where the first following module 51 is located, so that left steering while the trolley moves forward is achieved.
3): when the module angle alpha is equal to angle beta, the trolley moves forward.
4): and when the trolley reaches the set following distance S, the trolley stops moving.
This application removes battery charging outfit through in-wheel motor drive energy storage, realizes that the driving is light, has solved the power problem, follows the system through UWB, realizes that the energy storage removes battery charging outfit and follows the function automatically.
Fig. 6 is a schematic diagram of a hardware structure of an electronic device according to the present application, including:
at least one processor 601; and the number of the first and second groups,
a memory 602 communicatively coupled to at least one of the processors 601; wherein the content of the first and second substances,
the memory 602 stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the method of controlling an energy storage mobile charging cart as described above.
The electronic device may be the control module 4 of the energy storage mobile charging vehicle, or may adopt two processors, one processor is the processor of the control module 4, the other processor is the processor of the following module 5, and the control module 4 is in communication connection with the following module 5. In fig. 6, one processor 601 is taken as an example.
The electronic device may further include: an input device 603 and a display device 604.
The processor 601, the memory 602, the input device 603, and the display device 604 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 602, serving as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the energy storage mobile charging cart in the embodiment of the present application, for example, the method flow shown in fig. 3. The processor 601 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 602, that is, the control method of the energy storage mobile charging vehicle in the above embodiment is implemented.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a control method of the energy storage mobile charging cart, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 602 may optionally include memory remotely located from the processor 601, and these remote memories may be connected over a network to a device that performs the control method of the energy storage mobile charging cart. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 603 may receive input from a user click and generate signal inputs related to user settings for the control method and function control of the energy storage mobile charging cart. The display device 604 may include a display screen or the like.
When the one or more modules are stored in the memory 602, the control method of the energy storage mobile charging vehicle in any of the above method embodiments is executed when the one or more processors 601 run.
This application is according to a plurality of following signal calculation automobile body that signal reception module received is followed distance and angle information between the emitter that charging operation personnel held by the follow to by control module control drive module drive automobile body, make the energy storage remove the storage battery car and can follow the charging operation personnel, guarantee that the storage battery car is automatic to follow the charging operation personnel and charge to the assigned position for the new forms of energy vehicle, remove in a flexible way, follow the accuracy, the range of application is wide.
One embodiment of the present application provides a storage medium storing computer instructions for executing all the steps of the control method of the energy storage mobile charging vehicle as described above when the computer executes the computer instructions.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides an energy storage removes storage battery car which characterized in that includes: the vehicle body (1) provided with the charging energy storage system (2), a driving module (3), a control module (4) and a plurality of following modules (5), wherein the following modules (5), the driving module (3) and the control module (4) are arranged on the vehicle body (1), the driving module (3) drives the vehicle body (1), the output end of the following modules (5) is in communication connection with the input end of the control module (4), the output end of the control module (4) is in communication connection with the input end of the driving module (3), the following modules (5) respectively receive following signals of a transmitting device (6) held by a following charging operator, the control module (4) controls the driving module (3) to drive the vehicle body (1) according to the distance and angle information between the following modules (5) and the transmitting device (6), the distance and angle information between the following modules (5) and the transmitting device (6) are calculated by following signals received by the following modules (5).
2. The energy storage mobile charging vehicle according to claim 1, characterized in that the following module (5) comprises a first following module (51) and a second following module (52), the first following module (51) and the second following module (52) are respectively fixed on the same end of the vehicle body (1), the first following module (51) and the second following module (52) have a preset distance, and the first following module (51) and the second following module (52) receive the following signal of the transmitting device (6).
3. The energy-storing mobile charging vehicle according to claim 2, characterized in that the first following module (51) and the second following module (52) are ultra-wideband following modules, and the transmitting device (6) is an ultra-wideband signal transmitting source.
4. The energy storage mobile charging vehicle according to claim 1, wherein the driving module (3) comprises a plurality of hub motors, each hub motor drives one hub of the vehicle body (1), and the control module (4) controls the on/off of each hub motor.
5. The control method of the energy storage mobile charging vehicle according to any one of claims 1 to 4, characterized by comprising the following steps:
acquiring following signals received by a plurality of following modules (5);
for each following signal, calculating the flight time of the following signal from the transmitting device (6) to the following module (5), and determining the distance between the transmitting device (6) and each following module (5) according to the flight time;
determining the angle of each following module (5) and the transmitting device (6) and the distance between the vehicle body (1) and the transmitting device (6) based on the distance between the transmitting device (6) and each following module (5) and the distances between the plurality of following modules (5);
controlling the steering, advancing or stopping of the vehicle body (1) through the driving module (3) according to the angle between each following module (5) and the transmitting device (6) and the distance between the vehicle body (1) and the transmitting device (6).
6. The method for controlling the energy storage mobile charging vehicle according to claim 5, wherein the following modules (5) of the energy storage mobile charging vehicle comprise a first following module (51) and a second following module (52), the first following module (51) and the second following module (52) are respectively fixed on two sides of the same end of the vehicle body (1), the first following module (51) and the second following module (52) have a preset distance a, and the determining the angle between each transmitting device (6) and the distance between the vehicle body (1) and the transmitting device (6) is based on the distance between the transmitting device (6) and each following module (5) and the distances between the plurality of following modules (5), specifically comprises:
determining a first angle a of the first follower module (51) to the transmitting device (6), a second angle β of the second follower module (52) to the transmitting device (6), and a distance L between the vehicle body (1) and the transmitting device (6) based on a first distance b of the transmitting device (6) to the first follower module (51), a second distance c of the transmitting device (6) to the second follower module (52), and a distance a between the first follower module (51) and the second follower module (52), wherein:
the first angle alpha is arccos { [ a ]2+b2－c2]/(2ab)}；
The second angle beta is arccos { [ a ]2+c2－b2]/(2ac)}；
The distance L is sin α × b or sin β × c.
7. The method for controlling the energy storage mobile charging vehicle according to claim 6, wherein the step of controlling the steering, advancing or stopping of the vehicle body (1) through the driving module (3) according to the angle between each following module (5) and the transmitting device (6) and the distance between the vehicle body (1) and the transmitting device (6) comprises the following steps:
and controlling the steering, advancing or stopping of the vehicle body (1) through the driving module (3) according to the difference value of the angle between each following module (5) and the transmitting device (6) and the distance between the vehicle body (1) and the transmitting device (6).
8. The method for controlling the energy storage mobile charging vehicle according to claim 7, wherein the step of controlling the steering, advancing or stopping of the vehicle body (1) through the driving module (3) according to the difference value of the angle between each following module and the transmitting device (6) and the distance between the vehicle body (1) and the transmitting device (6) comprises the following steps:
when a first angle alpha between the first following module (51) and the transmitting device (6) is larger than a second angle beta between the second following module (52) and the transmitting device (6), controlling the rotating speed of the hub on the side of the first following module (51) to be smaller than the rotating speed of the hub on the side of the second following module (52);
when the first angle alpha is smaller than the second angle beta, controlling the hub rotating speed of the side where the second following module (52) is located to be smaller than the hub rotating speed of the side where the first following module (51) is located;
when the first angle alpha is equal to the second angle beta, controlling the rotation speeds of the hubs on the two sides to be consistent;
and when the distance L between the vehicle body (1) and the transmitting device (6) reaches a preset following distance, controlling the hub to stop rotating.
9. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling an energy storage mobile charging cart of any of claims 5 to 8.
10. A storage medium storing computer instructions for performing the method of controlling an energy storage mobile charging cart according to any of claims 5 to 8 when the computer instructions are executed by a computer.
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