CN113320410A - Charging vehicle for providing emergency charging for electric vehicle and working method thereof - Google Patents

Charging vehicle for providing emergency charging for electric vehicle and working method thereof Download PDF

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Publication number
CN113320410A
CN113320410A CN202110599828.3A CN202110599828A CN113320410A CN 113320410 A CN113320410 A CN 113320410A CN 202110599828 A CN202110599828 A CN 202110599828A CN 113320410 A CN113320410 A CN 113320410A
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China
Prior art keywords
charging
vehicle
charging gun
gun
mechanical arm
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Granted
Application number
CN202110599828.3A
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Chinese (zh)
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CN113320410B (en
Inventor
孟庆华
康志彬
赵鑫
郑和洋
慎智勇
王启贤
宋宇欣
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/302—Cooling of charging equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/53—Batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/64—Optimising energy costs, e.g. responding to electricity rates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a charging vehicle for providing emergency charging for an electric vehicle and a working method thereof. The charging vehicle comprises a vehicle main body, a power supply module and an automatic power plug-in module. The power module includes a battery box mounted on the vehicle body. The battery in the battery box is used for supplying power for the automatic power plug-in module, and external charging is achieved. The automatic power-on module comprises a guide rail, a charging mechanical arm and one or more automatic charging gun conveying cabinets. The end of the charging mechanical arm is provided with a linear propeller. The tail end of the linear propeller is provided with a rotary connecting screw rod. The automatic conveying cabinet for the charging gun comprises a cabinet, the charging gun, a connecting block, a charging gun cable, a charging gun fixing support and a winding drum. The connecting screw and the connecting block in the invention realize grabbing and releasing of the charging gun in a threaded screwing and separating mode, and can ensure that the position of the charging gun relative to the charging mechanical arm is kept stable after grabbing every time, thereby ensuring that the subsequent gun inserting action can be realized stably and reliably.

Description

Charging vehicle for providing emergency charging for electric vehicle and working method thereof
Technical Field
The invention belongs to the technical field of intelligent charging of automobiles, and particularly relates to a charging vehicle for providing emergency charging for an electric vehicle and a working method thereof.
Background
Because of the problems of energy consumption and environmental pollution caused by the traditional fuel oil vehicles, new energy automobile industry is vigorously developed in all countries in the world. The new energy automobile mainly comprises a hybrid electric vehicle, a pure electric vehicle, a range-extended electric vehicle and a fuel cell vehicle. The pure electric vehicles develop rapidly in China, the reserve of domestic pure electric vehicles rises year by year in recent years, and the reserve of the pure electric vehicles reaches 400 thousands in 2020. Accounting for 81.32 percent of the total amount of the new energy automobile. The increment of the new energy automobile is more than 100 thousands of automobiles in three consecutive years and shows a continuous high-speed growth trend. The development of the pure electric vehicle is restricted by the problems of low driving range, low charging speed, imperfect charging infrastructure and the like of the pure electric vehicle, which are limited by the technology at present.
Pure electric vehicles easily appear not having the circumstances of electricity at the in-process of traveling, consequently need in time emergent charging, and fixed charging pile can't realize in time emergent charging, and portable charging device can deal with this condition. The existing mobile charging device is mostly a mobile charging vehicle, the vehicle is formed by additionally installing a battery pack and a charging gun on the basis of a traditional vehicle chassis in a modified mode, a driver needs to wait for an emergency charging task at any time, the vehicle drives the mobile charging vehicle to be close to a target vehicle after receiving the task, and the driver manually charges the target vehicle. This approach therefore requires the driver to wait for his or her life at any time, with high labor costs and inefficiencies. Therefore, it is urgently needed to develop a novel mobile charging vehicle, which has an automatic driving capability, can automatically plan a path to reach the vicinity of a target vehicle in the shortest time after receiving a charging task, has an automatic charging device, can automatically charge the target vehicle by utilizing an image recognition technology and an automatic control technology, and simultaneously has an intelligent temperature control system, so that the thermal runaway of the vehicle in the large-current charging and discharging process is prevented, and the safety of the vehicle is ensured.
Disclosure of Invention
The invention aims to solve the problem of emergency charging of a pure electric vehicle, and provides a charging vehicle, an automatic charging system and an automatic charging method thereof, wherein the charging vehicle can realize autonomous navigation, can charge a target vehicle through an automatic charging device and can charge the target vehicle.
The invention relates to a charging vehicle for providing emergency charging for an electric vehicle. The power module includes a battery box mounted on the vehicle body. The battery in the battery box is used for supplying power for the automatic power plug-in module, and external charging is achieved.
The automatic power-on module comprises a guide rail, a charging mechanical arm and one or more automatic charging gun conveying cabinets. The guide rail is mounted around the battery box or the vehicle body. The sliding base on the charging mechanical arm is connected with the guide rail in a sliding manner and moves along the guide rail under the driving of the power element motor. One or more automatic conveying cabinets for charging guns are installed on the vehicle body. The end of the charging mechanical arm is provided with a linear propeller. The tail end of the linear propeller is provided with a connecting screw rod which rotates under the driving of a power element.
The automatic rifle that charges carry cabinet include rack, the rifle that charges, connecting block, the rifle cable that charges, the rifle fixed bolster and the reel charge. The rack is connected with the mounting groove on the vehicle main body in a sliding manner. The rifle mount that charges is fixed in the rack for place and fix a position the rifle that charges. The reel is supported in the cabinet and is driven to rotate by a power element. One end of the charging gun cable is fixed and wound on the winding drum, and the other end of the charging gun cable is connected with the charging gun. The charging gun cable is electrically connected with the battery in the battery box.
The connecting block is arranged at the top of the charging gun. The connecting block is provided with a threaded hole facing to one side far away from the gun head. The shape of the threaded hole is matched with the shape of a connecting screw rod on the linear propeller. When external charging is needed, the charging mechanical arm enables the connecting screw rod to be in butt joint with the threaded hole of the connecting block, and the connecting screw rod is rotated in the forward direction, so that the charging gun can be grabbed; after the charging gun is inserted into the charged vehicle, the connecting screw rod is rotated reversely to separate the charging mechanical arm from the charging gun.
Preferably, the power module further comprises a heat dissipation fan, a solar panel and a charging port. And a power battery pack, a fire extinguisher, a smoke alarm, heat dissipation holes, an air filter element and a battery box control unit are arranged in the battery box. One or more heat dissipation holes are formed in the battery box. And each radiating hole is provided with a radiating fan and an air filter element. The top of the battery box is covered with a solar panel. The charging port is installed at a side portion of the vehicle body for docking an external power supply. The power battery pack is equipped with a temperature sensor and a voltage sensor. A plurality of fire extinguishers are respectively installed at different positions of the edge of the inner side of the battery box and used for carrying out full-coverage fire extinguishment on the battery box. The smoke alarm is arranged at the top of the inner cavity of the battery box. The battery box control unit collects the voltage value of each power battery in the power battery pack, the temperature values of a plurality of temperature sensors in the battery box, the total voltage value and the total current value of the power battery pack in real time, and judges whether the power battery pack works normally or not according to a set threshold value. The battery box control unit is communicated with a vehicle-mounted computer on the vehicle main body through a CAN bus to obtain the real-time charging amount of each charging gun.
Preferably, the vehicle body is an unmanned vehicle. The vehicle main body is provided with an information acquisition control module. The information acquisition control module comprises an unmanned control unit, an ultrasonic radar, a millimeter wave radar, a camera, a laser radar, a GPS/INS integrated navigation system, a millimeter wave radar and an ultrasonic radar which are all arranged on the roof. The head and the tail of the vehicle main body are both provided with a millimeter wave radar and an ultrasonic radar. The unmanned control unit is used for scheduling and controlling the vehicle main body, the battery in the battery box and the automatic power plug-in module.
Preferably, the automatic charging gun conveying cabinets are mounted at the rear end and on two sides of the vehicle main body; the arm of charging can reach each rifle of charging directly over automatic carrying cabinet along the guide rail.
Preferably, the charging mechanical arm comprises a sliding base, a first arm rod, a second arm rod, a reduction gear set, a pressure regulating servo motor, a linear propeller, a charging mechanical arm control unit, a camera sensor and an ultrasonic radar sensor. A plurality of electric rollers are installed at the bottom of the sliding base. Each electric roller is in rolling connection with the guide rail and drives the charging mechanical arm to slide along the guide rail. The inner end of the first arm rod and the sliding base form a rotating pair with a common axis horizontal and vertical to the guide rail. The outer end of the first arm rod and the inner end of the second arm rod form a revolute pair. The propeller cylinder body of the linear propeller forms a revolute pair. The first arm rod, the second arm rod and the propeller cylinder are driven by the power element to rotate respectively, so that the propeller cylinder is moved to different positions and adjusted to different postures.
Preferably, the linear thruster comprises a slide block, a lead screw, an oil hole, a thruster cylinder, a piston rod, a spring and hydraulic oil. The propeller cylinder body comprises a driving cavity and a telescopic cavity which are communicated. The screw rod is supported in the driving cavity of the propeller cylinder body. The slide block is connected with the driving cavity of the propeller cylinder body in a sliding manner. The slide block and the lead screw form a screw pair. The screw rod is driven to rotate by a power element. The piston rod is connected with the telescopic cavity of the propeller cylinder body in a sliding manner. And hydraulic oil is filled in the space between the sliding block and the piston rod. The outer end of the piston rod extends out of the propeller cylinder body and is provided with a butt joint servo motor. An output shaft of the butt joint servo motor is fixed with the connecting screw rod. The polished rod part of the piston rod is sleeved with a spring. The two ends of the spring respectively support against the inner end of the piston rod and the end part of the telescopic cavity. The outer end of the piston rod is provided with a camera sensor and an ultrasonic displacement sensor.
Preferably, the charging gun fixing frame is in a Y-shaped structure with a wide upper part and a narrow lower part. The charging gun fixing frame is made of magnetic materials. The gun head of the charging gun is provided with a ferromagnetic material or a permanent magnet which can be attracted by the charging gun fixing frame. Under initial state, the rifle that charges is placed on the rifle mount that charges to with keep fixed through magnetic force between the rifle mount that charges.
Preferably, the automatic charging gun conveying cabinet further comprises a gear, a rack, a first stepping motor, a supporting shaft and a second stepping motor. The cabinet is fixed with one end of the rack. The rack is connected with the vehicle body in a sliding manner. The first stepping motor is fixed in the vehicle main body, and the output shaft is fixed with the gear. The gear is meshed with the rack. The supporting shaft is supported on the machine cabinet. The reel is fixed in the outside of back shaft. The second step motor is fixed in the cabinet, and the output shaft is fixed with the support shaft.
Preferably, each charging gun is fitted with an annular coloured ribbon. The shape of the annular colored ribbon corresponds to the outline of the charging hole corresponding to the charging gun. The upper part and the lower part of the annular colored ribbon adopt different colors. The annular colored ribbon is used for being attached to the outline of a charging hole in a vehicle charged for the first time, and provides a reference for a visual algorithm when the charging gun is positioned.
The charging vehicle working method for providing emergency charging for the electric vehicle comprises the following specific steps:
step one, when an electric vehicle owner needs mobile charging service, a charging request is sent out, and the charging vehicle runs to a target vehicle needing to be charged in an automatic driving or worker driving mode.
And step two, recognizing the position of a charging port of the charged electric automobile by a sensor including a camera on the automobile body, and opening an automatic conveying cabinet of a charging gun closest to the target automobile. The charging mechanical arm moves to the position right above the opened automatic charging gun conveying cabinet along the guide rail. The charging mechanical arm drives the connecting screw rod to move to the threaded hole of the connecting block which is propped against the top of the charging gun. Through forward swivelling joint screw rod for the rifle that charges is in the same place with the end of the arm that charges is fixed, realizes the accurate of the rifle that charges and snatchs.
And step three, the linear propeller drives the charging gun to move backwards, and the charging cavity is taken out of the charging gun fixing support. The reel then releases the charging gun cable. Simultaneously, the arm that charges drives the rifle that charges and removes the mouth department that charges to the target vehicle to insert the mouth that charges of target vehicle. Then, the connecting screw rod is rotated reversely, so that the charging gun is separated from the tail end of the charging mechanical arm.
And step four, after the battery in the battery box is correctly connected with the target vehicle, providing charging current for the charging gun to charge the target vehicle. After charging is completed, the charging mechanical arm again grabs the charging gun through the connecting screw rod, and the charging gun is recovered into the cabinet.
And step five, when the charging vehicle stops at the base and the time reaches the power grid electricity consumption valley period, the charging vehicle can automatically control the charging mechanical arm to grab the charging gun on the charging pile of the base to move to the charging port of the charging vehicle, the charging gun is inserted into the charging port of the charging vehicle to charge the battery in the battery box, and the charging mechanical arm is controlled to take out the charging gun and put the charging gun back to the charging pile after charging is finished.
The invention has the beneficial effects that:
1. the connecting screw and the connecting block in the invention realize grabbing and releasing of the charging gun in a threaded screwing and separating mode, and can ensure that the position of the charging gun relative to the charging mechanical arm is kept stable after grabbing every time, thereby ensuring that the subsequent gun inserting action can be realized stably and reliably. In addition, the invention reduces the recognition difficulty of the image recognition charging port by sticking the annular colored belt on the charging port of the target vehicle, and simultaneously can improve the precision of recognizing the position of the charging port, thereby facilitating the charging mechanical arm to grab the charging gun to complete butt joint.
2. Compared with the traditional charging vehicle, the charging vehicle for providing emergency charging for the electric vehicle can automatically navigate the charging vehicle for providing emergency charging for the electric vehicle to the vicinity of the target vehicle through an automatic driving technology without operators, automatically charge the target vehicle by controlling the special charging mechanical arm and the charging gun automatic conveying cabinet, automatically withdraw the charging gun and the cable after charging is finished, the whole charging process does not need manual intervention, and the labor cost is greatly reduced.
3. The charging mechanical arm of the charging vehicle for providing emergency charging for the electric vehicle is a special 4-shaft mechanical arm for butt joint of a precise gun and a charging gun, and has the advantages of high maneuverability, high precision, easiness in control and the like. The end of the mechanical arm adopts the linear propeller to guarantee the precision in the gun taking and butt joint process and reduce the control difficulty of the mechanical arm, and the piston rod of the linear propeller is only required to be controlled to do linear motion along the axial direction in the final butt joint stage, so that the charging gun can be linearly pushed to complete accurate butt joint.
4. According to the automatic charging gun conveying cabinet of the charging vehicle for providing emergency charging for the electric vehicle, the rack is driven to do linear motion by controlling the rotation of the stepping motor driving gear, so that the opening and closing of the cabinet are controlled, and the charging mechanical arm can conveniently identify and grab the charging gun. Meanwhile, the stepping motor in the cabinet drives the winding drum to rotate, so that a cable of the charging gun can be automatically collected and released, and the charging gun can be completely and automatically collected. Can completely replace manual storage charging guns.
5. The guide rail is arranged around the side wall of the battery box, so that the charging mechanical arm can flexibly move to quickly reach the automatic conveying cabinet of the charging gun and the vicinity of the charging port, the structure is simple, and the data interference of the charging mechanical arm on the laser radar can be reduced.
6. The charging vehicle for providing emergency charging for the electric vehicle can automatically charge at 7:00 (power grid electricity consumption valley period) of 23: 00-next day without manual intervention by using the charging mechanical arm, so that the charging cost is reduced, and the utilization rate of energy is improved.
7. The battery box is an intelligent constant temperature system, and the temperature control unit in the battery box dynamically adjusts the rotating speeds of the two cooling fans by adopting a temperature closed-loop control algorithm so as to ensure that the whole battery pack works in a proper temperature interval. Meanwhile, a smoke alarm and a fire extinguisher are installed in the battery box, when the smoke alarm detects that fire and smoke are generated in the battery box, the smoke alarm gives an alarm and controls the nearest fire extinguisher to extinguish the fire, so that the serious loss caused by large-scale fire in the whole battery box is prevented.
Drawings
FIG. 1 is a side view of a charging cart for providing emergency charging for electric vehicles according to the present invention;
FIG. 2 is a left side view of a charging cart for providing emergency charging for electric vehicles according to the present invention;
FIG. 3 is a right side view of a charging cart for providing emergency charging for electric vehicles according to the present invention;
FIG. 4 is a top view of the battery case of the present invention;
fig. 5 is a sectional view of a battery case according to the present invention;
FIG. 6 is an isometric view of the charging robot of the present invention;
FIG. 7 is a cross-sectional view of the linear impeller of the present invention;
FIG. 8 is an isometric view of an automatic transfer cabinet for a charging gun according to the present invention;
fig. 9 is a schematic view of the installation of the annular colored ribbon of the present invention.
In the figure: 1. a vehicle main body; 2. a camera; 3. a laser radar; 4. a GPS/INS integrated navigation system; 5. a heat radiation fan; 6. a battery box; 7. a charging mechanical arm; 8. an automatic charging gun conveying cabinet; 9. a guide rail; 10. a charging port; 11. an ultrasonic radar; 12. a millimeter wave radar; 13. a solar panel; 14. an annular colored ribbon; 6-1, a bracket; 6-2, a power battery pack; 6-3, an air filter element; 6-4, fire extinguisher; 6-5, a smoke alarm; 6-6, heat dissipation holes; 7-1, a sliding base; 7-2, a first arm lever; 7-3, a second arm lever; 7-4, a reduction gear set; 7-5, a voltage-regulating servo motor; 7-6, a linear propeller; 7-7, butting a servo motor; 76-1, sealing the end cover; 76-2, a slide block; 76-3, a lead screw; 76-4, oil holes; 76-5, a propeller cylinder; 76-6, a piston rod; 76-7, a spring; 76-8, a head connecting hole; 76-9 parts of hydraulic oil; 76-10 parts of tail connecting hole; 8-1, a charging gun fixing frame; 8-2, charging gun; 8-3, charging gun cable; 8-4, a support; 8-5, a second stepping motor; 8-6, winding drum; 8-7, mounting a bump; 8-8, a rack; 8-9, a first stepping motor; 8-10, L-shaped bracket; 8-11, gears; 8-12, supporting the shaft; 8-13, a slide rail; 8-14, a cabinet; 8-15 and connecting blocks.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
It should be noted that all directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiments of the present application are only used for explaining the relative position relationship between the components, the movement, etc. in a specific posture (as shown in the attached drawings).
As shown in fig. 1, 2 and 3, a charging vehicle for providing emergency charging for an electric vehicle includes a vehicle body 1, a power module, an automatic plug-in module and an information acquisition control module. The vehicle body 1 employs an unmanned vehicle, which is specifically a truck. The power module includes a battery box 6, a cooling fan 5, a solar cell panel 13, and a charging port 10. The battery box 6 is mounted on the rear box of the vehicle body 1 and is used for providing an emergency charging power supply for other electric vehicles. Radiating holes are formed in two sides of the battery box 6. Each heat dissipation hole is provided with a heat dissipation fan 5. The rotating speed of the cooling fan can be adjusted in real time according to the temperature in the battery box, so that the temperature in the battery box is guaranteed within a reasonable range. The top of the battery box 6 is covered with a solar panel 13 to fully receive solar energy and convert it into electric energy to be stored in the power battery pack of the battery box 6. A charging port 10 is installed at a side portion of the vehicle body 1 for docking an external power source to charge the power battery pack in the battery box 6. The charging port 10 can be automatically opened and closed, so that the charging vehicle can be automatically charged conveniently.
As shown in figures 4 and 5, the battery box 6 comprises a power battery pack 6-2, a bracket 6-1, a fire extinguisher 6-4, a smoke alarm 6-5, a heat dissipation hole 6-6, an air filter element 6-3 and a battery box control unit. The power battery pack 6-2 is provided with a temperature sensor and a voltage sensor, and can acquire the voltage value of each battery cell in the battery pack and the voltage value of each temperature sensor. The plurality of power batteries are connected in series and in parallel through the conducting wires to form a power battery pack 6-2, and four layers of power battery packs 6-2 are stacked in the battery box at equal intervals in the vertical direction, so that ventilation and heat dissipation in the battery box are facilitated. The bracket 6-1 is connected with the bottom plate of the battery box 6 by bolts, and a plurality of heat dissipation holes are uniformly distributed in the vertical direction of the bracket 6-1, and are favorable for relaxing the bowels in the battery box 6 for heat dissipation.
Seven fire extinguishers 6-4 are distributed on the left side, the right side and the front end of the battery box 6, and two fire extinguisher nozzles with an included angle of 60 degrees are distributed between two adjacent battery packs of the fire extinguishers 6-4, so that full-coverage fire extinguishment can be realized in the battery box. The smoke alarm 6-5 is arranged in the middle of the top of the battery box 6, and alarms when smoke exists in the battery box, and triggers the battery box control unit to start the fire extinguisher. The heat dissipation holes 6-6 are symmetrically distributed on the left side surface and the right side surface of the battery box 6 respectively, and the air filter element 6-3 is fixed around the heat dissipation holes through screw connection, can filter air impurities, and can prevent rainwater from entering the battery box 6.
The battery box control unit can monitor the overall temperature in the battery box 6 in real time and also can monitor the temperature of each power battery pack, and can acquire the voltage value of each battery cell, the temperature value of each temperature sensor, the total voltage value and the total current value of the battery pack in real time, judge whether the battery pack works normally according to a set threshold value and monitor faults in real time. The battery box control unit communicates with the unmanned control unit through a CAN bus to obtain the real-time charging amount of each charging gun 8-2. The battery box control unit CAN monitor 8-2 of each charging gun in real time, charging current, charging voltage, charging power and charging quantity, and issues the charging current, charging voltage, charging power and charging quantity to the CAN bus, and the unmanned control unit uploads the charging current, charging power and charging quantity to the server through the network. When the charged amount of the charging gun 8-2 reaches the target charged amount, the power supply is cut off.
The battery box 6 adopts air cooling for heat dissipation, the battery box control unit can monitor the temperature of each power battery pack in real time, and the temperature control unit in the battery box adopts a temperature closed-loop control algorithm to dynamically adjust the rotating speed of the two cooling fans 5 so as to ensure that the whole battery pack works in a proper temperature interval. The smoke alarm 6-5 monitors the environment in the battery box in real time, and when local high temperature in the battery box is on fire and smokes, the smoke alarm 6-5 alarms and triggers the battery box control unit to carry out emergency response. The battery box control unit judges the position of the power battery pack 6-2 which is on fire and smokes by combining the data of the temperature sensors of the power battery packs 6-2, and controls the nearest fire extinguisher to extinguish fire, thereby preventing the large-scale fire in the whole battery box from causing serious loss.
The information acquisition control module comprises an unmanned control unit, an ultrasonic radar 11, a millimeter wave radar 12, a camera 2, a laser radar 3, a GPS/INS integrated navigation system 4, the millimeter wave radar 12 and the ultrasonic radar 11 which are all arranged on the roof. The laser radar adopts 32-line laser radar, can simultaneously transmit and receive 32 laser beams, scans the surrounding environment of the vehicle by 360 degrees, generates a high-precision laser spot cloud picture, can acquire high-precision obstacle distance information and is used for medium and long distance measurement. The three cameras 2 are respectively installed in the middle and two sides of the roof and used for identifying obstacles, lane lines and traffic lights in front of the vehicle. The GPS/INS integrated navigation system 4 can realize more accurate real-time positioning by combining with a Kalman filtering algorithm. Two millimeter wave radars 9 are installed respectively at locomotive, the rear of a vehicle for well distance measurement, and its penetrability is strong to receive weather influence for a short time. Four ultrasonic radars 11 arranged at intervals in sequence are installed at the head and the tail of the vehicle main body 1 and used for short-distance measurement. The environment perception sensor can obtain more accurate and reliable external environment information through a multi-sensor fusion technology, so that the decision correctness of the automatic driving system is improved.
The unmanned control unit is used for providing a main brain of the emergency charging vehicle for the electric vehicle, and the unmanned control unit, the battery box control unit, the automatic charging gun conveying cabinet control unit and the charging mechanical arm control unit are communicated through a CAN bus. The unmanned control unit accesses order data on the server through a network and analyzes the order data to obtain the position information of the target vehicle, plans a path from the base to the target vehicle in real time according to the environmental perception sensor data, and follows the path by accurately controlling the steering, the accelerator and the brake of the vehicle. After the charging vehicle for providing emergency charging for the electric vehicle reaches the vicinity of the target vehicle, the charging vehicle keeps a certain distance and stops, the environment perception sensor of the charging vehicle for providing emergency charging for the electric vehicle identifies the target vehicle and calculates the coordinates of the target vehicle in the coordinate system of the vehicle, so that the automatic charging gun conveying cabinet 8 closest to the target vehicle is controlled to be opened. Meanwhile, the opening and closing states of the three automatic charging gun conveying cabinets 8 CAN be updated in real time through the CAN bus of the charging vehicle, the control unit of the charging mechanical arm CAN receive data on the CAN bus in real time, and when the opening of one automatic charging gun conveying cabinet 8 is monitored, the control unit controls the driving wheel of the sliding base 7-1 of the charging mechanical arm to move the charging mechanical arm 7 to be right above the automatic charging gun conveying cabinet 8.
The automatic power-on module comprises a guide rail 9, a charging mechanical arm 7 and three automatic charging gun conveying cabinets 8. The U-shaped guide rail 9 is installed on the battery box 6 to cover both sides and the rear end of the battery box 6. The guide rail 9 is provided with a sliding groove for matching with a sliding base of the charging mechanical arm 7. The sliding base of the charging mechanical arm 7 is connected with the guide rail 9 in a sliding manner and can move along the guide rail 9 under the driving of the motor. The three automatic conveying cabinets 8 for the charging guns are respectively installed at the rear end and two sides of the vehicle main body 1. Three rifle automatic conveying cabinet 8 that charges shares same arm 7 that charges, realizes the grafting and the recovery of rifle that charges, and three rifle automatic conveying cabinet 8 that charges can independent work separately, charges for three cars simultaneously.
As shown in fig. 6, the charging mechanical arm 7 is a four-axis mechanical arm, is dedicated to accurate gun taking and docking of a charging gun, and comprises a sliding base 7-1, a first arm 7-2, a second arm 7-3, a reduction gear set 7-4, a pressure-regulating servo motor 7-5, a linear propeller 7-6, a docking servo motor 7-7, a charging mechanical arm control unit, a camera sensor and an ultrasonic radar sensor. Four electric rollers are arranged at the bottom of the sliding base 7-1. Each electric roller extends into a sliding groove in the guide rail 9 for rolling connection and is used for driving the charging mechanical arm 7 to slide along the guide rail, so that the charging mechanical arm 7 can move to each automatic charging gun conveying cabinet 8 for charging operation.
The inner end of the first arm lever 7-2 and the sliding base 7-1 form a rotating pair with a common axis horizontal and vertical to the guide rail 9. A first servo motor is arranged in the sliding base 7-1. The output shaft of the first servo motor is in key connection with the mounting hole at the inner end of the first arm lever 7-2. The outer end of the first arm lever 7-2 and the inner end of the second arm lever 7-3 form a revolute pair. And a second servo motor is arranged at the outer end of the first arm rod 7-2. The output shaft of the second servo motor is in key connection with the mounting hole at the inner end of the second arm lever 7-3. And a third servo motor is arranged at the outer end of the second arm rod 7-3. And an output shaft of the third servo motor is in key connection with a mounting hole key on the linear propeller 7-6.
As shown in fig. 7, the linear propeller 7-6 converts the rotary motion of the motor into the linear motion of the piston rod through screw transmission, which is helpful to improve the docking accuracy of the charging gun and reduce the difficulty of the control of the mechanical arm in the docking process. The structure of the hydraulic oil-gas-driven propeller comprises a sealing end cover 76-1, a sliding block 76-2, a screw rod 76-3, an oil hole 76-4, a propeller cylinder body 76-5, a piston rod 76-6, a spring 76-7, a head connecting hole 76-8, hydraulic oil 76-9 and a tail connecting hole 76-10. The sealing end cover 76-1 is fixed at the tail part of the propeller cylinder 76-5 through screw connection, and an opening is formed in the middle of the end cover and used for supporting the screw 76-3. The propeller cylinder 76-5 includes a drive chamber and a telescoping chamber in communication. The driving cavity is communicated with the telescopic cavity through an oil hole 76-4. The lead screw 76-3 is supported within the drive chamber of the propeller cylinder 76-5. The slide block 76-2 is slidably connected with a drive chamber of the propeller cylinder 76-5. The spiral groove formed in the center of the slide block 76-2 and the screw 76-3 form a spiral pair. In the initial state, the slide block 76-2 is positioned at the tail part of the propeller cylinder 76-5, and the piston rod 76-6 is not displaced. The space between the slider 76-2 and the piston rod 76-6 is filled with hydraulic oil 76-9, so that the piston rod 76-6 can be extended and contracted by driving the slider 76-2 to slide. The piston rod 76-6 is slidably connected with the telescopic cavity of the thruster cylinder 76-5. A rubber sealing ring is arranged in a ring groove at the tail part of the piston rod 76-6, so that stable oil pressure can be ensured to be established in the lower cavity. The outer end of the piston rod 76-6 extends out of the propeller cylinder 76-5 and is provided with a mounting platform. The mounting platform is provided with a head connecting hole 76-8. An output shaft of the pressure regulating servo motor 7-5 is in transmission connection with the screw 76-3 through a reduction gear set 7-4. The reduction gear set 7-4 is used to increase the torque of the lead screw 76-3 and to improve the control accuracy. Specifically, the screw rod is in key connection with an inner hole of a large gear of the reduction gear set 7-4, a small gear of the reduction gear set 7-4 is in key connection with an output shaft of the pressure regulating servo motor, and the head of the linear propeller 7-6 is connected with a base of the butt joint servo motor 7-7 through a screw.
The polished rod part of the piston rod 76-6 is sleeved with a spring 76-7. Two ends of the spring 76-7 respectively support against the inner end of the piston rod 76-6 and the end of the telescopic cavity. The butt joint servo motor 7-7 and the mounting platform at the outer end of the piston rod 76-6 are fixed through screws. An output shaft of the butt joint servo motor 7-7 is fixed with the connecting screw rod; the connecting screw is used for being screwed with the threaded holes of the connecting blocks 8-15 on the charging gun. When the piston rod 76-6 makes axial linear motion, the butt joint servo motor 7-7 is driven to make linear motion, which is very helpful for completing accurate butt joint. The outer wall of the propeller cylinder 76-5 is provided with a camera sensor and an ultrasonic displacement sensor which are used for identifying and positioning the positions and the postures of the connecting blocks 8-15 and the charging port
As shown in fig. 8 and 9, the automatic charging gun conveying cabinet 8 comprises a cabinet 8-14, a slide rail 8-13, an installation bump 8-7, a charging gun 8-2, a connection block 8-15, a charging gun cable 8-3, a charging gun fixing support 8-1, a gear 8-11, a rack 8-8, an L-shaped support 8-10, a first stepping motor 8-9, a winding drum 8-6, a support shaft 8-12, a second stepping motor 8-5, a support 8-4, an automatic charging gun conveying cabinet control unit and an annular color belt 14. The endless coloured ribbon 14 is placed in the cabinet 8-14 in a shape corresponding to the charging aperture, in a number of different sizes and colours. The upper and lower two parts of annular colored ribbon 14 adopt different colours, are favorable to the camera discernment, and the annular colored ribbon 14 of suitable size and colour need be selected when the user uses charging service for the first time, pastes on the mouth that charges of user's vehicle. The two sides of the machine cabinet 8-14 are provided with slide rails 8-13. The slide rails 8-13 are slidably connected to mounting grooves on the vehicle body. The mounting lug 8-7 is fixed at the tail part of the cabinet 8-14 and is welded and fixed with one end of the rack 8-8. The toothless surface of the rack 8-8 is connected with an L-shaped bracket 8-10 fixed in the vehicle main body in a sliding way. The first stepping motor 8-9 is fixed in the vehicle main body through screws, and the output shaft of the first stepping motor is connected with the inner hole key of the gear 8-11. The gear 8-11 is engaged with the rack 8-8.
The charging gun fixing frame 8-1 is fixed in the cabinet and provided with a Y-shaped structure with a wide upper part and a narrow lower part for placing the charging gun 8-2. The charging gun fixing frame 8-1 is made of magnetic materials, and the structure is convenient for taking out and placing the charging gun 8-2. The charging gun 8-2 is a direct current quick charging gun according with the national standard, and the cylindrical side surface of the gun head is made of magnetic materials with opposite polarities. So that the charging gun 8-2 can be securely attached to the charging gun holder 8-1. The lower half part of the connecting block 8-15 is a U-shaped groove, positioning holes are distributed on two sides of the U-shaped groove, the connecting block is fixed on the upper side of the charging gun 8-2 through screw connection, the upper half part is a T-shaped boss, a mounting lug is arranged in the vertical direction, and a threaded hole is formed in the cylindrical protrusion in the horizontal direction and can be in threaded connection with a connecting screw rod of the butt-joint servo motor 7-7. The support 8-4 is welded on the inner side of the cabinet, and the stepping motor 8-5 and the support 8-4 are fixed through screws. The output shaft of the second stepping motor 8-5 is in key connection with the inner hole key at the right end of the winding drum 8-6, and the winding drum 8-6 is fixed on the support shaft 8-12. The charging gun cable 8-3 is wound on the surface of the winding drum 8-6, passes through the tail part of the cabinet 8-14 and extends to the interior of the vehicle body to be electrically connected with the output port of the battery box.
When the charging gun automatic conveying cabinet control unit receives a request for opening the charging gun automatic conveying cabinet 8 issued by the unmanned control unit from the CAN bus, the charging gun automatic conveying cabinet control unit controls the first stepping motor 8-9 to rotate to drive the gear rack structure to push the cabinet 8-14 to extend out of the vehicle. When the charging gun 8-2 is taken out by the charging mechanical arm 7 or placed in the original position, the automatic charging gun conveying cabinet control unit controls the second stepping motor 8-5 to drive the winding drum 8-6 to rotate, release or fold the charging gun cable 8-3.
The charging vehicle for providing emergency charging for the electric vehicle, the automatic charging system and the automatic charging method are as follows:
step one, when a pure electric vehicle owner needs mobile charging service, ordering is carried out through an appointed APP, the position of a vehicle and a target charging amount need to be provided on an order by the pure electric vehicle owner, the APP can calculate the amount of the order according to the position of the vehicle and the target charging amount, and after the order payment is completed by the pure electric vehicle owner, order data are uploaded to a server. After the charging vehicle control unit for providing emergency charging for the electric vehicle acquires order data from the server, the charging vehicle control unit performs data fusion accurate sensing environment through the laser radar 3, the camera 2, the GPS/INS integrated navigation system 4, the millimeter wave radar 12 and the ultrasonic radar 11 and the plurality of environment sensing sensors, and controls the charging vehicle for providing emergency charging for the electric vehicle to safely and rapidly and autonomously navigate to the position near a target vehicle from a base.
And step two, keeping a certain distance after the charging vehicle for providing emergency charging for the electric vehicle reaches the vicinity of the target vehicle and stopping the charging vehicle, identifying the target vehicle by an environment sensing sensor of the charging vehicle for providing emergency charging for the electric vehicle, and calculating the coordinates of the target vehicle under the coordinate system of the vehicle, thereby controlling the automatic charging gun conveying cabinet 8 closest to the target vehicle to be opened. The CAN bus of the charging vehicle CAN update the opening and closing states of three automatic charging gun conveying cabinets 8 in real time, a charging mechanical arm control unit CAN receive data on the CAN bus in real time, when it is monitored that one automatic charging gun conveying cabinet 8 is opened, a driving wheel of a mechanical arm sliding base 7-1 is controlled, the charging mechanical arm 7 is moved to the position right above the automatic charging gun conveying cabinet 8, a camera on a charging mechanical arm linear propeller 7-6 determines the position of a connecting block 8-15 through an image recognition technology, the coordinate of the charging mechanical arm butt joint servo motor 7-7 under a connecting block 8-15 coordinate system CAN be calculated through coordinate transformation, the distance between the charging mechanical arm butt joint servo motor 7-7 and a threaded hole of the connecting block 8-15 is measured through an ultrasonic sensor, the charging mechanical arm control unit automatically controls each joint servo motor of the mechanical arm, and a connecting screw rod of the mechanical arm end butt joint servo motor 7-7 and the threaded hole of the connecting block 8-15 are kept the same firstly And the shaft and the connecting blocks are kept at a distance of about 10cm from each other. After the coaxiality is kept, the pressure regulating servo motor 7-5 is controlled to enable the piston rod 76-6 of the linear propeller 7-6 to slowly move along the axial direction to shorten the distance to 1cm, in the process, data of the camera sensor and data of the ultrasonic displacement sensor are fused to carry out accurate axial positioning on the connecting block 8-15, the butt joint servo motor 7-7 and the second arm rod servo motor are finely adjusted, and therefore the coaxiality accuracy of the connecting screw rod of the butt joint servo motor 7-7 and the threaded hole of the connecting block 8-15 is further improved. And finally, controlling the butt joint servo motor 7-7 and the pressure regulating servo motor 7-5 to enable the connecting screw rod of the butt joint servo motor 7-7 to rotate, simultaneously controlling the piston rod 76-6 to carry out axial feeding by the pressure regulating servo motor 7-5, and finally accurately screwing the connecting screw rod of the butt joint servo motor 7-7 into a threaded hole of the connecting block 8-15, so that accurate grabbing of the charging gun 8-2 is realized.
And step three, after the charging mechanical arm 7 and the connecting blocks 8-15 are accurately butted, controlling the pressure regulating servo motors 7-15 to rotate reversely, so that the oil pressure of a lower chamber of the linear propeller 7-6 is reduced, meanwhile, under the action of elastic restoring force of the springs 76-7, the piston rods 76-6 move reversely along the axial direction until the piston rods restore to the initial position, and the charging guns 8-2 are taken out from the charging gun fixing frames 8-1 due to the fact that the piston rods 76-6, the butting servo motors 7-7 and the connecting blocks 8-15 are coaxially and rigidly connected. When the control unit of the automatic charging gun conveying cabinet acquires that the charging gun 8-2 is pulled out of the charging gun fixing support 8-1, the winding drum 8-6 is controlled to rotate slowly to release the charging gun cable 8-3. And then, the camera on the linear propeller 7-6 starts to identify the charging port of the target vehicle, because the charging port is pasted with the annular colored ribbon 14 which is easy to identify, the camera is easy to identify and position, the coordinate of the head of the charging gun 8-2 fixedly connected to the charging mechanical arm 7 under the coordinate system of the charging port of the target vehicle can be calculated through coordinate transformation, and then each joint servo motor of the charging mechanical arm 7 is controlled, so that the head of the charging gun 8-2 is coaxial with the charging port of the target vehicle and keeps a distance of about 10cm from the charging port of the target vehicle. After the coaxiality is kept, the pressure regulating servo motor 7-5 is controlled to enable the piston rod 76-6 of the linear propeller 7-6 to slowly move along the axial direction, the distance is shortened to 2cm, and in the process, data of the camera sensor and data of the ultrasonic sensor are fused to accurately position a charging port of a target vehicle. And the butt joint servo motor 7-7 and the second arm rod servo motor are finely adjusted, so that the coaxial precision of the head of the charging gun 8-2 and the charging port of the target vehicle is further improved, finally, the pressure regulating servo motor 7-5 is controlled to drive the piston rod 76-6 to carry out axial feeding to drive the charging gun 8-2 to be accurately butted with the charging port of the target vehicle, and after the mechanical arm control unit acquires that the charging gun 8-2 is successfully butted with the target vehicle from the CAN bus, the pressure regulating servo motor 7-5 is controlled to stop working, so that the accurate butt joint of the charging gun 8-2 and the charging port of the target vehicle is realized.
And step four, after the battery box control unit detects that the charging gun 8-2 is correctly connected with the target vehicle, the battery box control unit starts to detect the charging current and the charged electric quantity of the charging gun in real time and shares data to the intelligent one-key vehicle ordering system, so that a client can conveniently check the charging state of the vehicle, and when the charged electric quantity reaches the target charging quantity, the battery box control unit stops electrifying the charging gun. The charging mechanical arm control unit can record control instructions of the charging mechanical arm 7 to all servo motors in real time in the process of grabbing the charging gun 8-2 and controlling the charging gun 8-2 to be in butt joint with a charging port of a target vehicle, and controls the process of pulling the charging mechanical arm 7 and putting the charging gun 8-2 back to the automatic charging gun conveying cabinet 8, which can be regarded as the reverse process of gun taking and butt joint, so that the charging mechanical arm control unit can reverse the control instructions of all the servo motors of the charging mechanical arm 7 in the gun taking and butt joint process, thereby controlling the charging mechanical arm 7 to complete gun pulling and putting the charging gun 8-2 back to the automatic charging gun conveying cabinet 8, and controlling the charging mechanical arm 7 to return to the initial position. After detecting that the charging gun 8-2 is reset, the charging gun automatic conveying cabinet control unit controls the second stepping motor 8-5 to drive the winding drum 8-6 to rotate and recover the charging gun cable 8-3, and after the charging gun cable 8-3 is recovered, the first stepping motor 8-9 is controlled to automatically draw in the charging gun automatic conveying cabinet 8.
And step five, the charging vehicle for providing emergency charging for the electric vehicle can automatically charge at 7:00 (power grid electricity consumption valley period) of 23: 00-next day of the base. When the time reaches 23:00, the unmanned control unit sends an instruction to the charging mechanical arm control unit through the CAN bus to automatically charge, meanwhile, a charging port 10 of the vehicle is opened, after the charging mechanical arm control unit receives the instruction, the charging mechanical arm 7 is controlled to move to the position near the charging port 10 along the guide rail 9, surrounding environment information is obtained through a camera on the charging mechanical arm 7, the position of a connecting block on a charging gun on the charging pile is tracked in real time based on an image recognition algorithm (the connecting block is installed on the charging gun on the charging pile), and the operation of the second step and the third step is repeated to control the charging mechanical arm 7 to accurately grab the gun and control the charging gun to be accurately butted with the charging port 10. And before 7:00 the next day, repeating the previous part of the step four to operate and control the charging mechanical arm 7 to pull out the charging gun, putting the charging gun back into the clamping position of the charging pile, and finally restoring the charging mechanical arm 7 to the initial position.

Claims (10)

1. A charging vehicle for providing emergency charging for an electric vehicle comprises a vehicle main body (1), a power supply module and an automatic plug-in module; the method is characterized in that: the power module includes a battery box (6) mounted on a vehicle body (1); the battery in the battery box (6) is used for supplying power to the automatic power plug-in module to realize external charging;
the automatic power plug-in module comprises a guide rail (9), a charging mechanical arm (7) and one or more automatic charging gun conveying cabinets; the guide rail (9) is arranged on the battery box (6) or the vehicle body (1) in a surrounding way; a sliding base on the charging mechanical arm (7) is connected with the guide rail (9) in a sliding manner and moves along the guide rail (9) under the driving of a power element motor; one or more automatic charging gun conveying cabinets are mounted on a vehicle body (1); the tail end of the charging mechanical arm (7) is provided with a linear propeller (7-6); the tail end of the linear propeller (7-6) is provided with a connecting screw rod which rotates under the driving of a power element;
the automatic charging gun conveying cabinet (8) comprises a cabinet (8-14), a charging gun (8-2), a connecting block (8-15), a charging gun cable (8-3), a charging gun fixing support (8-1) and a winding drum (8-6); the cabinets (8-14) are connected with the mounting grooves on the vehicle main body in a sliding manner; the charging gun fixing frame (8-1) is fixed in the cabinet and used for placing and positioning the charging gun (8-2); the winding drum (8-6) is supported in the cabinet (8-14) and is driven to rotate by a power element; one end of a charging gun cable (8-3) is fixed and wound on the winding drum (8-6), and the other end of the charging gun cable is connected with the charging gun (8-2); the charging gun cable (8-3) is electrically connected with a battery in the battery box (6);
the connecting block (8-15) is arranged at the top of the charging gun (8-2); the connecting block (8-15) is provided with a threaded hole facing to one side far away from the gun head; the shape of the threaded hole is matched with the shape of a connecting screw rod on the linear propeller (7-6); when external charging is needed, the charging mechanical arm (7) enables the connecting screw rod to be in butt joint with the threaded hole of the connecting block (8-15), and the connecting screw rod is rotated in the positive direction, so that the charging gun (8-2) can be grabbed; after the charging gun is inserted into the vehicle to be charged, the connecting screw rod is rotated reversely to separate the charging mechanical arm (7) from the charging gun (8-2).
2. A charging cart for providing emergency charging for electric vehicles, according to claim 1, wherein: the power module also comprises a cooling fan (5), a solar panel (13) and a charging port (10); a power battery pack (6-2), a fire extinguisher (6-4), a smoke alarm (6-5), heat dissipation holes (6-6), an air filter element (6-3) and a battery box control unit are arranged in the battery box (6); one or more heat dissipation holes are formed in the battery box (6); each radiating hole is provided with a radiating fan (5) and an air filter element (6-3); the top of the battery box (6) is covered with a solar panel (13); the charging port (10) is arranged on the side part of the vehicle main body (1) and is used for being connected with an external power supply in an abutting mode; the power battery pack (6-2) is provided with a temperature sensor and a voltage sensor; the fire extinguishers (6-4) are respectively arranged at different positions of the edge of the inner side of the battery box (6) and are used for carrying out full-coverage fire extinguishment on the battery box; the smoke alarm (6-5) is arranged at the top of the inner cavity of the battery box (6); the battery box control unit acquires the voltage value of each power battery in the power battery pack (6-2), the temperature values of a plurality of temperature sensors in the battery box, the total voltage value and the total current value of the power battery pack (6-2) in real time, and judges whether the power battery pack (6-2) works normally or not according to a set threshold value; the battery box control unit is communicated with a vehicle-mounted computer on the vehicle main body (1) through a CAN bus to obtain the real-time charging amount of each charging gun (8-2).
3. A charging cart for providing emergency charging for electric vehicles, according to claim 1, wherein: the vehicle body (1) adopts an unmanned vehicle; an information acquisition control module is arranged on the vehicle main body (1); the information acquisition control module comprises an unmanned control unit, an ultrasonic radar (11), a millimeter wave radar (12), a camera (2), a laser radar (3), a GPS/INS combined navigation system (4), the millimeter wave radar (12) and the ultrasonic radar (11), wherein the camera (2), the laser radar (3), the GPS/INS combined navigation system and the ultrasonic radar (11) are all arranged on the roof; the head and the tail of the vehicle main body (1) are both provided with a millimeter wave radar (12) and an ultrasonic radar (11); the unmanned control unit is used for scheduling and controlling the power battery and the automatic power plug-in module in the vehicle body (1) and the battery box (6).
4. A charging cart for providing emergency charging for electric vehicles, according to claim 1, wherein: the rear end and two sides of the vehicle main body (1) are provided with automatic charging gun conveying cabinets (8); the charging mechanical arm (7) can reach the position right above each charging gun automatic conveying cabinet (8) along the guide rail (9).
5. A charging cart for providing emergency charging for electric vehicles, according to claim 1, wherein: the charging mechanical arm (7) comprises a sliding base (7-1), a first arm rod (7-2), a second arm rod (7-3), a reduction gear set (7-4), a voltage-regulating servo motor (7-5), a charging mechanical arm control unit, a camera sensor and an ultrasonic radar sensor; the bottom of the sliding base (7-1) is provided with a plurality of electric rollers; each electric roller is in rolling connection with the guide rail (9) and drives the charging mechanical arm (7) to slide along the guide rail (9); the inner end of the first arm rod (7-2) and the sliding base (7-1) form a rotating pair with a common axis horizontal and vertical to the guide rail (9); (ii) a The outer end of the first arm rod (7-2) and the inner end of the second arm rod (7-3) form a revolute pair; a propeller cylinder body (76-5) of the linear propeller (7-6) forms a moving pair; the first arm rod (7-2), the second arm rod (7-3) and the propeller cylinder (76-5) are driven by the power element to rotate respectively, so that the propeller cylinder (76-5) moves to different positions to be adjusted to different postures.
6. A charging cart for providing emergency charging for electric vehicles, according to claim 1, wherein: the linear propeller (7-6) comprises a slide block (76-2), a screw rod (76-3), an oil hole (76-4), a propeller cylinder body (76-5), a piston rod (76-6), a spring (76-7) and hydraulic oil (76-9); the propeller cylinder body (76-5) comprises a driving cavity and a telescopic cavity which are communicated; the screw rod (76-3) is supported in a driving cavity of the propeller cylinder body (76-5); the slide block (76-2) is connected with a driving cavity of the propeller cylinder body (76-5) in a sliding way; the slide block (76-2) and the lead screw (76-3) form a screw pair; the screw rod (76-3) is driven by a power element to rotate; the piston rod (76-6) is connected with the telescopic cavity of the propeller cylinder body (76-5) in a sliding way; hydraulic oil (76-9) is filled in a space between the sliding block (76-2) and the piston rod (76-6); the outer end of the piston rod (76-6) extends out of the propeller cylinder body (76-5) and is provided with a butt joint servo motor (7-7); an output shaft of the butt joint servo motor (7-7) is fixed with the connecting screw rod; a polished rod part of the piston rod (76-6) is sleeved with a spring (76-7); two ends of the spring (76-7) respectively support against the inner end of the piston rod (76-6) and the end part of the telescopic cavity; the outer wall of the propeller cylinder body (76-5) is provided with a camera sensor and an ultrasonic displacement sensor.
7. A charging cart for providing emergency charging for electric vehicles, according to claim 1, wherein: the charging gun fixing frame (8-1) is of a Y-shaped structure with a wide upper part and a narrow lower part; the charging gun fixing frame (8-1) is made of magnetic materials; a ferromagnetic material or a permanent magnet which can be attracted by the charging gun fixing frame (8-1) is arranged at the position of the gun head of the charging gun (8-2); in the initial state, the charging gun (8-2) is placed on the charging gun fixing frame (8-1) and is kept fixed with the charging gun fixing frame (8-1) through magnetic force.
8. A charging cart for providing emergency charging for electric vehicles, according to claim 1, wherein: the automatic charging gun conveying cabinet (8) further comprises gears (8-11), racks (8-8), first stepping motors (8-9), supporting shafts (8-12) and second stepping motors (8-5); the machine cabinet (8-14) is fixed with one end of the rack (8-8); the rack (8-8) is connected with the vehicle body in a sliding way; the first stepping motor (8-9) is fixed in the vehicle main body, and an output shaft is fixed with the gear (8-11); the gears (8-11) are meshed with the racks; the supporting shaft (8-12) is supported on the cabinet (8-14); the winding drum (8-6) is fixed on the outer side of the supporting shaft (8-12); the second stepping motor (8-5) is fixed in the cabinet (8-14), and the output shaft is fixed with the support shaft (8-12).
9. A charging cart for providing emergency charging for electric vehicles, according to claim 1, wherein: each charging gun (8-2) is matched with an annular colored ribbon (14); the shape of the annular colored ribbon (14) corresponds to the outline of a charging hole corresponding to the charging gun (8-2); the upper part and the lower part of the annular colored belt (14) adopt different colors; the annular colored ribbon (14) is used for being attached to the charging hole contour of a vehicle charged for the first time and provides a reference for a visual algorithm when the charging gun (8-2) is positioned.
10. A method of operating a charging vehicle for providing emergency charging of an electric vehicle according to claim 1, characterized in that: step one, when an electric vehicle owner needs mobile charging service, sending a charging request, and driving a charging vehicle to a target vehicle needing to be charged in an automatic driving or worker driving mode;
secondly, recognizing the position of a charging port of the charged electric automobile by a sensor including a camera on the vehicle main body (1), and opening an automatic charging gun conveying cabinet (8) closest to a target vehicle; the charging mechanical arm (7) moves to the position right above the opened automatic charging gun conveying cabinet (8) along the guide rail (9); the charging mechanical arm (7) drives the connecting screw rod to move to a threaded hole of a connecting block (8-15) at the top of the charging gun (8-2); the charging gun (8-2) and the tail end of the charging mechanical arm (7) are fixed together by forward rotating the connecting screw rod and the piston rod (76-6) to axially feed, so that the charging gun (8-2) is accurately grabbed;
thirdly, the linear propeller (7-6) drives the charging gun (8-2) to move backwards, and the charging gun (8-2) is taken out of the charging gun fixing support (8-1); then, the reel (8-6) releases the charging gun cable (8-3); meanwhile, the charging mechanical arm (7) drives the charging gun (8-2) to move to a charging port of the target vehicle and be inserted into the charging port of the target vehicle; then, the connecting screw rod is rotated reversely, so that the charging gun (8-2) is separated from the tail end of the charging mechanical arm (7);
step four, after the charging gun (8-2) is correctly connected with the target vehicle, the battery in the battery box provides charging current for the charging gun (8-2) to charge the target vehicle; after charging is finished, the charging mechanical arm (7) re-grabs the charging gun (8-2) through the connecting screw rod, and the charging gun (8-2) is recovered into the cabinet (8-14);
step five, when the charging vehicle stops at the base and the time reaches the power grid electricity consumption valley period, the charging vehicle automatically controls the charging mechanical arm (7) to grab the charging gun on the charging pile of the base to move to the charging port (10) of the charging vehicle, the charging gun is inserted into the charging port (10) of the charging vehicle to charge the battery in the battery box (6), and after charging is finished, the charging mechanical arm (7) is controlled to take out the charging gun and place the charging gun back to the charging pile.
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