CN114394569A

CN114394569A - Liquid filling system

Info

Publication number: CN114394569A
Application number: CN202210058114.6A
Authority: CN
Inventors: 谭舸; 梁标华; 白文宝; 桂继伟; 唐忠华
Original assignee: Guangdong Haoyun Technology Co Ltd
Current assignee: Guangdong Haoyun Technology Co Ltd
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-04-26

Abstract

The invention discloses a liquid filling system, and relates to the technical field of automatic liquid injection. The liquid filling system is used for filling liquid into a filled vehicle and comprises the filled vehicle, driving equipment and main control equipment; the filling vehicle is used for filling liquid into the filled vehicle; the driving equipment comprises a positioning device and is used for driving the filling vehicle and the filled vehicle to move; the main control device is in communication connection with the filling vehicle and the driving device, and is used for controlling the driving device to drive the filling vehicle and the filled vehicle to move to a filling destination according to a preset route according to the positioning information of the positioning device, and controlling the filling vehicle to fill liquid for the filled vehicle after the filling vehicle and the filled vehicle move to the filling destination. The liquid filling system has high automation and intelligence degree, can reduce the burden of manual filling, can realize multi-azimuth and multi-destination liquid filling, has wider liquid filling range, and can effectively improve the filling and replenishment efficiency.

Description

Liquid filling system

Technical Field

The invention relates to the technical field of automatic liquid injection, in particular to a liquid filling system.

Background

In the field of farms and agricultural equipment, there are a wide variety of liquids that need to be filled and replenished, such as pesticides, liquid fertilizers, etc., to agricultural equipment during the course of agricultural production.

In the prior art, liquid filling of agricultural equipment is usually completed manually, so that the manual filling and replenishing time is long, time and labor are wasted, and the filling and replenishing efficiency is seriously influenced.

Disclosure of Invention

The invention aims to provide a liquid filling system, which adopts a master control device to control a filling vehicle to automatically fill liquid into a filled vehicle, has high automation degree, can reduce the burden of manual filling, saves filling and replenishing time, and can improve filling and replenishing efficiency; on the other hand, the filling vehicle and the filled vehicle are driven by the driving vehicle with the positioning device, so that the filling vehicle and the filled vehicle can quickly reach filling destinations on preset routes planned by the master control equipment, the efficiency is higher, the intelligent degree is higher, multi-azimuth and multi-destination liquid filling can be realized, the liquid filling range is wider, and the filling and replenishing efficiency can be further improved.

Embodiments of the invention may be implemented as follows:

in a first aspect, the present invention provides a liquid filling system for filling a vehicle to be filled, the liquid filling system comprising:

the filling vehicle is used for filling liquid into the filled vehicle;

the driving equipment comprises a positioning device and is used for driving the filling vehicle and the filled vehicle to move;

and the main control equipment is in communication connection with the filling vehicle and the driving equipment and is used for controlling the driving equipment to drive the filling vehicle and the filled vehicle to move to a filling destination according to a preset route according to the positioning information of the positioning device and controlling the filling vehicle to fill liquid for the filled vehicle after the filling vehicle and the filled vehicle move to the filling destination.

In an alternative embodiment, the liquid filling system comprises a filling vehicle, and the filling vehicle is used for filling a plurality of filled vehicles; the driving equipment comprises driving vehicles, the filling vehicles and each filled vehicle are correspondingly provided with one driving vehicle, and each driving vehicle is in communication connection with the master control equipment; the general control equipment is configured to control the filling vehicle to fill liquid into any one of the plurality of filled vehicles;

or,

the liquid filling system comprises a plurality of filling vehicles, and the plurality of filling vehicles respectively fill liquid for a plurality of vehicles to be filled; the driving equipment comprises driving vehicles, each filling vehicle and each filled vehicle are correspondingly provided with one driving vehicle, and each driving vehicle is in communication connection with the master control equipment; the general control equipment is configured to control the filling vehicle to fill liquid for the corresponding filled vehicle.

In an optional embodiment, the filling vehicle comprises a filling vehicle body, a filling device and a control device, wherein the filling vehicle body is arranged on the driving vehicle, the filling device and the control device are both arranged on the filling vehicle body, the filling device and the driving vehicle are both in communication connection with the control device, and the control device is in communication connection with the master control equipment;

the total control apparatus is configured to control the driving vehicle to move to the filling destination by the control device, and is configured to control the filling device to fill the filling vehicle with liquid by the control device.

In an alternative embodiment, the filling vehicle body comprises a containing tank body, wherein the containing tank body is used for containing filling liquid;

the filling device comprises a filling driving mechanism, a visual identification mechanism and a filling pipeline; the filling driving mechanism and the visual identification mechanism are both in communication connection with the control device, the filling driving mechanism is movably arranged on the filling vehicle body, and the visual identification mechanism and the filling pipeline are both arranged on the filling driving mechanism and can move under the driving of the filling driving mechanism; the liquid inlet end of the filling pipeline is communicated with the accommodating tank body, the liquid outlet end of the filling pipeline is used for being matched with a filling port of a filled vehicle, and the visual identification mechanism is arranged adjacent to the liquid outlet end and used for identifying the position information of the filling port and sending the position information of the filling port to the master control equipment through the control device;

the master control equipment is configured to control the filling driving mechanism to drive the filling pipeline and the visual recognition mechanism to move through the control device according to the recognition result of the visual recognition mechanism, so that the liquid outlet end can be inserted into the filling port for filling liquid.

In an optional embodiment, the filling driving mechanism comprises a mounting seat, a rotating part, a first telescopic part, a second telescopic part and an adjusting part, wherein the mounting seat is rotatably mounted on the filling vehicle body through the rotating part, the first telescopic part is arranged on the mounting seat and can be telescopic along a first direction relative to the mounting seat, the second telescopic part is arranged on the first telescopic part and can be telescopic along a second direction forming an included angle with the first direction relative to the first telescopic part, the adjusting part is rotatably arranged on the second telescopic part, the filling pipeline is in transmission connection with the adjusting part, and the visual identification mechanism is arranged on the adjusting part;

the rotating piece, the first telescopic piece, the second telescopic piece and the adjusting piece are all in communication connection with the control device; the general control equipment is configured to control the rotating part, the first telescopic part, the second telescopic part and the adjusting part to move through the control device, so that the liquid outlet end can be inserted into the filling port.

In an alternative embodiment, the liquid filling system further comprises a replenishment device;

the filling vehicle body comprises a containing tank body and a first liquid level meter, wherein the containing tank body is used for containing filling liquid, and the first liquid level meter is used for measuring the liquid level of the filling liquid in the containing tank body; the first liquid level meter is in communication connection with the control device; the main control device is configured to obtain a measurement value of the first liquid level meter, and judge whether the measurement value meets the filling requirement of the filled vehicle through the control device, so as to control the driving vehicle to carry the filling vehicle body to move to the filling device for liquid filling when the measurement value does not meet the filling requirement.

In an optional embodiment, the accommodating tank body is provided with a fluid infusion port, the fluid infusion port is provided with a first cover opening mechanism, the first cover opening mechanism comprises a first cover body and a first driving piece in transmission connection with the first cover body, the first cover body is movably arranged on the accommodating tank body, and the first driving piece is used for driving the first cover body to open or close the fluid infusion port;

the first driving piece is in communication connection with the control device, the main control device is configured to control the first driving piece to drive the first cover body to open the fluid infusion port through the control device when the filling vehicle body reaches the replenishment device, and control the first driving piece to drive the first cover body to close the fluid infusion port through the control device after the control device judges that fluid infusion is completed according to the measurement result of the first liquid level meter.

In an alternative embodiment, the liquid filling system further comprises a second liquid level meter, wherein the second liquid level meter is used for being installed on the vehicle to be filled to measure the liquid capacity in the vehicle to be filled; the second liquid level meter is in communication connection with the control device, the master control equipment is configured to obtain a measured value of the second liquid level meter, and whether the measured value of the second liquid level meter meets the liquid injection requirement is judged through the control device, so that the filling device is controlled to stop injecting liquid when the liquid injection requirement is met.

In an optional embodiment, the filling system further comprises a second cover opening mechanism, the second cover opening mechanism comprises a second cover body and a second driving piece in transmission connection with the second cover body, the second cover body is used for being movably installed at a liquid filling port of the vehicle to be filled, and the second driving piece is used for driving the second cover body to open or close the liquid filling port;

the second driving piece is in communication connection with the control device, and the master control equipment is configured to control the second driving piece to drive the second cover body to open the liquid injection port through the control device when the filling device is filled with liquid by the filling vehicle, and drive the second cover body to close the liquid injection port after the filling device finishes filling the liquid.

In an optional embodiment, the filling vehicle body comprises a containing tank body, and the filling device is communicated with the containing tank body through a connecting pipeline; the connecting pipeline is provided with a valve, a liquid pump and a flowmeter which are in communication connection with the control device, the flowmeter is used for measuring the liquid flow in the connecting pipeline, the master control device is configured to obtain the measurement result of the flowmeter, and judges whether the preset flow requirement is met or not through the control device, so that the liquid flow in the connecting pipeline is adjusted by the control liquid pump when the requirement is not met.

In an alternative embodiment, a filter is further disposed on the connecting pipeline, and the filter is used for filtering impurities in the liquid in the connecting pipeline.

The embodiment of the invention has at least the following advantages or beneficial effects:

the embodiment of the invention provides a liquid filling system, which is used for filling liquid into a vehicle to be filled and comprises a filling vehicle, driving equipment and main control equipment; the filling vehicle is used for filling liquid into the filled vehicle; the driving equipment comprises a positioning device and is used for driving the filling vehicle and the filled vehicle to move; the main control device is in communication connection with the filling vehicle and the driving device, and is used for controlling the driving device to drive the filling vehicle and the filled vehicle to move to a filling destination according to a preset route according to the positioning information of the positioning device, and controlling the filling vehicle to fill liquid for the filled vehicle after the filling vehicle and the filled vehicle move to the filling destination.

On one hand, the liquid filling system adopts the filling vehicle to fill liquid for the filled vehicle, does not need to adopt manual liquid filling, has high automation degree, can ensure the filling precision, can lighten the burden of manual filling, saves the filling and replenishing time, can improve the filling and replenishing efficiency, and can reduce the damage of pesticide and other liquid to human bodies; on the other hand, the filling vehicle and the filled vehicle are driven by the driving equipment with the positioning devices, so that the filling vehicle and the filled vehicle can move on a route planned by the main control equipment, the intelligent degree is higher, multi-direction and multi-destination liquid filling can be realized, compared with the small-range movement of liquid filling personnel, the liquid filling range of the driving equipment for driving the filling vehicle and the filled vehicle to move is wider, and the filling and replenishing efficiency can be further improved; meanwhile, under extreme conditions, if the filling vehicle or the filled vehicle has obstacles and cannot move due to self power, the filling vehicle or the filled vehicle can still move to a destination through the driving of the driving device to fill liquid, so that the reliability and the stability of filling and replenishing operations are ensured, and the operating efficiency is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic diagram of a liquid filling system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a portion of a liquid filling system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a driving vehicle of a liquid filling system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a vehicle to be filled of the liquid filling system provided by the embodiment of the invention;

fig. 5 is a schematic structural diagram of a filling vehicle of the liquid filling system provided by the embodiment of the invention;

FIG. 6 is a schematic view of a portion of a fill vehicle of a liquid fill system according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a filling device of a liquid filling system according to an embodiment of the present invention;

FIG. 8 is a block diagram illustrating the components of a control device of a liquid filling system according to an embodiment of the present invention;

FIG. 9 is a functional block diagram of a liquid filling system with visual identification provided by an embodiment of the present invention;

FIG. 10 is a first flowchart illustrating a filling operation of the liquid filling system according to the embodiment of the present invention;

fig. 11 is a second filling operation flowchart of the liquid filling system according to the embodiment of the present invention.

Icon: 100-liquid filling system; 101-filling vehicle; 103-driving the vehicle; 105-the vehicle to be filled; 107-total control device; 109-a master control center; 111-cloud platform; 115-a processing unit; 117 — replenishment equipment; 119-the body of the vehicle to be filled; 121-a filling port; 123-connecting pipelines; 125-filling pipeline; 127-filling vehicle body; 129-filling means; 131-a control device; 133-a controller; 135-automatic navigation control module; 137-motion control module; 139-a drive module; 141-an execution module; 143-a containment canister; 145-a priming drive mechanism; 147-a visual recognition mechanism; 149-a mounting seat; 151-rotating member; 153-a first telescoping member; 155-a second telescoping member; 157-an adjustment member; 161-protective fence; 163-a first level gauge; 165-fluid infusion port; 167-a first cover; 169-a first driving member; 171-a first signal transceiving module; 173-a second signal transceiving module; 175-a positioning device; 177-a power supply device; 179 — second cap; 181-a second driver; 183-valve; 185-liquid pump; 187-a flow meter; 189-a filter; 191-maintenance cover.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the related art, liquid filling of agricultural equipment is usually completed manually, the manual filling and replenishing time is long, time and labor are wasted, and the filling and replenishing efficiency is seriously influenced. In view of this, the embodiment provides a liquid filling system, which on one hand uses a master control device to control a filling vehicle to automatically fill liquid into a filled vehicle, so that the automation degree is high, the burden of manual filling can be reduced, the filling and replenishing time is saved, and the filling and replenishing efficiency can be improved; on the other hand, the filling vehicle and the filled vehicle are driven by the driving vehicle, so that the filling vehicle and the filled vehicle can be moved to the position convenient for filling at will, the intelligent degree is higher, multi-azimuth and multi-destination liquid filling can be realized, the liquid filling range is wider, and the filling and replenishing efficiency can be further improved. The structure and operation of the liquid filling system will be described in detail below.

Fig. 1 is a schematic structural diagram of a liquid filling system 100 according to the present embodiment; fig. 2 is a schematic partial structural diagram of the liquid filling system 100 according to this embodiment. Referring to fig. 1 and fig. 2, the liquid filling system 100 according to the present embodiment is mainly used for filling and replenishing a to-be-filled vehicle 105 that needs to use liquid for agricultural operations, such as a pesticide sowing vehicle and a liquid fertilizer sowing vehicle, so as to ensure the operation efficiency and quality of an agricultural operation device. Of course, in other embodiments, the liquid filling system 100 may also be used to fill and replenish liquid substances such as tap water, drinking water, and oils, and may also be used to replenish liquid for other agricultural vehicles, and the embodiment is not limited thereto.

In detail, referring to fig. 1 and fig. 2 again, in the present embodiment, the liquid filling system 100 mainly includes a filling vehicle 101, a driving device, and a general control device 107.

Specifically, fig. 3 is a schematic structural diagram of a driving cart 103 of the liquid filling system 100 provided in this embodiment; fig. 4 is a schematic structural diagram of a vehicle 105 to be filled of the liquid filling system 100 according to the present embodiment. Referring to fig. 1 to 4, the filling vehicle 101 is used for automatically filling a filled vehicle 105, the filled vehicle 105 includes a filled vehicle body 119, the filled vehicle body 119 can be a powered agricultural operation device such as a pesticide spraying vehicle, the filled vehicle body 119 has a cavity for accommodating liquid, and a filling port 121 communicating with the cavity is opened on an outer surface of the filled vehicle body 119. When the filling vehicle 101 is filled with liquid by the filling vehicle 105, the liquid can be input into the chamber through the filling port 121.

Specifically, the driving device is used for driving the filling vehicle 101 and the filled vehicle 105 to move. The driving device specifically comprises driving vehicles 103, each driving vehicle 103 is provided with a positioning device 175, a power supply device 177 and a first signal transceiver module 171, the power supply device 177 can provide kinetic energy for the driving vehicle 103 and can ensure normal operation of the positioning device 175 and the first signal transceiver module 171, and the positioning device 175 can be selected as a GPS positioning device 175. Meanwhile, each filling vehicle 101 and each filled vehicle 105 are correspondingly provided with one driving vehicle 103 and are in transmission connection with the corresponding driving vehicle 103, and can move under the driving of the corresponding driving vehicle 103, each driving vehicle 103 can be selected as a tractor or other vehicles with driving functions, and the filling vehicles 101 and the filled vehicles 105 can be driven to move to filling destinations through the arrangement of the driving vehicles 103 so as to carry out filling operation. Of course, in other embodiments, the filling vehicle 101 and the filled vehicle 105 can be driven by one driving vehicle 103 to move simultaneously, and the description of this embodiment is omitted.

Through the arrangement of the driving vehicle 103 of the driving device, the filling vehicle 101 and the filled vehicle 105 can move to a destination to fill under the carrying of the driving vehicle 103, compared with manual liquid filling, the degree of automation is high, the filling precision can be ensured, the burden of manual filling can be reduced, the filling and replenishing time is saved, the filling and replenishing efficiency can be improved, and the damage of pesticide and other liquid to a human body can be reduced; simultaneously, because drive vehicle 103 can move, also make filling car 101 with by filling car 105 homoenergetic remove wantonly, intelligent degree is higher, and can realize diversified, many destinations annotate the liquid, can annotate liquid in arbitrary position and direction on field, earth outside the road even, compare in the removal of annotating liquid personnel small range, it is wider to drive the liquid scope of filling that vehicle 103 drives filling car 101 and by filling car 105 removal, can further improve filling and replenishment efficiency. Meanwhile, in an extreme case, if the filling vehicle 101 or the filled vehicle 105 has obstacles and cannot move due to self power, the filling vehicle can still move to a destination through the driving of the driving vehicle 103 to perform liquid injection, so that the reliability and stability of filling and replenishing operations are ensured, and the operation efficiency is ensured.

In addition, through the arrangement of the positioning device 175, GPS positioning can be carried out, so that the system can know the positions of the filling vehicle 101 and the filled vehicle 105, the filling vehicle 101 can be more conveniently scheduled to fill the filled vehicle 105 for the system, and the filling and replenishing efficiency can be further ensured. Meanwhile, through the arrangement of the first signal transceiving module 171, the driving vehicle 103 is convenient to perform signal transmission with other structures such as the general control device 107, so that the working efficiency and quality can be effectively ensured.

It should be noted that, in this embodiment, the driving vehicle 103 is specifically selected as a tractor, and the driving vehicle 103 and the filling vehicle 105, and the driving vehicle 103 and the filling vehicle 101 are in a split-type matched mutually-independent vehicle body relationship, so as to ensure that replacement and maintenance can be performed after one of the vehicle bodies is damaged, in other embodiments, the driving vehicle 103 and the filled vehicle 105 may also be set to be in a whole vehicle structure, or the driving vehicle 103 and the filling vehicle 101 may also be set to be in a whole vehicle structure, which is not limited in this embodiment.

Specifically, the overall control device 107 is an overall control structure of the entire liquid filling system 100, and is configured to control the respective structures and devices of the entire liquid filling system 100 to cooperatively operate, so as to efficiently complete filling and replenishment operations. The general control device 107 may be a computer, a PLC, or other structures having a control function. The general control device 107 may specifically be configured to include a general control center 109 and a cloud platform 111, where the general control center 109 has a second signal transceiver module 173, and may be connected to the cloud platform 111 through the second signal transceiver module 173 and a wireless network, and the cloud platform 111 is in communication connection with the driving vehicle 103, the filling vehicle 101, and the filled vehicle 105 through the wireless network. Because each driving vehicle 103 is provided with the positioning device 175, the general control center 109 can receive the positioning information sent by the positioning device 175 through the cloud platform 111, and can perform route planning according to the positioning information of the positioning device 175, so as to control the two driving vehicles 103 to respectively drive the filling vehicle 101 and the filled vehicle 105 to move to a filling destination according to a preset route, and control the filling vehicle 101 to fill liquid for the filled vehicle 105 after the filling vehicle 101 and the filled vehicle 105 reach the filling destination, so as to complete filling operation.

Through the arrangement of the master control device 107, the whole system can be monitored and subjected to data calculation, resource integration is effectively performed, the intelligent degree of the whole liquid filling system 100 is higher, scheduling and control can be performed according to the actual conditions of the filling vehicle 101 and the filled vehicle 105, the routes of the filling vehicle 101 and the filled vehicle 105 are planned by combining the positioning device 175 on the driving vehicle 103, and the filling vehicle 101 and the filled vehicle 105 can be driven by the driving vehicle 103 to automatically navigate to the filling destination on the planned routes according to the preset routes, so that the filling efficiency and the filling quality are ensured. Meanwhile, the arrangement of the master control equipment 107 enables the whole liquid filling system 100 to realize unmanned driving and unmanned operation, the intelligent degree of the whole liquid filling system 100 can be further improved, the operation efficiency and quality are ensured, and the harm of pesticide to human body is reduced.

Referring to fig. 1 again, in the present embodiment, the number of the filling vehicles 101 may be set to be one or more. When the number of the filling vehicles 101 is set to be one, the general control device 107 can control one filling vehicle 101 to fill one or more filled vehicles 105 through the cloud platform 111, for example, one filling vehicle 101 can fill one or more filled vehicles 105, at this time, the filling vehicle 101 and each filled vehicle 105 are correspondingly provided with one driving vehicle 103, and each driving vehicle 103 is in communication connection with the general control device 107, so that the general control device 107 can control the filling vehicle 101 to fill any one of the plurality of filled vehicles 105 through scheduling, the effectiveness maximization of the filling vehicle 101 is realized, and the filling efficiency and quality are fully ensured.

Similarly, when the number of the filling vehicles 101 is multiple, the filling vehicles 101 can be set to fill one or more filled vehicles 105, for example, the filling vehicles 101 can be set to fill the same number of multiple filled vehicles 105, at this time, each filling vehicle 101 and each filled vehicle 105 are correspondingly provided with one driving vehicle 103, and each driving vehicle 103 is in communication connection with the general control device 107, so that the general control device 107 can control the filling vehicles 101 to fill the corresponding filled vehicles 105 through scheduling, so as to reduce the waiting time of the filled vehicles 105 during filling, and fully ensure the efficiency and quality of the filling operation of each filled vehicle 105.

That is, when one filling vehicle 101 is used for filling a plurality of filled vehicles 105, resource integration can be performed through the master control device 107, resource sharing is achieved, waste of resources is reduced, the problem of insufficient scheduling linkage is solved, and the agricultural management level and the operation efficiency are improved. Through the arrangement of the plurality of driving vehicles 103 and the plurality of filling vehicles 101, the flow filling operation of the filled vehicles 105 in a large range can be realized through the main control device 107, the waiting time of the filled vehicles 105 in the filling process is reduced, and when one filling vehicle 101 breaks down, other filling vehicles 101 can be scheduled to perform the filling operation through the main control device 107, so that the filling efficiency and quality are fully ensured.

Fig. 5 is a schematic structural diagram of a filling vehicle 101 of the liquid filling system 100 provided in the present embodiment;

fig. 6 is a partial schematic structural view of a fill vehicle 101 of the liquid filling system 100 provided in the present embodiment;

fig. 7 is a schematic structural diagram of the filling device 129 of the liquid filling system 100 according to this embodiment. Referring to fig. 5 to 7, in order to enable the filling vehicle 101 to automatically fill the vehicle 105 to be filled, in the embodiment, the filling vehicle 101 may be configured to include a filling vehicle body 127, a filling device 129 and a control device 131.

In detail, the fill vehicle body 127 may be provided to include a powered vehicle chassis structure and a containment tank 143 for containing liquid disposed above the chassis. The filling device 129 is provided at the rear end of the chassis (i.e. the end of the chassis remote from the head of the drive vehicle 103) to facilitate movement. The control device 131 is disposed at a side portion of the chassis. Moreover, the filling device 129 and the driving vehicle 103 are both in communication connection with a control device 131, and the control device 131 is in communication connection with the general control device 107, so that the general control device 107 can send instructions to the control device 131 to control the filling device 129 and the driving vehicle 103 to operate, so as to ensure that the filling device 129 can fill liquid into the filling vehicle 101 when the driving vehicle 103 moves to a filling destination, and thus, the efficiency and quality of filling operation are ensured. Of course, in other embodiments, the filling device 129 may also be disposed at the front end or the side end of the chassis, or even on the accommodating tank 143, and the control device 131 may also be disposed at other positions of the chassis, so as to ensure that the filling operation is performed normally, which is not limited in this embodiment.

In more detail, in the present embodiment, the filling device 129 specifically includes a filling driving mechanism 145, a visual recognition mechanism 147, and a filling line 125.

The filling driving mechanism 145 is specifically selected as a robot, the filling driving mechanism 145 is movably disposed at the rear end of the chassis, and the chassis is further provided with a protective fence 161 around the filling driving mechanism 145 to ensure the safety of the filling driving mechanism 145. The filling driving mechanism 145 and the visual recognition mechanism 147 are both in communication connection with the control device 131, and the visual recognition mechanism 147 and the filling pipeline 125 are both disposed on the filling driving mechanism 145 and can move under the driving of the filling driving mechanism 145. The liquid inlet end of the filling pipeline 125 is communicated with the outlet of the accommodating tank 143, the liquid outlet end of the filling pipeline 125 is used for being matched with the filling port 121 of the vehicle 105 to be filled, and the visual identification mechanism 147 is specifically arranged at the position, close to the liquid outlet end, of the filling driving mechanism 145 and is used for identifying the position information of the filling port 121 and sending the position information of the filling port 121 to the general control device 107 through the control device 131. The general control device 107 is configured to control the filling driving mechanism 145 to drive the filling pipeline 125 and the visual recognition mechanism 147 to move through the control device 131 according to the recognition result of the visual recognition mechanism 147, so that the liquid outlet end can be inserted into the filling port 121 for filling.

That is, through the arrangement of the filling driving mechanism 145 and the visual recognition mechanism 147, the filling device 129 can automatically locate and recognize the position of the filling port 121 of the vehicle 105 to be filled, so that the position information of the filling port 121 can be conveniently transmitted to the overall control device 107, and the overall control device 107 can control the filling driving mechanism 145 to move through the control device 131 until the position recognized by the visual recognition mechanism 147 meets the requirement that the liquid outlet end can be accurately inserted into the filling port 121, so that the accuracy of the filling process is ensured.

In the present embodiment, the visual recognition unit 147 may be a binocular camera or a multi-view camera, and may be configured to position and recognize the position of the filler neck 121. The visual identification mechanism 147 is arranged to realize accurate control and positioning of the filling port 121, collected visual data is transmitted to the control device 131, the control device 131 performs calculation, and after the calculation is completed, the control device 131 controls the filling driving mechanism 145 to realize accurate positioning, so that the filling pipeline 125 can be accurately inserted into the vehicle 105 to be filled.

Specifically, fig. 8 is a block diagram of the control device 131 of the liquid filling system 100 according to the present embodiment. Referring to fig. 8, in the present embodiment, the control device 131 specifically includes a controller 133, an automatic navigation control module 135, a motion control module 137, a driving module 139, and an execution module 141. The controller 133 is responsible for communicating with the master control center 109, receiving a control instruction sent by the master control center 109 and sending the state information of the filling vehicle 101 to the master control center 109 through a wireless network, and also coordinately controlling the motion control module 137, the driving module 139 and the executing module 141, and can calculate data fed back by the visual recognition mechanism 147 to fill the driving mechanism 145. The automatic navigation control module 135 is responsible for communicating with the master control center 109, receives a control instruction sent by the master control center 109 through a wireless network to process and control the driving vehicle 103 to drive the filling vehicle 101 and the filled vehicle 105 to run in real time, and feeds back running state information to the master control center 109. The motion control module 137 is responsible for executing instructions from the controller 133 and controlling the motion of the priming drive 145 through the drive module 139 and the execution module 141 to ensure the accuracy of the priming operation.

Meanwhile, fig. 9 is a schematic block diagram of the liquid filling system 100 according to the present embodiment for performing visual recognition. Referring to fig. 9, in the present embodiment, the vision recognition and positioning process is specifically completed by the overall control center 109, the cloud platform 111, the second signal transceiver module 173, the processing unit 115 of the controller 133, the vision recognition mechanism 147, and the filling driving mechanism 145 in cooperation. The visual recognition mechanism 147 adopts a three-dimensional visual technology, combines a binocular camera with the processing unit 115, and calculates the spatial position coordinates of the filling port 121, and the principle is that the binocular camera is used for obtaining three-dimensional image information, the three-dimensional image information is converted into three-dimensional XYZ coordinate information through the image processing unit 115, the master control center 109 and the cloud platform 111 can control the processing unit 115 through the second signal transceiver module 173 to send an analyzed result to the filling driving mechanism 145, so that the filling driving mechanism 145 executes motion control according to the instruction, the filling driving mechanism 145 can realize intelligent control, liquid filling cannot be performed due to external change, automatic adjustment control of the filling pipeline position can be realized, and accurate liquid filling can be performed due to external change.

Referring again to fig. 7, in the present embodiment, the filling driving mechanism 145 is substantially a "T" shaped structure, and in other embodiments, it may be L-shaped or other shapes. Priming drive mechanism 145 specifically includes a mounting base 149, a rotating member 151, a first telescoping member 153, a second telescoping member 155, and an adjustment member 157. The mounting base 149 is rotatably mounted on a chassis of the filling vehicle body 127 through a rotating member 151 (the rotation axis coincides with the vertical direction), the first telescopic member 153 is disposed on the mounting base 149 and can be extended and retracted along a first direction (specifically, the vertical direction, and in other embodiments, other directions forming an included angle with the vertical direction) relative to the mounting base 149, the second telescopic member 155 is disposed on the first telescopic member 153 and can be extended and retracted along a second direction (specifically, the horizontal direction, and in other embodiments, other directions forming an included angle with the horizontal direction) forming an included angle with the first direction relative to the first telescopic member 153, the adjusting member 157 is rotatably disposed on the second telescopic member 155 (specifically, the adjusting member 157 is pivotally connected to the second telescopic member 155 and can rotate relative to the second telescopic member 155, the rotation axis coincides with the vertical direction), the liquid outlet end of the filling pipeline 125 is in transmission connection with the adjusting member 157, a visual identification mechanism 147 is disposed on the adjustment member 157 adjacent the dispensing end to facilitate identification of the position of the fill port 121. Meanwhile, the rotating member 151, the first telescopic member 153, the second telescopic member 155 and the adjusting member 157 are all communicatively connected to the control device 131. The general control device 107 is configured to control the rotating member 151, the first telescopic member 153, the second telescopic member 155 and the adjusting member 157 to move in coordination through the control device 131 (the motion control module 137, the driving module 139 and the execution module 141) so that the liquid outlet end can be inserted into the filling port 121.

The arrangement of the rotating part 151, the first telescopic part 153, the second telescopic part 155 and the adjusting part 157 enables the filling pipeline 125 to move vertically, horizontally and also rotate, so that the position of the liquid outlet end of the filling pipeline 125 can be effectively adjusted under the control of the controller 133 after the visual recognition mechanism 147 recognizes the position of the filling port 121, the filling port 121 can be aligned with the visual recognition mechanism 147, the accuracy of filling operation is guaranteed, and the filling efficiency and quality can be guaranteed.

Of course, in other embodiments, the filling driving mechanism 145 may also be configured as another multi-axis flexible robot with a higher degree of freedom, which can ensure that it can drive the liquid outlet end of the filling pipeline 125 to accurately adjust the position, so as to accurately cooperate with the filling port 121 to perform the filling operation, which is not limited in this embodiment.

In this embodiment, the first telescopic member 153 and the second telescopic member 155 are both linear telescopic mechanisms, and both adopt a structure in which an inner pipe is sleeved by an outer pipe, and the outer pipe and the inner pipe can realize linear relative motion. In other embodiments, linear driving structures such as an air cylinder can be adopted, so that the accuracy and stability of driving operation can be ensured, and the embodiment is not limited.

It should be further noted that, in this embodiment, the rotating member 151, the first telescopic member 153, the second telescopic member 155, and the adjusting member 157 all employ a power source with a closed loop, the power source may be an oil cylinder, an air cylinder, a motor, or an electric push rod, the power source is an internal closed loop, the visual identification mechanism 147 is an external closed loop, and the power source with a closed loop and the visual identification mechanism 147 are combined to implement a full closed loop, so that the intelligent control of filling positioning can be implemented, and thus the filling quality and efficiency can be fully ensured.

With the arrangement of the structure, when the filled vehicle 105 needs to be filled, the general control device 107 can acquire the positioning information of the driving vehicle 103, plan the movement route through the automatic navigation control module 135 of the control device 131, and control the driving vehicle 103 to drive the filling vehicle 101 and the filled vehicle 105 to travel to the destination along the navigation route. Then, the position of the filling port 121 is identified through the visual identification mechanism 147, a signal is transmitted to the control device 131, position calculation is performed through the control device 131, the filling driving mechanism 145 is controlled to drive the filling pipeline to adjust the position, and the filling pipeline is controlled to extend into the filling port 121 to perform filling operation after the position is accurate.

Referring to fig. 5 and fig. 6 again, in order to further ensure the efficiency and quality of the filling operation, in the present embodiment, the filling line 125 of the filling device 129 is specifically communicated with the accommodating tank 143 through the connecting line 123. The connection line 123 is located on the side of the storage tank 143, and the valve 183, the liquid pump 185, and the flow meter 187, which are communicatively connected to the control device 131, are provided on the connection line 123. The flow meter 187 is used to measure the flow rate of the liquid in the connecting line 123, and the overall control device 107 is configured to take the measurement result of the flow meter 187 and judge whether or not the preset flow rate requirement is satisfied by the control device 131 to control the liquid pump 185 to adjust the flow rate of the liquid in the connecting line 123 when the requirement is not satisfied. Through the arrangement, the flow can be adjusted when the flow in the connecting pipeline 123 does not meet the conveying requirement, so that the automatic filling of the large flow is met, the filling time is saved, and the filling efficiency is improved.

Optionally, in this embodiment, a filter 189 is further disposed on the connecting pipeline 123, and the filter 189 is used for filtering impurities in the liquid in the connecting pipeline 123, so as to ensure purity of the filling liquid, thereby ensuring quality of the filling, and ensuring that the filled vehicle 105 can perform agricultural work efficiently.

Referring to fig. 1 again, in the present embodiment, the liquid filling system 100 further includes a replenishing device 117, the accommodating tank 143 is provided with a liquid replenishing port 165, and the replenishing device 117 can replenish liquid for the accommodating tank 143 through the liquid replenishing port 165 to ensure a replenishing requirement of the filled vehicle 105. The supply equipment 117 can be set as a plurality of supply tanks, and the plurality of supply tanks can be set at the central position of the whole liquid filling system 100 to reduce the travel distance of the driving vehicle 103, so that the driving vehicle 103 can rapidly move to the supply equipment 117 from all directions, the supply equipment 117 can conveniently supply the filling vehicle 101 from multiple directions, and the operation of multiple vehicles can be simultaneously performed, thereby effectively promoting resource integration and improving the operation efficiency.

Alternatively, in the present embodiment, a first liquid level meter 163 is disposed on the accommodating tank 143 of the filling vehicle body 127, and the first liquid level meter 163 is used for measuring the liquid level of the filling liquid in the accommodating tank 143, wherein the first liquid level meter 163 is mounted on the tank, and can be disposed inside the accommodating tank 143 or on the surface of the accommodating tank 143, so as to measure the liquid level of the liquid in the accommodating tank 143. Meanwhile, the first liquid level meter 163 is in communication connection with the control device 131, so that the first liquid level meter 163 can send a measured liquid level value in the accommodating tank 143 to the controller 133, so that the general control device 107 can obtain the measured value of the first liquid level meter 163, and judge whether the measured value meets the filling requirement of the filled vehicle 105 through the control device 131, so as to control the driving vehicle 103 to carry the filling vehicle body 127 to move to the filling device 117 for liquid filling when the measured value does not meet the filling requirement. That is, when the liquid in the filling vehicle 101 cannot meet the filling requirement of the filled vehicle 105, the filling vehicle 101 needs to return to the filling equipment 117 for liquid filling, so as to ensure the normal operation of the filling operation.

Specifically, fig. 10 is a first filling operation flowchart of the liquid filling system 100 according to the present embodiment. Referring to fig. 10, in the present embodiment, when filling and replenishing operations are performed, if the liquid in the filling vehicle 101 does not meet the filling requirement of the vehicle 105, the filling vehicle 101 needs to be replenished with liquid by the replenishing equipment 117, and at this time, the replenishing equipment 117 can convey the liquid into the accommodating tank 143. After the replenishment operation is completed, the general control apparatus 107 may control the driving vehicle 103 to move to the filling destination with the vehicle 105 and the vehicle 101, and then control the filling driving mechanism 145 and the filling mechanism to perform the filling operation.

As an alternative, referring to fig. 5 and fig. 6 again, in the present embodiment, the fluid infusion port 165 is pivotally connected to a first cap opening mechanism, the first cap opening mechanism includes a first cap 167 and a first driving member 169 in transmission connection with the first cap 167, and the first driving member 169 may be an air cylinder or an oil cylinder, and is used for driving the first cap 167 to rotate to open or close the fluid infusion port 165. Meanwhile, the first driving element 169 is in communication connection with the control device 131, and the general control device 107 is configured to control the first driving element 169 to drive the first cover 167 to open the fluid infusion port 165 when the filling vehicle body 127 reaches the replenishment device 117 through the control device 131, and control the first driving element 169 to drive the first cover 167 to close the fluid infusion port 165 through the control device 131 after the control device 131 judges that fluid infusion is completed according to the measurement result of the first fluid level meter 163. The purity of the liquid in the accommodating tank body 143 can be guaranteed through the arrangement of the first cover opening mechanism, impurity-polluted liquid is prevented from falling into the accommodating tank body, the liquid splashing pollution environment can be avoided, on the other hand, automatic cover opening and cover closing can be achieved through cooperation of the first cover opening mechanism and the control device 131 when the filling vehicle 101 is used for liquid supply operation, so that the automation and the intelligent degree of the whole filling vehicle 101 are further improved, the filling time and the supply time are saved, and the filling and supply efficiency is improved.

It should be noted that a maintenance opening can be formed in the accommodating tank body 143 according to requirements, a maintenance cover 191 is arranged at the maintenance opening, and the maintenance cover 191 is used for facilitating personnel to enter the accommodating tank body 143 through the maintenance opening when the filling vehicle 101 needs maintenance, maintenance and cleaning.

Further optionally, in this embodiment, the liquid filling system 100 further comprises a second liquid level meter (not shown), which can be disposed in the tank of the vehicle 105 to measure the liquid volume in the vehicle 105. Meanwhile, the second liquid level meter is in communication connection with the control device 131, so that the general control device 107 can obtain the measured value of the second liquid level meter, and judge whether the measured value of the second liquid level meter meets the liquid injection requirement through the control device 131, so as to control the filling device 129 to stop injecting liquid when the liquid injection requirement is met. That is, the second liquid level meter is arranged, so that the filling device 129 can be controlled to stop filling after the filled vehicle 105 is filled with the liquid, waste of the liquid can be avoided, accurate filling of the liquid is realized, and the filling efficiency and quality are further ensured. Meanwhile, through the setting of the second liquid level meter, the filling requirement can also be determined through the controller 133, so that the general control device 107 can schedule the filling vehicle 101 meeting the filling requirement for the filled vehicle 105, thereby further ensuring the filling efficiency and quality.

Further, referring to fig. 7 again, in the present embodiment, the filling system further includes a second cap opening mechanism, the second cap opening mechanism includes a second cap 179 and a second driving member 181 drivingly connected to the second cap 179, the second cap 179 is rotatably driven to fill the filling opening of the vehicle 105, and the second driving member 181 can be selected from an air cylinder or other mechanism capable of driving the second cap 179 to rotate, so that the second driving member 181 can drive the second cap 179 to open or close the filling opening. Meanwhile, the second driving unit 181 is in communication connection with the control device 131, and the general control device 107 is configured to control the second driving unit 181 to drive the second lid 179 to open the liquid filling port through the control device 131 when the filling device 129 fills the liquid to be filled into the vehicle 105, and to drive the second lid 179 to close the liquid filling port after the filling device 129 completes filling. The purity of the liquid in the tank body of the filled vehicle 105 can be guaranteed through the arrangement of the second cover opening mechanism, the impurity-polluted liquid is prevented from falling, the liquid can be prevented from splashing to pollute the environment, on the other hand, the second cover opening mechanism and the control device 131 can cooperate to realize automatic cover opening and cover closing when the filled vehicle 105 carries out liquid filling operation, so that the automation and intelligence degree of the whole liquid filling system 100 is further improved, the filling and replenishing time is saved, and the filling and replenishing efficiency is improved.

Fig. 11 is a second filling operation flowchart of the liquid filling system 100 according to the present embodiment. Referring to fig. 11, in the present embodiment, when the liquid filling system 100 is used to perform a liquid filling operation, the liquid filling system 100 performs the filling operation according to the following steps:

s1: the main control equipment 107 receives an instruction that the vehicle 105 to be filled needs to be filled with liquid and determines the vehicle 101 to be filled with liquid;

in detail, in step S1, when the vehicle 105 needs to be filled with liquid, a command may be sent to the overall control device 107, and the overall control center 109 may obtain vehicle information of the vehicle 105 from the cloud platform 111, where the vehicle information includes vehicle state information, vehicle positioning information, and vehicle liquid level information. The overall control device 107 then determines the filling vehicle 101 that is filling the vehicle 105.

S2: the first gauge 163 performs level measurement;

in detail, after the general control device 107 determines the filling vehicle 101, it needs to determine whether the volume of the solution in the filling vehicle 101 meets the filling requirement of the filled vehicle 105, and at this time, the first level meter 163 may perform level measurement and send the measurement result to the control device 131;

s3: the control device 131 determines whether the measurement result is greater than or equal to the liquid to be filled;

in detail, after the controller 133 of the control device 131 receives the liquid level measurement result of the first liquid level meter 163, the filling requirement of the vehicle 105 can be compared, if the filling requirement is greater than or equal to the filling requirement of the vehicle 105, the step S31 can be executed, and if the filling requirement is less than the filling requirement of the vehicle 105, the step S32 can be executed;

the step of S31 is that the general control device 107 sends a liquid filling command to the controller 133, and controls the two driving vehicles 103 to respectively drive the filling vehicle 101 and the filled vehicle 105 to move to a filling destination according to a preset route to prepare for filling; the step of S32 is for the total control apparatus 107 to send a command to the drive vehicle 103 to return to the replenishing apparatus 117 to perform the replenishing job until the replenishment requirement is satisfied.

S4: the controller 133 controls the filling driving mechanism 145 to drive the filling pipe to move towards the filling port 121;

in detail, after the filling requirement is met and both the filling vehicle 101 and the vehicle 105 reach the filling destination, the filling driving mechanism 145 can be controlled to move to be close to the filling port 121 so as to facilitate position identification.

S5: the controller 133 controls the visual recognition mechanism 147 to recognize the position of the filling port 121 and sends the position information of the filling port 121 to the general control device 107 through the controller 133;

in detail, after approaching the filling port 121, position recognition can be performed so as to complete accurate filling.

S6: the controller 133 performs position offset calculation of the filling port 121 and performs position correction to control the filling driving mechanism 145 to drive the filling line 125 to move to the filling port 121;

in detail, after the visual recognition of the position is completed, the position adjustment may be performed according to the recognized result so as to align the filling line 125 with the filling port 121. In addition, at this time, the second lid 179 can be cleaned by an external cleaning mechanism or a cleaning mechanism provided on the vehicle 105 to prevent impurities from falling into the filler opening 121 when the second lid 179 is opened.

S7: the controller 133 controls the second driving element 181 to drive the second cover 179 to open the filling opening 121;

in detail, after the filling line 125 is aligned with the filling port 121, the second lid 179 can be driven to open the filling port 121 to prepare for the filling operation.

S8: the controller 133 controls the visual recognition mechanism 147 to recognize the position of the filling port 121 and sends the position information of the filling port 121 to the general control device 107 through the controller 133;

in detail, the position of the fill port 121 is recognized twice before and after the second lid body 179 opens the fill port 121, and the position information of the fill port 121 can be further accurately specified to ensure the accuracy and reliability of filling.

S9: the controller 133 performs position offset calculation of the filling port 121 and performs position correction to control the filling driving mechanism 145 to drive the filling pipeline 125 to move and extend into the filling port 121;

in detail, after the position is determined, the filling operation can be started by directly inserting the filling port 121.

S10: the master control center 109 sends a liquid injection instruction to the filling device 129 through the control device 131;

s11: controller 133 activates liquid pump 185, valve 183, filter and flow meter 187;

s12: the flow meter 187 measures the flow rate, and the controller 133 receives the measurement result and judges whether the flow rate meets the requirement;

in detail, if the flow rate does not satisfy the set flow rate requirement, step S121 is executed, and if so, step S122 is executed; in step S121, the controller 133 controls the liquid pump 185 to adjust the flow rate until the flow rate is satisfied, and in step S122, the filling line 125 extends into the filling port 121 and delivers the liquid.

S13: the second liquid level meter measures the liquid level, and the controller 133 judges whether the injection liquid meets the requirement;

in detail, after the conveying, whether the filling operation is completed or not can be judged according to the measurement result of the second liquid level meter, if the filling operation is completed, the step S131 is executed, and if the filling operation is not completed, the step S132 is executed; step S132 is that the controller 133 controls the liquid pump 185 to continue to inject liquid until the requirement is met, and step S131 is that a task completion signal is sent to the general control center 109, until the filling process is completed.

In the above process, on one hand, the liquid filling system 100 adopts the filling vehicle 101 to fill liquid into the vehicle 105 to be filled, manual liquid filling is not needed, the automation degree is high, the filling precision can be ensured, the burden of manual filling can be reduced, and the filling and replenishing time is saved, so that the filling and replenishing efficiency can be improved, and meanwhile, the harm of liquid such as pesticide to human bodies can be reduced; on the other hand, the filling vehicle 101 and the filled vehicle 105 are driven by the driving vehicle 103 with the positioning device 175, so that the filling vehicle 101 and the filled vehicle 105 can move randomly, the intelligent degree is higher, multi-direction and multi-destination liquid filling can be realized, compared with small-range movement of liquid filling personnel, the liquid filling range of the driving vehicle 103 driving the filling vehicle 101 and the filled vehicle 105 to move is wider, and the filling and replenishing efficiency can be further improved; meanwhile, in an extreme case, if the filling vehicle 101 or the filled vehicle 105 has obstacles and cannot move due to self power, the filling vehicle can still move to a destination through the driving of the driving vehicle 103 to perform liquid injection, so that the reliability and stability of filling and replenishing operations are ensured, and the operation efficiency is ensured. In addition, the arrangement of the first liquid level meter 163, the second liquid level meter, the flow meter 187 and the like can further improve the intelligence degree of the liquid filling system 100, so as to improve the filling efficiency and quality.

In summary, the liquid filling system 100 provided by the embodiment of the invention has the advantages of high automation and intelligence degree and high filling and replenishing operation efficiency.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A liquid filling system for filling a vehicle to be filled, the liquid filling system comprising:

the filling vehicle is used for filling liquid into the filled vehicle;

and the main control device is in communication connection with the filling vehicle and the driving device, and is used for controlling the driving device to drive the filling vehicle and the filled vehicle to move to a filling destination according to a preset route according to the positioning information of the positioning device, and controlling the filling vehicle to fill liquid into the filled vehicle after the filling vehicle and the filled vehicle move to the filling destination.

2. The liquid filling system of claim 1, wherein:

the liquid filling system comprises one filling vehicle, and the filling vehicle is used for filling liquid for a plurality of filled vehicles; the driving equipment comprises driving vehicles, the filling vehicle and each filled vehicle are correspondingly provided with one driving vehicle, and each driving vehicle is in communication connection with the master control equipment; the general control device is configured to control the filling vehicle to fill any one of the plurality of filled vehicles;

or,

the liquid filling system comprises a plurality of filling vehicles, and the plurality of filling vehicles respectively fill liquid for the plurality of vehicles to be filled; the driving equipment comprises driving vehicles, each filling vehicle and each filled vehicle are correspondingly provided with one driving vehicle, and each driving vehicle is in communication connection with the master control equipment; the general control equipment is configured to control the filling vehicle to fill liquid into the corresponding filled vehicle.

3. The liquid filling system of claim 2, wherein:

the filling vehicle comprises a filling vehicle body, a filling device and a control device, the filling vehicle body is arranged on the driving vehicle, the filling device and the control device are both arranged on the filling vehicle body, the filling device and the driving vehicle are both in communication connection with the control device, and the control device is in communication connection with the master control equipment;

the general control device is configured to control the driving vehicle to move to the filling destination according to the preset route through the control device, and is configured to control the filling device to fill liquid into the filling vehicle through the control device after the driving vehicle reaches the filling destination.

4. A liquid filling system according to claim 3, wherein:

the filling vehicle body comprises a containing tank body, and the containing tank body is used for containing filling liquid;

the filling device comprises a filling driving mechanism, a visual recognition mechanism and a filling pipeline; the visual recognition mechanism and the filling pipeline are arranged on the filling driving mechanism and can move under the driving of the filling driving mechanism; the liquid inlet end of the filling pipeline is communicated with the accommodating tank body, the liquid outlet end of the filling pipeline is used for being matched with a filling port of the vehicle to be filled, and the visual identification mechanism is arranged close to the liquid outlet end and used for identifying the position information of the filling port and sending the position information of the filling port to the master control equipment through the control device;

5. The liquid filling system of claim 4, wherein:

the filling driving mechanism comprises a mounting seat, a rotating part, a first telescopic part, a second telescopic part and an adjusting part, the mounting seat is rotatably mounted on the filling vehicle body through the rotating part, the first telescopic part is arranged on the mounting seat and can be stretched in a first direction relative to the mounting seat, the second telescopic part is arranged on the first telescopic part and can be stretched in a second direction forming an included angle with the first direction relative to the first telescopic part, the adjusting part is rotatably arranged on the second telescopic part, the filling pipeline is in transmission connection with the adjusting part, and the visual identification mechanism is arranged on the adjusting part;

the rotating piece, the first telescopic piece, the second telescopic piece and the adjusting piece are all in communication connection with the control device; the general control device is configured to control the rotating member, the first telescopic member, the second telescopic member and the adjusting member to move through the control device, so that the liquid outlet end can be inserted into the filling port.

6. A liquid filling system according to claim 3, wherein:

the liquid filling system further comprises a replenishment device;

the filling vehicle body comprises a containing tank body and a first liquid level meter, wherein the containing tank body is used for containing filling liquid, and the first liquid level meter is used for measuring the liquid level of the filling liquid in the containing tank body; the first liquid level meter is in communication connection with the control device; the general control device is configured to obtain a measured value of the first liquid level meter, and judge whether the measured value meets the filling requirement of the filled vehicle through the control device, so as to control the driving vehicle to carry the filling vehicle body to move to the filling device for liquid filling when the measured value does not meet the filling requirement.

7. The liquid filling system of claim 6, wherein:

the accommodating tank body is provided with a liquid supplementing port, a first cover opening mechanism is arranged at the liquid supplementing port and comprises a first cover body and a first driving piece in transmission connection with the first cover body, the first cover body is movably arranged on the accommodating tank body, and the first driving piece is used for driving the first cover body to open or close the liquid supplementing port;

the first driving piece is in communication connection with the control device, the general control device is configured to control the first driving piece to drive the first cover body to open the liquid supplementing port through the control device when the filling vehicle body reaches the replenishment device, and control the first driving piece to drive the first cover body to close the liquid supplementing port through the control device after the control device judges that liquid supplementing is completed according to a measurement result of the first liquid level meter.

8. The liquid filling system of claim 6, wherein:

the liquid filling system also comprises a second liquid level meter, wherein the second liquid level meter is used for being installed on the vehicle to be filled so as to measure the liquid capacity in the vehicle to be filled; the second liquid level meter is in communication connection with the control device, and the master control equipment is configured to obtain a measured value of the second liquid level meter and judge whether the measured value of the second liquid level meter meets a liquid injection requirement through the control device so as to control the filling device to stop injecting liquid when the liquid injection requirement is met.

9. A liquid filling system according to claim 3, wherein:

the filling system further comprises a second cover opening mechanism, the second cover opening mechanism comprises a second cover body and a second driving piece in transmission connection with the second cover body, the second cover body is movably arranged at a liquid filling port of the vehicle to be filled, and the second driving piece is used for driving the second cover body to open or close the liquid filling port;

the second driving piece is in communication connection with the control device, and the master control device is configured to control the second driving piece to drive the second cover body to open the liquid injection port through the control device when the filling device injects liquid into the vehicle to be filled, and drive the second cover body to close the liquid injection port after the filling device completes the liquid injection.

10. A liquid filling system according to claim 3, wherein:

the filling vehicle body comprises a containing tank body, and the filling device is communicated with the containing tank body through a connecting pipeline; the control device is used for judging whether a preset flow requirement is met or not, and the liquid pump is controlled to adjust the liquid flow in the connecting pipeline when the requirement is not met.

11. The liquid filling system of claim 10, wherein:

the connecting pipeline is also provided with a filter, and the filter is used for filtering impurities of the liquid in the connecting pipeline.