CN114572015A - Large-scale unmanned serving trolley based on composite power supply - Google Patents
Large-scale unmanned serving trolley based on composite power supply Download PDFInfo
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- CN114572015A CN114572015A CN202110985579.1A CN202110985579A CN114572015A CN 114572015 A CN114572015 A CN 114572015A CN 202110985579 A CN202110985579 A CN 202110985579A CN 114572015 A CN114572015 A CN 114572015A
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- super capacitor
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- preq
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/00357—Air-conditioning arrangements specially adapted for particular vehicles
- B60H1/00385—Air-conditioning arrangements specially adapted for particular vehicles for vehicles having an electrical drive, e.g. hybrid or fuel cell
- B60H1/00392—Air-conditioning arrangements specially adapted for particular vehicles for vehicles having an electrical drive, e.g. hybrid or fuel cell for electric vehicles having only electric drive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/00421—Driving arrangements for parts of a vehicle air-conditioning
- B60H1/00428—Driving arrangements for parts of a vehicle air-conditioning electric
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
- B60L58/27—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries by heating
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- 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
Abstract
A large-scale unmanned serving trolley based on a hybrid power supply belongs to the field of energy power. The invention can save time and labor. Super capacitor and power battery combine together not only can keep warm for the food and beverage as combined power system, can make the dining car operate steadily moreover, have longer life, in addition under low temperature environment, super capacitor can preheat for power battery, and good low temperature performance is not restricted by the environmental condition. The system is expected to provide services in more occasions such as communities, hospitals, schools, enterprises and the like in future.
Description
Technical Field
The invention designs a large-scale unmanned serving trolley based on a composite power supply, and belongs to the field of energy power.
Background
The invention provides a large-scale unmanned serving trolley based on a composite power supply, which saves time and labor. The overall structure of the intelligent dining car comprises a communication system, a controller, a driver, a super capacitor, a power battery, a DC/DC, a DC/AC, a speed reducer, a motor, wheels, a temperature sensor, a dining cabinet and the like, wherein the super capacitor and the power battery are used as a composite power supply system, so that the intelligent dining car not only can keep the temperature of the dining, but also can stably run, has longer service life, and is expected to provide services in more occasions such as communities, hospitals, schools, enterprises and the like in future.
Disclosure of Invention
The invention aims to provide a large unmanned serving trolley based on a composite power supply.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention relates to a large-scale unmanned serving trolley based on a composite power supply, which is characterized by comprising the following components: the vehicle-mounted intelligent control system comprises a whole vehicle (1), a communication module (2), a whole vehicle controller (3), a driver (4), a composite power system (5), a driving motor (6), a speed reducer (7), wheels (8), a wheel monitor (9), a vehicle body monitor (10), a temperature sensor (11) and a dining cabinet (12).
The hybrid power supply system (5) comprises a power battery pack (13), a super capacitor pack (14), a DC/DC converter 1(15), a DC/DC converter 2(16) and a DC/AC inverter (17), wherein the power battery (13) and the super capacitor (14) are respectively connected with the DC/DC converter 1(15) and the DC/DC converter 2(16), and are connected in parallel and then connected with the DC/AC inverter (17) in series.
The whole vehicle (1) has the following connecting structure: the communication module (2) is used as a signal component independent of the mechanical structure of the whole vehicle, is communicated with the wheel monitor (9) and is connected with the whole vehicle controller (3), the whole vehicle controller (3) is connected with the driver (4) in series, the driver (4) is connected with the hybrid power system (5), one part of energy output by the hybrid power system (5) reaches the driving motor (6) to run, electric energy is converted into mechanical energy and is distributed to the wheels (8) through the speed reducer (7) to drive the whole vehicle to run, and the other part of energy reaches the catering cabinet (12) to maintain the catering at a proper temperature. The temperature sensor (11) is connected with the catering cabinet (12) in series, the temperature sensor (11) is in charge of transmitting the catering temperature to the vehicle control unit (3), meanwhile, the driver (4) is connected with the hybrid power system (5), and the vehicle control unit (3) reasonably distributes the energy of the hybrid power system (5) by analyzing the residual energy of the power battery (13) and the super capacitor (14) fed back by the hybrid power system (5) and the temperature of the catering cabinet temperature sensor (11).
Compared with the prior art, the invention has the beneficial effects that
1. When climbing or accelerating, the super capacitor is used for high-power charging and discharging, so that the driving range can be increased, and the cycle service life of the power battery is prolonged.
2. The super capacitor can preheat the power battery, so that the whole vehicle has good low-temperature startability and is not restricted by environmental conditions.
3. The composite power supply system can keep the temperature of the catering.
Drawings
Fig. 1 is a schematic structural diagram of a large unmanned dining car based on a hybrid power supply. Reference numbers in the figures: the vehicle-mounted hybrid power system comprises a vehicle (1), a communication module (2), a vehicle control unit (3), a driver (4), a hybrid power system (5), a driving motor (6), a speed reducer (7), wheels (8), a wheel monitor (9), a vehicle body detector (10), a temperature sensor (11) and a dining cabinet (12).
Fig. 2 is a control flow chart of a large unmanned dining car based on a composite power supply, and the whole process from the beginning to the end of one meal is shown in the figure.
Fig. 3 is a diagram of a whole vehicle energy management method of a large-scale unmanned dining car based on a composite power supply. The energy management method of the hybrid power system comprises the steps of judging the working mode of the hybrid power system according to the driving state of a vehicle, considering heat preservation of catering, and then distributing energy by combining the required power, the charge state of a power battery and the charge state of a super capacitor.
Detailed Description
The invention is further explained below with reference to the drawings and the detailed description
2. Furthermore, the communication module (2) comprises an upper computer for receiving and recording data and a local area network.
3. Furthermore, the temperature sensor (11) is used for monitoring the temperature inside the catering cabinet (12) in real time and feeding back the temperature to the module of the whole vehicle controller (3) in time, and the super capacitor (14) or the power battery (13) is controlled to use more electric quantity for heating when the temperature is low, so that the food is kept in a proper temperature range.
4. Further, the vehicle control unit (3) is used for receiving temperature signals sent by the catering temperature sensor (11), making decisions on the basis of the information received by the remaining condition of the electric quantity of the hybrid power system (5) and the monitoring information of the position and the speed of the unmanned vehicle by the communication module (2), and transmitting the results to the driver (4).
5. Further, the hybrid power supply system (5) comprises a power battery pack (13), a super capacitor pack (14), a DC/DC converter 1(15), a DC/DC converter 2(16) and a DC/AC inverter (17), wherein the power battery (13) and the super capacitor (14) are respectively connected with the DC/DC converter 1(15) and the DC/DC converter 2(16), and are connected in parallel and then connected with the DC/AC inverter (17) in series.
6. Further, the catering cabinet (12) comprises an internal storage space and a surface display screen, and the surface display is positioned on the right side of the vehicle body.
7. Further, the energy management method of the hybrid power system comprises the steps of judging the working mode of the hybrid power system according to the running state of a vehicle, considering the heat preservation of catering, and then distributing energy by combining the required power, the charge states of a battery and a super capacitor:
the method comprises the following specific steps:
let Preq be the required power of the motor, Pb _ max be the upper limit value of the output power of the battery, Pave + and Pave-be the average values of the discharge power and the charge power of the battery respectively, Pc be the power provided by the super capacitor, Pb be the power provided by the battery, SOCc _ max be the upper limit value of the charge state of the set super capacitor, SOCc _ min be the lower limit value of the charge state of the set super capacitor, and Pt be the power required by the dining cabinet;
(1) if the automobile accelerates or goes up a slope, the discharging mode is as follows:
if Preq + Pt is larger than Pb _ max and Preq is larger than Pb _ max, the super capacitor and the power battery act together, and Pt is provided by the super capacitor;
if Preq + Pt is larger than Pb _ max and Preq is smaller than Pb _ max, the super capacitor and the power battery act together, and Pt is provided by the power battery and the super capacitor together;
thirdly, if 0 < Preq + Pt < Pb _ max and Preq is less than or equal to Pave +, the power battery acts independently, and Pt is provided by the power battery;
if 0 < Preq + Pt < Pb _ max and Preq > Pave +, the battery acts, when SOCc > SOCc _ min, the super capacitor also acts, Pt is provided by the super capacitor, when SOCc is less than or equal to SOCc _ min, the super capacitor does not act, and Pt is provided by the power battery;
(2) if the automobile decelerates or goes down a slope, the charging mode is as follows:
if Pave-is less than or equal to Preq and less than 0, the battery acts independently, and Pt is provided by Preq shunt;
if Preq is less than Pave-, the battery functions; when the SOCc is less than or equal to the SOCc _ max, the super capacitor also acts, and Pt is provided by the Preq shunt; when SOCc > SOCc _ max, the super capacitor is inactive and Pt is provided by the super capacitor.
Step 1, as shown in fig. 1, the overall structure of the unmanned dining car based on the hybrid power supply is initialized when the whole car controller (3) starts. And recording the initial position transmitted by the wheel monitor (9) and planning the journey according to the set route.
And 2, analyzing the temperature transmitted to the vehicle control unit (3) by the temperature sensor (11) connected with the catering cabinet (12), and distributing proper electric quantity for the catering cabinet (12) by considering the electric quantity of the power battery (13) and the super capacitor (14) in the hybrid power system (5), so that the catering cabinet (12) is kept in a proper temperature range in the driving process of the whole vehicle (1).
And 3, when the environmental temperature is lower, the power battery (13) is difficult to start, and at the moment, the super capacitor (14) is adopted to properly heat the power battery (13) group to enable the power battery to reach a proper working temperature range, and the unmanned serving trolley is driven to start serving. When the environment temperature is proper, the power battery (13) does not need to be preheated to directly drive the unmanned dining car to run.
And 4, inputting an address or a distance, monitoring the speed and the acceleration of the vehicle through the wheel detector (9), controlling the automatic/manual operation of the trolley, and reasonably distributing required power according to the electric quantity of the power battery (13) group and the super capacitor (14) in the composite power supply system (5). When the unmanned dining car runs on a smooth road, the power battery (13) mainly provides energy required by the whole running distance, and the super capacitor (14) can be used for discharging large current to provide extra energy when the unmanned dining car needs to be accelerated or ascends a slope, so that the unmanned dining car can run stably, and the cycle service life of the power battery (13) can be prolonged.
And 5, sensing surrounding obstacles through the car body monitor (10) to avoid the obstacles, periodically inquiring whether the trolley reaches a destination or not, and stopping running when the unmanned serving trolley reaches the destination.
And 6, informing the guest of taking the meal after the dining car stops, and scanning the two-dimensional code of the display screen on the right side of the dining cabinet (12) to obtain the meal code so as to avoid inputting the password by a manual touch screen. When the guest inputs the correct password, the corresponding lunch box is opened, the passenger takes the meal away, and the meal delivery is completed at one time.
And 7, after the lunch box is conveyed, returning the trolley to the starting point to perform integral sterilization and disinfection treatment, monitoring the electric quantity at the moment, and charging the power source for the next meal delivery.
Claims (7)
1. Large-scale unmanned serving trolley based on composite power supply, its characterized in that:
the system comprises a whole vehicle (1), a communication module (2), a whole vehicle controller (3), a driver (4), a composite power supply system (5), a driving motor (6), a speed reducer (7), wheels (8), a wheel monitor (9), a vehicle body detector (10), a temperature sensor (11) and a dining cabinet (12);
the communication module (2) is used as a signal component independent of the mechanical structure of the whole vehicle (1), is communicated with the wheel monitor (9) and is connected with the whole vehicle controller (3), the whole vehicle controller (3) is connected with the driver (4) in series, the driver (4) is connected with the composite power supply system (5), one part of energy output by the composite power supply system (5) reaches the driving motor (6) to operate, electric energy is converted into mechanical energy and is redistributed to the wheels (8) through the speed reducer (7) to drive the whole vehicle to run, and the other part of energy output by the composite power supply system (5) reaches the catering cabinet (12) to maintain catering at a proper temperature; a temperature sensor (11) is connected with the catering cabinet (12) in series, the temperature sensor (11) is connected with the vehicle control unit (3) and is responsible for transmitting the catering temperature to the vehicle control unit (3), and meanwhile, the vehicle body monitor (10) is in signal connection with the communication module (2).
2. The large-scale unmanned dining car based on hybrid power supply according to claim 1, wherein the communication module (2) comprises an upper computer for receiving and recording data, and a local area network.
3. The large-scale hybrid power supply-based unmanned dining car as claimed in claim 1, wherein the temperature sensor (11) is used for monitoring the temperature inside the dining cabinet (12) in real time and feeding back the temperature to the whole car controller (3) module in time, and when the temperature is low, the super capacitor (14) or the power battery (13) is controlled to use more electricity for heating so as to maintain the temperature of food within a proper temperature range.
4. The large-scale unmanned dining car based on hybrid power supply as claimed in claim 1, wherein the vehicle control unit (3) is used for receiving temperature signals sent by the dining temperature sensor (11), the remaining condition of the electric quantity of the hybrid power supply system (5) and the monitoring information of the communication module (2) on the position and the speed of the unmanned car, making a decision on the basis of the received information, and transmitting the result to the driver (4).
5. The large-scale unmanned catering trolley based on hybrid power supply according to claim 1, wherein the hybrid power supply system (5) comprises a power battery pack (13), a super capacitor pack (14), a DC/DC converter 1(15), a DC/DC converter 2(16) and a DC/AC inverter (17), wherein the power battery (13) and the super capacitor (14) are respectively connected with the DC/DC converter 1(15) and the DC/DC converter 2(16) which are connected in parallel and then connected with the DC/AC inverter (17) in series.
6. The hybrid power supply-based large-sized unmanned catering trolley according to claim 1, wherein the catering cabinet (12) comprises an internal storage space and a surface display screen, and the surface display is positioned on the right side of the trolley body.
7. The hybrid power supply-based large-sized unmanned dining car as claimed in claim 1, wherein the hybrid power supply system energy management method is that the working mode of the hybrid power supply system is judged according to the driving state of the car, the heat preservation of the dining is considered, and then energy distribution is performed by combining the required power, the charge state of a battery and the charge state of a super capacitor:
the method comprises the following specific steps:
let Preq be the required power of the motor, Pb _ max be the upper limit value of the output power of the battery, Pave + and Pave-be the average values of the discharge power and the charge power of the battery respectively, Pc be the power provided by the super capacitor, Pb be the power provided by the battery, SOCc _ max be the upper limit value of the charge state of the set super capacitor, SOCc _ min be the lower limit value of the charge state of the set super capacitor, and Pt be the power required by the dining cabinet;
(1) if the automobile accelerates or goes up a slope, the discharging mode is as follows:
if Preq + Pt is larger than Pb _ max and Preq is larger than Pb _ max, the super capacitor and the power battery act together, and Pt is provided by the super capacitor;
if Preq + Pt is larger than Pb _ max and Preq is smaller than Pb _ max, the super capacitor and the power battery act together, and Pt is provided by the power battery and the super capacitor together;
thirdly, if 0 < Preq + Pt < Pb _ max and Preq is less than or equal to Pave +, the power battery acts independently, and Pt is provided by the power battery;
if 0 < Preq + Pt < Pb _ max and Preq > Pave +, the battery acts, when SOCc > SOCc _ min, the super capacitor also acts, Pt is provided by the super capacitor, when SOCc is less than or equal to SOCc _ min, the super capacitor does not act, and Pt is provided by the power battery;
(2) if the automobile decelerates or goes down a slope, the charging mode is as follows:
if Pave-is less than or equal to Preq and less than 0, the battery acts independently, and Pt is provided by Preq shunt;
if Preq is less than Pave-, the battery functions; when the SOCc is less than or equal to the SOCc _ max, the super capacitor also acts, and Pt is provided by the Preq shunt; when SOCc > SOCc _ max, the super capacitor is inactive and Pt is provided by the super capacitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110985579.1A CN114572015A (en) | 2021-08-26 | 2021-08-26 | Large-scale unmanned serving trolley based on composite power supply |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110985579.1A CN114572015A (en) | 2021-08-26 | 2021-08-26 | Large-scale unmanned serving trolley based on composite power supply |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM476066U (en) * | 2013-11-18 | 2014-04-11 | Ren-Sheng C Lin | Electric bus or lorry with a rechargeable and intelligent electrical system |
| CN103802821A (en) * | 2014-02-19 | 2014-05-21 | 中国北方车辆研究所 | Power control method based on hybrid power source for hybrid power |
| CN104015626A (en) * | 2014-05-29 | 2014-09-03 | 北京航空航天大学 | Hybrid power system for electric car |
| CN104972919A (en) * | 2015-07-21 | 2015-10-14 | 哈尔滨理工大学 | Energy distribution device and method for distributed electric vehicle driving compound energy source |
| CN107054140A (en) * | 2017-04-24 | 2017-08-18 | 哈尔滨理工大学 | Fuel cell hybrid car energy-storage system and energy distributing method based on elastic energy storage |
| CN112421745A (en) * | 2020-10-27 | 2021-02-26 | 武汉大学 | Energy management method for composite power supply system of electric automobile |
-
2021
- 2021-08-26 CN CN202110985579.1A patent/CN114572015A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM476066U (en) * | 2013-11-18 | 2014-04-11 | Ren-Sheng C Lin | Electric bus or lorry with a rechargeable and intelligent electrical system |
| CN103802821A (en) * | 2014-02-19 | 2014-05-21 | 中国北方车辆研究所 | Power control method based on hybrid power source for hybrid power |
| CN104015626A (en) * | 2014-05-29 | 2014-09-03 | 北京航空航天大学 | Hybrid power system for electric car |
| CN104972919A (en) * | 2015-07-21 | 2015-10-14 | 哈尔滨理工大学 | Energy distribution device and method for distributed electric vehicle driving compound energy source |
| CN107054140A (en) * | 2017-04-24 | 2017-08-18 | 哈尔滨理工大学 | Fuel cell hybrid car energy-storage system and energy distributing method based on elastic energy storage |
| CN112421745A (en) * | 2020-10-27 | 2021-02-26 | 武汉大学 | Energy management method for composite power supply system of electric automobile |
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