CN117008619A - Route control system of mobile charging vehicle - Google Patents
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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
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Abstract
The invention discloses a route control system of a mobile charging vehicle, which belongs to the technical field of new energy construction, and has the advantages of accurate positioning, environment sensing and early warning, optimal route planning, autonomous operation maintenance, communication and sharing functions and high-efficiency energy management. The GPS positioning and INS inertial navigation module ensures accurate positioning and navigation accuracy of the vehicle. The sensing unit and the early warning module provide environment sensing and early warning functions, and the driving safety is enhanced. The route planning module selects an optimal route, so that the efficiency is improved and the time is saved. Autonomous operation maintenance work enables the vehicle to operate autonomously when no signal or disturbance is present. Communication and sharing functions promote communication and information sharing among charging vehicles, and the system synergy is enhanced. The power supply system realizes high-efficiency energy conversion and management and provides stable and reliable electric energy supply. The mobile charging vehicle can intelligently and efficiently complete the charging task, and better use experience is provided.
Description
Technical Field
The invention belongs to the technical field of new energy construction, and particularly relates to a route control system of a mobile charging vehicle.
Background
The mobile charging vehicle is a vehicle capable of moving autonomously, and has a main function of providing charging service for other electric devices or vehicles. It is typically equipped with a charging device and power system that can be moved into proximity with the device or vehicle requiring electricity and perform a charging operation or provide electrical energy services.
The main application scenario of the mobile charging vehicle is another scheme for providing electric energy besides a fixed charging scheme, and the mobile charging vehicle provides charging or electricity service for electric vehicles or other devices. For example, in places such as large-scale activity sites, parking lots, construction sites and warehouses, the mobile charging vehicle can charge and use electricity and other services according to requirements, thereby providing convenience for vehicles needing to be charged and providing electric energy support in small-load scenes. The mobile charging vehicle is limited to the current technology level of larger energy-mass ratio of the battery, adopts a split type (the battery and the mobile vehicle can be separated), and can be combined with a mobile mechanical part (commonly called a mobile vehicle body) into a whole after a more advanced battery with enough energy-mass ratio is invented in the future
The charging vehicle generally has the following characteristics:
autonomous mobility: the mobile charging vehicle has the capability of autonomous movement, and can autonomously go to a charging point or move to the vicinity of equipment needing to be charged according to requirements.
Charging equipment: the charging vehicle is provided with corresponding charging equipment and a power supply system, and can provide electric power charging service for other equipment or vehicles.
General electric energy output: providing electric energy with universal voltage level for other equipment and providing electric energy service for low-power electric appliances without commercial power
Charging management system: mobile charging vehicles are typically provided with a charge management system for managing the discharge safety of each battery cell of their own battery, guiding the vehicle charging process, monitoring the state of charge and providing related service functions.
A variety of charging interfaces: to accommodate the charging needs of different devices or vehicles, mobile charging vehicles typically provide a variety of charging interfaces, such as a universal multifunctional socket for dc quick charging, ac charging, cable connectors, and the like.
For mobile charging vehicles put into use, greater flexibility and convenience are provided for charging of electric vehicles, temporary charging solutions can be provided for vehicles in places without fixed charging facilities, but certain potential safety hazards exist in an unmanned mode and in a manner of carrying lithium batteries for movement, and a great challenge is presented on how to guarantee stable and safe operation of the whole system.
The present invention has been made in view of this.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the basic conception of the technical scheme that:
the route control system of the mobile charging vehicle is characterized by comprising a controller, wherein the input end of the controller is electrically connected with an INS inertial navigation module, and the input end of the INS inertial navigation module is electrically connected with a GPS positioning module;
the input end of the controller is also electrically connected with an early warning module, the input end of the early warning module is electrically connected with a sensing unit, the output end of the controller is electrically connected with a route planning module, the output end of the route planning module is electrically connected with a driving unit and a communication module, the output end of the controller is electrically connected with a power supply system, and the input end of the power supply system is electrically connected with a control panel;
the output end of the controller is electrically connected with a route planning module, the output end of the route planning module is electrically connected with a driving unit, the output end of the route planning module is electrically connected with a communication module, the output end of the communication module is electrically connected with an interconnection sharing unit, and the input end of the controller is electrically connected with the output end of the communication module.
As a further aspect of the invention: the INS inertial navigation module comprises an accelerometer and a gyroscope, the accelerometer measures the acceleration of an object, the gyroscope measures the angular velocity of the object to obtain IMU data, and processes the original data provided by the IMU, including filtering, calibration and fusion algorithms, for extracting accurate attitude, acceleration and angular velocity information, estimating the direction, inclination and rotation angle information of the object through the accurate IMU data immediately, and outputting the attitude, speed and position information of the object, wherein the information is used for navigation, positioning and attitude control application, so that autonomous operation maintenance of a signal-free area is achieved.
As a further aspect of the invention: the sensing unit comprises a laser radar, a camera and an ultrasonic sensor, senses the surrounding environment of the charging vehicle, detects obstacles and provides multi-source monitoring data of the obstacles to the early warning module, the early warning module immediately detects the surrounding environment according to the multi-source monitoring data provided by the sensing unit, acquires newly added obstacle data by combining model data comparison of environmental scanning in advance, acquires lost object data of original model data, grasps movable objects and immovable objects in the model in a period of operation, comprehensively considers the moving frequency of objects at different positions, selects a route with smaller moving frequency to move, gives an alarm to the controller when the moving data is monitored by combining the data of the sensing unit, simultaneously records all the data by the internal memory, uploads a network, accumulates data training AI, and enables each step to make accurate and reasonable actions.
As a further aspect of the invention: the GPS positioning module provides accurate positioning assistance for the mobile charging vehicle, provides accurate initial position and time information, is used for the INS inertial navigation module, can quickly establish an accurate initial state when being started by using the position and time data provided by the GPS positioning module, and the measured value of the inertial navigation system can generate errors and drift along with the time. The GPS positioning module may provide accurate position and velocity information for use in correcting and revising the measurements of the INS inertial navigation module. By fusing with the GPS positioning module, the drift error of the INS inertial navigation module can be corrected in real time, and under the high dynamic environment, the measurement of the inertial navigation system can be interfered by vibration, acceleration and angular velocity. The GPS may provide relatively stable position and velocity information for correcting measurement errors of the INS.
As a further aspect of the invention: the route planning module performs comprehensive consideration of the optimal route according to the data provided by the controller, wherein the comprehensive consideration comprises the number of movable objects in the route, the moving frequency of the movable objects, the distance between the movable objects and the route, and the road condition information, and controls the driving unit to move, wherein the driving unit controls the operation of advancing, retreating, steering or stopping of the movable charging vehicle.
As a further aspect of the invention: the interconnected sharing unit is used for carrying out mutual communication on a plurality of mobile charging vehicles in the area through the communication module, sharing real-time change information of different areas, enabling the mobile charging vehicles with higher safety to be nearby to be called for response, enabling implementation model data of the sensing unit and the early warning module to be shared between two mobile charging vehicles which are relatively close and are located at dead angles, and enabling dangerous pre-judgment to the dead angles.
As a further aspect of the invention: the power supply system comprises a battery pack or an energy device of a fuel cell, if the battery pack is adopted, the power supply system is matched with a power exchange station or an autonomous charging station, if the fuel cell is adopted, the power supply system is provided with a unified refueling station, and the power supply system comprises a charging system, a battery management system, an inverter, a protection device and a monitoring and control interface.
The beneficial effects are that:
the route control system of the mobile charging vehicle has the advantages that:
the GPS positioning module provides accurate initial position and time information and is used for correcting and correcting the measured value of the inertial navigation module so as to ensure the positioning accuracy of the vehicle. The sensing unit and the early warning module detect obstacles and provide multisource monitoring data, sense and early warning of surrounding environment are realized by combining AI learning, and driving safety is improved. And the route planning module comprehensively considers the factors such as the number of movable objects, the moving frequency, the route distance, the road condition and the like according to the data provided by the controller, selects an optimal route, improves the efficiency and saves the time.
The INS inertial navigation module combines IMU data to realize the estimation of the attitude, acceleration and angular velocity information of the vehicle, and can perform autonomous operation maintenance in a no-signal area. The communication module and the interconnection sharing unit realize communication and real-time information sharing between charging vehicles, improve the synergy and the intellectualization of the system, and can respond to the charging vehicles with higher near calling safety.
In summary, the route control system of the mobile charging vehicle improves the safety, navigation accuracy, efficiency and reliability of the charging vehicle through the functions of accurate positioning, environment perception, optimal route planning, autonomous operation maintenance, communication sharing, high-efficiency energy management and the like. These benefits enable the charging vehicle to more intelligently and efficiently complete the charging task and provide better use experience for the user.
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
In the drawings:
FIG. 1 is a block diagram of a system for route control of the present invention;
FIG. 2 is a schematic view of a scene simulation in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-dimensional structure of a mobile charging vehicle according to the present invention;
fig. 4 is a schematic diagram of the explosion structure of the mobile charging vehicle of the present invention.
In the figure: 1. a chassis; 2. an abdomen bin; 3. an anti-collision ring; 4. a driving structure; 5. a control host; 6. a power supply quick-release interface; 7. a power supply converter; 8. a power supply interface; 9. a top frame; 10. a sensing component; 11. and a lifting assembly.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention.
Referring to fig. 1, the present invention provides a technical solution: the route control system of the mobile charging vehicle is characterized by comprising a controller, wherein the input end of the controller is electrically connected with an INS inertial navigation module, and the input end of the INS inertial navigation module is electrically connected with a GPS positioning module;
the input end of the controller is also electrically connected with an early warning module, the input end of the early warning module is electrically connected with a sensing unit, the output end of the controller is electrically connected with a route planning module, the output end of the route planning module is electrically connected with a driving unit and a communication module, the output end of the controller is electrically connected with a power supply system, and the input end of the power supply system is electrically connected with a control panel;
the output end of the controller is electrically connected with a route planning module, the output end of the route planning module is electrically connected with a driving unit, the output end of the route planning module is electrically connected with a communication module, the output end of the communication module is electrically connected with an interconnection sharing unit, and the input end of the controller is electrically connected with the output end of the communication module.
After the training of the whole hardware system is established, a powerful controller core operation unit (CPU, GPU and the like) runs the trained AI (artificial intelligence) system, so that the system can have certain autonomous consciousness to ensure the safety of the whole system.
Benefits of the mobile charging vehicle route control system include accurate positioning, environmental awareness and early warning, optimal route planning, autonomous operation maintenance, communication and sharing functions, and efficient energy management. The GPS positioning and INS inertial navigation module ensures accurate positioning and navigation accuracy of the vehicle. The sensing unit and the early warning module provide environment sensing and early warning functions, and the driving safety is enhanced. The route planning module selects an optimal route, so that the efficiency is improved and the time is saved. The autonomous operation maintenance function enables the vehicle to operate autonomously in a no signal area or when a signal is disturbed. Communication and sharing functions promote communication and information sharing among charging vehicles, and the system synergy is enhanced. The power supply system realizes high-efficiency energy conversion and management, provides stable and reliable electric energy supply, and the charging vehicle can communicate with the battery warehouse independently to acquire the state of charge of the battery, automatically load the charged battery to be on the way, or put the battery pack with low electric quantity to be charged into the charging bin for continuous charging. The mobile charging vehicle can intelligently and efficiently complete the charging task, and better use experience is provided.
The problem that the space required by constructing the special charging station is large, parking cannot be performed in idle time, and the parking space in the city is reduced due to phase change is solved; the charging car can provide charging service for all cars in all parking lots in one area, and each parking space is an operation place.
The fixed station needs the trouble that the car owner drives to charge, waiting for the charging, and taking the car after the charging is completed, so that the process is tedious, and the time expenditure is huge; the mobile charging vehicle can be completely used, only the corresponding APP is arranged on the mobile phone, the operating range is greatly enlarged, and the convenience of the electric car is improved.
In order to shorten the waiting time of a vehicle owner, the fixed station makes the power of the charging pile larger, the power is charged into the power grid each time, the power grid in the idle period is reserved with enough capacity, the power grid is wasted when the busy moment arrives, the battery of the mobile charging vehicle can avoid the peak to charge the battery pack in the battery compartment, and the large charging power is not needed.
The electricity consumption is low, the battery is charged, the electricity consumption peak can reversely transmit part of battery pack electric energy to the power grid, the pressure of the electricity consumption peak is relieved for the power grid, profit caused by peak-valley electricity price difference is obtained for an investor, and meanwhile, the utilization rate of the battery is improved.
The battery compartment can be built by selecting a remote corner, a balcony roof, or an underground low-cost space and the like, so that the land utilization rate of the city is increased, and a busy first-class city is particularly obvious.
The electric car is powered down midway and needs rescue, which is a necessary function in cities, and the mobile charging car can be used instead.
The mobile charging vehicle is mobile in nature, rather than charging the vehicle only, and can provide different components for the battery pack, so that the output electric energy is conventional electric energy, such as AC220v, AC380v, and the like, and the electric energy is supplied continuously for outdoor operation or temporary electric field stations.
The outdoor lighting is provided with a lighting component only for the mobile charging vehicles, so that a plurality of mobile charging vehicles can be combined into an ideal lighting scheme for an outdoor temporary gathering area or a place needing special lighting.
As shown in fig. 2, in the running process of the system, the information sharing can be performed on the sensing blind area through mutual cooperation of a plurality of (two or more) mobile charging vehicles, and the scanning of no dead angle in the area can be realized by two mobile charging vehicles mutually positioned in the blind area, so that the safety is greatly improved.
Benefits of the route control system of the mobile charging vehicle include:
accurate positioning: the GPS positioning module provides accurate initial position and time information and is used for correcting and correcting the measured value of the inertial navigation module so as to ensure the positioning accuracy of the vehicle.
Environmental awareness and early warning: the sensing unit and the early warning module detect obstacles and provide multisource monitoring data, so that sensing and early warning of surrounding environment are realized, and driving safety is improved.
Optimal route planning: and the route planning module comprehensively considers the factors such as the number of movable objects, the moving frequency, the route distance, the road condition and the like according to the data provided by the controller, selects an optimal route, improves the efficiency and saves the time.
Autonomous operation maintenance: the INS inertial navigation module combines IMU data to realize the estimation of the attitude, acceleration and angular velocity information of the vehicle, and can perform autonomous operation maintenance in a no-signal area.
Communication and sharing functions: the communication module and the interconnection sharing unit realize communication and real-time information sharing between charging vehicles, improve the synergy and the intellectualization of the system, and can respond to the charging vehicles with higher near calling safety.
High-efficiency energy management: the power supply system comprises a charging system, a battery management system, an inverter and a protection device, can realize high-efficiency energy conversion and management, and provides stable and reliable electric energy supply.
In summary, the route control system of the mobile charging vehicle improves the safety, navigation accuracy, efficiency and reliability of the charging vehicle through the functions of accurate positioning, environment perception, optimal route planning, autonomous operation maintenance, communication sharing, high-efficiency energy management and the like. These benefits enable the charging vehicle to more intelligently and efficiently complete the charging task and provide better use experience for the user.
The INS inertial navigation module comprises an accelerometer and a gyroscope, the accelerometer measures the acceleration of an object, the gyroscope measures the angular velocity of the object to obtain IMU data, and processes the original data provided by the IMU, including filtering, calibration and fusion algorithms, for extracting accurate attitude, acceleration and angular velocity information, estimating the direction, inclination and rotation angle information of the object through the accurate IMU data immediately, and outputting the attitude, speed and position information of the object, wherein the information is used for navigation, positioning and attitude control application, so that autonomous operation maintenance of a signal-free area is achieved.
The sensing unit comprises a laser radar, a camera and an ultrasonic sensor, senses the surrounding environment of the charging vehicle, detects obstacles and provides multi-source monitoring data of the obstacles to the early warning module, the early warning module immediately detects the surrounding environment according to the multi-source monitoring data provided by the sensing unit, acquires newly added obstacle data by combining model data comparison of environmental scanning in advance, acquires lost object data of original model data, grasps movable objects and immovable objects in the model in a period of operation, comprehensively considers the moving frequency of objects at different positions, selects a route with smaller moving frequency to move, gives an alarm to the controller when the moving data is monitored by combining the data of the sensing unit, simultaneously records all the data by the internal memory, uploads a network, accumulates data training AI, and enables each step to make accurate and reasonable actions.
The GPS positioning module provides accurate positioning assistance for the mobile charging vehicle, provides accurate initial position and time information, is used for the INS inertial navigation module, can quickly establish an accurate initial state when being started by using the position and time data provided by the GPS positioning module, and the measured value of the inertial navigation system can generate errors and drift along with the time. The GPS positioning module may provide accurate position and velocity information for use in correcting and revising the measurements of the INS inertial navigation module. By fusing with the GPS positioning module, the drift error of the INS inertial navigation module can be corrected in real time, and under the high dynamic environment, the measurement of the inertial navigation system can be interfered by vibration, acceleration and angular velocity. The GPS may provide relatively stable position and velocity information for correcting measurement errors of the INS.
The route planning module performs comprehensive consideration of the optimal route according to the data provided by the controller, wherein the comprehensive consideration comprises the number of movable objects in the route, the moving frequency of the movable objects, the distance between the movable objects and the route, and the road condition information, and controls the driving unit to move, wherein the driving unit controls the operation of advancing, retreating, steering or stopping of the movable charging vehicle.
The interconnected sharing unit is used for carrying out mutual communication on a plurality of mobile charging vehicles in the area through the communication module, sharing real-time change information of different areas, enabling the mobile charging vehicles with higher safety to be nearby to be called for response, enabling implementation model data of the sensing unit and the early warning module to be shared between two mobile charging vehicles which are relatively close and are located at dead angles, and enabling dangerous pre-judgment to the dead angles.
The power supply system comprises a battery pack or an energy device of a fuel cell, if the battery pack is adopted, the power supply system is matched with a power exchange station or an autonomous charging station, if the fuel cell is adopted, the power supply system is provided with a unified refueling station, and the power supply system comprises a charging system, a battery management system, an inverter, a protection device and a monitoring and control interface.
The cooperation of each module in the route control system of the mobile charging vehicle has the following advantages:
the GPS positioning module provides accurate initial position and time information, and the INS inertial navigation module provides parameters such as the gesture, acceleration, angular velocity and the like of the vehicle through sensors such as an accelerometer, a gyroscope and the like. The cooperation of the two modules can realize accurate positioning and navigation of the vehicle, and the problems of errors and drifting of the INS inertial navigation module are solved.
GPS positioning module:
accurate starting position and time information is provided, and accurate positioning and navigation of the vehicle can be ensured.
And the measurement error of the INS inertial navigation module is corrected, and the accuracy of vehicle navigation is improved.
INS inertial navigation module:
the parameters such as the attitude, the acceleration, the angular velocity and the like are measured through the sensors such as the accelerometer, the gyroscope and the like, and real-time vehicle state information is provided.
In areas where there is no GPS signal or weak signal, the positioning and navigation capabilities of the vehicle are maintained.
Sensing unit:
sensing units such as laser radars, cameras, ultrasonic sensors and the like detect surrounding environments and obstacles.
And providing multi-source monitoring data, and helping the early warning module to sense and respond to potential dangerous situations in real time.
And the early warning module is used for:
and performing environment detection and early warning processing based on the data provided by the sensing unit.
An alert signal is sent to alert the driver or system operator to a potential hazard or obstacle.
And (3) a controller:
as a central processing unit of the system, information transfer and decision making between the various modules are coordinated and controlled.
And collecting and integrating data from different modules to realize comprehensive control and intelligent decision.
And a route planning module:
based on the data and input signals provided by the controller, the feasibility and efficiency of different routes are assessed.
And the optimal path is selected, so that the driving distance, the driving time and the driving energy consumption are reduced, and the efficiency of the charging vehicle is improved.
A driving unit:
and according to the output of the route planning module, implementing accurate driving control.
And controlling the operations of forward, backward, steering or braking and the like of the charging vehicle, so as to ensure that the vehicle runs according to a planned route.
And a communication module:
communication and information exchange between charging vehicles are realized, and cooperative work and data sharing are promoted.
And the real-time change information such as traffic conditions, route information and the like is shared, so that the intelligent and cooperative performance of the system is improved.
A power supply system:
and stable and reliable electric energy supply is provided, and the running and charging requirements of the charging vehicle are met.
The charging system and the battery management system ensure the charge and discharge control and state monitoring of the battery, and prolong the service life of the battery.
Control panel:
a user interface and operational control are provided to monitor the operating state of the power system.
Vehicle information, alarm information and the like are visually displayed, so that an operator can monitor and control the vehicle conveniently.
Through the collaborative work of each module, the route control system of the mobile charging vehicle can realize functions of accurate positioning and navigation, environment perception and early warning, optimal route planning, driving control, communication sharing, high-efficiency energy management and the like, and improves the safety, navigation accuracy, efficiency and reliability of the charging vehicle.
GPS positioning module: providing accurate starting position and time information for vehicle positioning and guidance
INS inertial navigation module: parameters such as the gesture, acceleration, angular velocity and the like of the vehicle are measured through sensors such as an accelerometer, a gyroscope and the like, and the sensor is used for gesture estimation and navigation of the vehicle.
Sensing unit: including lidar, cameras, ultrasonic sensors, etc., for sensing the environment surrounding the vehicle and detecting obstacles. And the early warning module is used for: and receiving data provided by the sensing unit, performing environment detection and early warning processing, and sending out an alarm signal to ensure the driving safety. And (3) a controller: and the central processing unit is used for receiving input signals from all modules and controlling the operation and decision of the charging vehicle. And a route planning module: and (3) carrying out route planning and optimization according to the data and the input signals provided by the controller, and selecting an optimal path. A driving unit: and controlling the operations of advancing, retreating, steering, braking and the like of the charging vehicle according to the output of the route planning module. And a communication module: and the system is responsible for communication and information exchange between charging vehicles, and realizes cooperative work and information sharing of the system. A power supply system: including charging system, battery management system, inverter and protection device etc. provides reliable and stable electric energy supply. Control panel: as an input to the controller, the operating state of the power system is monitored and controlled, and a user interface is provided. The modules cooperate with each other to realize the functions of positioning, navigation, environmental awareness, early warning, path planning, driving control, communication, electric energy supply and the like of the charging vehicle so as to ensure safe running, efficient operation and reliable charging of the charging vehicle.
The sensing unit includes a lidar, a camera, an ultrasonic sensor, and the like for sensing the environment around the vehicle. The early warning module receives the multi-source monitoring data provided by the sensing unit and performs environment detection and early warning processing. The cooperation of the two modules can timely detect the obstacle and send out a corresponding early warning signal so as to ensure the safety of vehicle running.
The controller receives input signals from each module and controls the operation of the whole charging vehicle. And the route planning module performs comprehensive consideration according to the data provided by the controller, and selects an optimal route. The cooperation of the two modules can realize effective control and optimization of route planning, improve the efficiency of the charging vehicle and save time.
The communication module is responsible for communication and information sharing between charging vehicles. The interconnected sharing unit can respond to the charging vehicle with higher near-selection safety. The cooperation of the two modules can realize cooperative work and information sharing between charging vehicles, and improve the cooperative performance and response capability of the system.
The power supply system comprises a charging system, a battery management system, an inverter, a protection device and the like. The control panel is used as an input end of the controller and can monitor and control the operation state of the power supply system. The cooperation of the two modules can realize real-time monitoring and management of a power supply system and ensure stable and reliable electric energy supply of the charging vehicle. Through cooperation among the modules, the route control system of the mobile charging vehicle can realize functions of accurate positioning and navigation, environment perception and early warning, optimal route planning, autonomous operation maintenance, communication sharing, high-efficiency energy management and the like, and improves the safety, navigation accuracy, efficiency and reliability of the charging vehicle.
This portable charging car adopts low chassis design, can realize the wireless charging of vehicle bottom and the rifle butt joint that charges of charging of car side, specifically as shown in fig. 3 and fig. 4, through adopting chassis 1 as the bearing support framework of main part, set up adjustable actuating mechanism of direction in chassis 1 four corners department, make it can realize removing, and universal drive, install abdomen storehouse 2 on chassis 1 simultaneously, various electronic devices such as control host computer 5 etc. and portable dismouting's power are installed to abdomen storehouse 2, the power can be through carrying out the quick break-make with power quick detach interface 6, the operation of convenient quick change, the electric quantity of power exports through power supply converter 7 simultaneously can, when charging, lifting unit 11 can carry out lifting control, make its power supply interface 8 can laminate at the vehicle bottom, can cooperate the wireless charging of vehicle bottom to carry out electric energy wireless transmission, simultaneously when needs, peg graft through power supply interface 8 and charge the rifle fast can.
The portable charging car of this scheme can be when removing with perception subassembly 10 rise, when the bottom of the car, perception subassembly 10 high decline.
The perception component 10 is installed on the surface of roof-rack 9, and roof-rack 9 is fixed and is used for protecting abdomen storehouse 2 at the upper surface of chassis 1, and the surface of chassis 1 is provided with crashproof circle 3 and carries out the protection all around simultaneously.
By setting the camera, a real-time picture is provided for the vision system, the unexpected road condition is processed in the driving process, the vehicle type is recognized when the unexpected road condition reaches the target, the charging port is measured, the automatic plugging is realized in the range allowed by the capability, and the charging is completed.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and their equivalents.
Claims (7)
1. The route control system of the mobile charging vehicle is characterized by comprising a controller, wherein the input end of the controller is electrically connected with an INS inertial navigation module, and the input end of the INS inertial navigation module is electrically connected with a GPS positioning module;
the input end of the controller is also electrically connected with an early warning module, the input end of the early warning module is electrically connected with a sensing unit, the output end of the controller is electrically connected with a route planning module, the output end of the route planning module is electrically connected with a driving unit and a communication module, the output end of the controller is electrically connected with a power supply system, and the input end of the power supply system is electrically connected with a control panel;
the output end of the controller is electrically connected with a route planning module, the output end of the route planning module is electrically connected with a driving unit, the output end of the route planning module is electrically connected with a communication module, the output end of the communication module is electrically connected with an interconnection sharing unit, and the input end of the controller is electrically connected with the output end of the communication module.
2. The route control system of a mobile battery charging vehicle according to claim 1, wherein said INS inertial navigation module comprises an accelerometer and a gyroscope, the accelerometer measuring acceleration of the object, the gyroscope measuring angular velocity of the object obtaining IMU data and processing raw data provided by the IMU, including filtering, calibration and fusion algorithms for extracting accurate pose, acceleration and angular velocity information, then estimating orientation, tilt and rotation angle information of the object from the accurate IMU data and outputting pose, velocity and position information of the object for navigation, positioning and pose control applications for autonomous operation maintenance of the no signal area.
3. The route control system of a mobile charging vehicle according to claim 1, wherein the sensing unit comprises a laser radar, a camera and an ultrasonic sensor, senses the surrounding environment of the charging vehicle, detects obstacles and provides multi-source monitoring data of the obstacles to the early warning module, the early warning module detects the surrounding environment according to the multi-source monitoring data provided by the sensing unit, compares model data scanned in advance to obtain newly added obstacle data, knows lost object data of the original model data, grasps movable objects and immovable objects in the model in a period of operation, comprehensively considers the moving frequency of objects at different positions, selects a route with smaller moving frequency to move, gives an alarm to the controller when the moving data is monitored by combining the data of the sensing unit, simultaneously, the internal memory records all the data, uploads the data, accumulates data training AI, and enables each step to make accurate and reasonable actions.
4. The route control system of claim 2, wherein the GPS positioning module provides accurate positioning assistance for the mobile charging vehicle, the GPS positioning module provides accurate starting position and time information for the INS inertial navigation module, the INS inertial navigation module can quickly establish an accurate initial state when started by using the position and time data provided by the GPS positioning module, and the measured value of the inertial navigation system generates errors and drift with the lapse of time. The GPS positioning module may provide accurate position and velocity information for use in correcting and revising the measurements of the INS inertial navigation module. By fusing with the GPS positioning module, the drift error of the INS inertial navigation module can be corrected in real time, and under the high dynamic environment, the measurement of the inertial navigation system can be interfered by vibration, acceleration and angular velocity. The GPS may provide relatively stable position and velocity information for correcting measurement errors of the INS.
5. The route control system of a mobile charging vehicle according to claim 1, wherein the route planning module performs an optimal route comprehensively considering the number of movable objects in the route according to the data provided by the controller, the moving frequency of the movable objects, the distance between the movable objects and the road condition information, and controls the driving unit to move, wherein the driving unit controls the operation of advancing, retreating, steering or stopping of the mobile charging vehicle.
6. The route control system of the mobile charging vehicles according to claim 1, wherein the interconnection sharing unit is used for mutually communicating the plurality of mobile charging vehicles in the area through the communication module, sharing real-time change information of different areas, enabling nearby retrieval of mobile charging vehicles with higher safety for response, enabling sharing of implementation model data of the sensing unit and the early warning module between two mobile charging vehicles which are close and are mutually located at dead angles, and enabling dangerous pre-judgment to dead angles.
7. The route control system of a mobile charging vehicle according to claim 1, wherein the power supply system comprises a battery pack or an energy device of a fuel cell, if the battery pack is adopted, a matched power exchange station or an autonomous charging station, if the fuel cell is adopted, a unified fueling station is provided, and the power supply system comprises a charging system, a battery management system, an inverter, a protection device and a monitoring and control interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311012014.0A CN117008619A (en) | 2023-08-11 | 2023-08-11 | Route control system of mobile charging vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311012014.0A CN117008619A (en) | 2023-08-11 | 2023-08-11 | Route control system of mobile charging vehicle |
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