CN117227519A - High-interoperability wireless charging robot and method for electric automobile - Google Patents
High-interoperability wireless charging robot and method for electric automobile Download PDFInfo
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- CN117227519A CN117227519A CN202311122273.9A CN202311122273A CN117227519A CN 117227519 A CN117227519 A CN 117227519A CN 202311122273 A CN202311122273 A CN 202311122273A CN 117227519 A CN117227519 A CN 117227519A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000013256 coordination polymer Substances 0.000 claims description 29
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- 238000005859 coupling reaction Methods 0.000 claims description 6
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- 238000006243 chemical reaction Methods 0.000 claims description 5
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 claims description 4
- 239000000696 magnetic material Substances 0.000 claims description 4
- 229920000642 polymer Polymers 0.000 claims description 4
- 229910000859 α-Fe Inorganic materials 0.000 claims description 4
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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
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention relates to a high-interoperability wireless charging robot for an electric automobile and a method thereof, belonging to the technical field of electric automobile charging. In order to solve the problem of large occupied space for vehicle charging. Including wireless charging robot and wireless transmitting terminal device that charges, wireless charging robot includes drive arrangement, the shell, the battery, the radar, degree of depth camera, wireless power supply control module and resonance switch module, drive arrangement is installed to the shell both sides, install battery in the shell, wireless power supply control module, resonance switch module, the side-mounting radar of shell, respectively install the degree of depth camera at both ends around the shell, wireless transmitting terminal device is located the inside upside of shell, battery, resonance switch module, wireless transmitting terminal device electric connection that charges, wireless transmitting terminal device that charges establishes the cooperation with on-vehicle wireless receiving terminal device that charges. The construction cost is low, the vehicle is charged by utilizing the position below the vehicle, the vehicle can be suitable for various indoor and outdoor places, and the road occupation rate is reduced.
Description
Technical Field
The invention relates to a wireless charging robot and a wireless charging method, and belongs to the technical field of electric automobile charging.
Background
At present, an electric automobile is mainly charged in a charging pile contact mode, and the problems of low flexibility, poor safety and the like exist in the charging process. In addition, because the supporting facility of the charging pile is imperfect, the cost of the supporting facility of the charging pile is high, the occupied space of the ground is large, and the charging parking space is tense and difficult to charge. If in community and market parking area, electric automobile charges the parking stall and is occupied by the vehicle that internal-combustion engine car and charging were accomplished for a long time, leads to charging pile utilization ratio extremely low, has further aggravated electric automobile and has charged the degree of difficulty. Therefore, the problem of matched charging of the electric automobile has become a core difficult problem for limiting popularization and promotion of the electric automobile.
At present, an intelligent charging robot usually carries a high-power density charging storage battery, and can automatically move to the vicinity of a vehicle to be charged according to the charging requirement of the vehicle, so that a real-time point-to-point charging mode is realized. For example: the invention has the technical scheme that the mobile power supply of the vehicle-mounted charging pile can be realized by the technical scheme of the mobile charging robot, the technical scheme of the mobile charging robot is large in size, difficult to be suitable for application occasions with small parking spaces such as communities and the like, and cannot be matched with the requirements of a new generation of electric automobiles on a wireless power supply system; the invention discloses a charging robot for a new energy automobile, which has the technical scheme that the robot is arranged at the top end of a garage through a garage running track to realize the positioning and moving of the robot to the vehicle position, but the scheme has high construction cost, cannot work in a rain and snow environment, is only suitable for underground garages with closed spaces, cannot be suitable for external occasions such as community ground garages, and has a small application range.
Therefore, it is needed to provide a wireless charging robot with high interoperability and a method thereof for an electric vehicle, so as to solve the above-mentioned technical problems.
Disclosure of Invention
It is an object of the present invention to provide a high interoperability wireless charging robot for an electric vehicle and a method thereof in order to solve the problem of large vehicle occupation space, a brief overview of the present invention is given below in order to provide a basic understanding about certain aspects of the present invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
The technical scheme of the invention is as follows:
the utility model provides a wireless robot that charges of high interoperability for electric automobile, including wireless robot and the wireless transmitting terminal device that charges, wireless robot that charges includes drive arrangement, a housing, a battery, the radar, the degree of depth camera, wireless power supply control module and resonance switch module, drive arrangement is installed to the housing left and right sides, install the battery in the housing, wireless power supply control module, resonance switch module, the radar is installed to the side-mounting of housing, the degree of depth camera is respectively installed at both ends around the housing, wireless transmitting terminal device that charges is located the housing upside, the battery, resonance switch module, wireless transmitting terminal device that charges is electric connection in order, wireless transmitting terminal device that charges establishes the cooperation with on-vehicle wireless receiving terminal device that charges.
Preferably: the wireless charging transmitting end device comprises a transmitting coil, a transmitting end magnetic core, a transmitting end shell and a transmitting end shell cover plate, wherein the transmitting end shell is connected with the transmitting end shell cover plate through bolts, the transmitting coil and the transmitting end magnetic core are arranged between the transmitting end shell and the transmitting end shell cover plate, and the transmitting coil is located on the upper side of the transmitting end magnetic core.
Preferably: the transmitting coil is a bipolar transmitting coil and comprises two identical rectangular coils, which are wound by high-frequency litz wire and embedded in a transmitting end shell; the magnetic core of the transmitting end is made of MnZn ferrite soft magnetic material, and the size of the magnetic core is larger than that of the transmitting coil.
Preferably: the resonance switching module comprises a compensation change-over switch, a CP-type transmitting end compensation topology and a DD-type transmitting end compensation topology, the input end of the storage battery is electrically connected with the charging socket, the output end of the storage battery is sequentially connected with the electric energy conversion device, the high-frequency inverter module, the compensation change-over switch, the CP-type transmitting end compensation topology and the DD-type transmitting end compensation topology which are arranged in parallel, the transmitting coil change-over switch and the transmitting coil are electrically connected, the wifi module is electrically connected with the central controller, the central controller is electrically connected with the wireless power supply control module, the wireless power supply control module is electrically connected with the compensation change-over switch, and the radar and the depth camera are electrically connected with the central controller.
Preferably: the shell includes robot base and casing, and robot base and casing bolted connection install battery, wireless power supply control module and resonance switching module on the robot base, and four radars are evenly installed to the side of robot base, and a depth camera is respectively installed at both ends around the casing, and charging socket is installed to the rear side of casing, transmitting terminal shell and casing bolted connection.
Preferably: the driving device comprises two front driving devices and two rear driving devices, the two front driving devices are symmetrically arranged on the front side of the robot base, the two rear driving devices are symmetrically arranged on the rear side of the robot base, the front driving devices and the rear driving devices respectively comprise driving wheels and driving motors, a shell of each driving motor is connected with the robot base through bolts, an output end of each driving motor is connected with each driving wheel, and a controller of each driving motor is electrically connected with the central controller.
Preferably: the storage battery is a lithium iron phosphate storage battery, the shell is a high-polymer plastic shell, the radar is a multi-thread laser radar, and the robot base is made of steel.
Preferably: the vehicle-mounted wireless charging receiving end device is a CP type receiving end or DD type receiving end, the height of the high-interoperability wireless charging robot for the electric automobile is smaller than the height of the chassis of the vehicle, and the high-interoperability wireless charging robot for the electric automobile is located below the vehicle-mounted wireless charging receiving end device.
A self-positioning wireless charging method for intelligent charging of an electric automobile comprises the following steps:
step one: the idle robot receives a charging demand signal;
step two: a driving route is drawn;
step three: adjusting the charging posture;
step four: analyzing the type of the vehicle-mounted receiving end;
step five: the state is switched and charged according to the type of the vehicle.
Preferably: step one, an electric automobile stops to a parking space and then sends out a charging demand, and an idle charging robot receives a charging demand signal;
step two, based on map point cloud data of a parking area and a charging area in a cloud, a driving route is drawn, a robot driving controller controls the robot to drive to a vehicle to be charged, the type and the distance of an obstacle are identified through a radar and a depth camera in the driving process, and a driving device is adjusted to realize obstacle avoidance;
step three, the robot runs to the vicinity of a parking space where the automobile to be charged is located, laser data of the vicinity of the automobile is collected through a depth camera, vehicle space position point cloud data are established, and the robot is controlled to be adjusted to be opposite to the charging position through driving a differential device; the robot runs to the lower part of the vehicle-mounted receiving end, and the charging position of the robot, which is opposite to the vehicle-mounted receiving end, is adjusted;
establishing a handshake with the vehicle information to be charged through wifi, and acquiring the structure type (CP type receiving end or DD type receiving end) and rated charging power of the vehicle-mounted receiving end;
step five, including the following steps:
step 5.1: based on the acquired type of the vehicle-mounted receiving end, entering a mode switching state, if the national standard is adopted to prescribe the CP receiving end 31, entering a CP mode, adjusting the mode into a single-coil power supply mode through a compensation change-over switch, and switching the transmitting end into the CP compensation; if the DD receiving end specified by national standards is adopted, the DD mode is entered, the DD mode is adjusted to be a double-coil power supply mode through a compensation change-over switch, and the DD mode is switched to DD compensation;
step 5.2: adjusting the output voltage of the DC/DC circuit based on the obtained rated charging power of the vehicle;
step 5.3: the high-frequency inversion source works, rated frequency current is introduced into a wireless transmitting end of the robot, a high-frequency alternating magnetic field is generated after resonance compensation of the transmitting end, and energy is transmitted to a vehicle-mounted receiving end through coupling of the high-frequency magnetic field, so that vehicle charging is realized;
step 5.4: and after the vehicle-mounted battery is fully charged, when a charging stopping instruction is sent to the robot, when the robot receives the charging stopping instruction manually sent by a driver, and when the SOC of the storage battery of the robot is lower than a set threshold value, the robot stops charging and returns to a charging area to supplement electricity or continuously charge other vehicles to be charged.
The invention has the following beneficial effects:
1. the invention can dynamically supply power to the new energy electric automobile in real time in a mobile power supply mode, can effectively solve the problems of shortage, occupation and the like of the charging parking space of the existing electric automobile, is flexible and intelligent in charging, and improves the utilization rate of the invention;
2. the invention has low construction cost, is suitable for various indoor and outdoor places by charging by using the lower position of the vehicle, reduces the road occupancy and improves the parking quantity of the parking lot;
3. when the device is used, a vehicle owner does not need to manually plug the high-voltage charging gun device for operation, so that the safety is high;
4. the invention has high compatibility and interoperability of multiple power levels and multiple vehicle-mounted receiving end types, can be matched with the CP type and DD type vehicle-mounted receiving end specified in national standards, and has strong applicability.
Drawings
Fig. 1 is a schematic structural view of a high interoperability wireless charging robot for an electric vehicle;
fig. 2 is a schematic diagram of an internal structure of a high interoperability wireless charging robot for an electric vehicle;
FIG. 3 is a diagram showing electrical connection of a high-interoperability wireless charging robot for an electric vehicle;
fig. 4 is a schematic structural diagram of a wireless charging transmitting terminal device;
FIG. 5 is a schematic diagram of an exploded construction of a wireless charging transmitting end device;
FIG. 6 is a flow chart of a self-positioning wireless charging method for intelligent charging of an electric vehicle;
FIG. 7 is a travel route diagram of a self-positioning wireless charging method for intelligent charging of an electric vehicle;
fig. 8 is a bipolar transmit coil charging schematic diagram for electric vehicle compatibility with CP-type receive coils;
fig. 9 is a schematic diagram of bipolar transmit coil charging for electric vehicle compatibility using DD-type receive coils.
In the figure: the wireless charging system comprises a 1-wireless charging robot, a 2-wireless charging transmitting end device, a 3-vehicle-mounted wireless charging receiving end device, a 11-storage battery, a 12-robot base, a 13-shell, a 14-pre-driving device, a 15-post-driving device, a 16-charging socket, a 17-radar, an 18-depth camera, a 19-wireless power supply control module, a 101-resonance switching module, a 21-transmitting coil, a 22-transmitting end magnetic core, a 23-transmitting end shell, a 24-transmitting end shell cover plate, a 31-CP type receiving end and a 32-DD type receiving end.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The first embodiment is as follows: 1-5, a high interoperability wireless charging robot for an electric automobile of the present embodiment includes a wireless charging robot 1 and a wireless charging transmitting end device 2, the wireless charging robot 1 includes a driving device, a housing, a battery 11, a radar 17, a depth camera 18, a wireless power supply control module 19 and a resonance switching module 101, the driving device is installed on the left and right sides of the housing, the battery 11, the wireless power supply control module 19 and the resonance switching module 101 are installed in the housing, the radar 17 is installed on the side surface of the housing, the depth camera 18 is installed on the front and rear ends of the housing, the wireless charging transmitting end device 2 is located on the upper side of the interior of the housing, the battery 11, the resonance switching module 101 and the wireless charging transmitting end device 2 are electrically connected in sequence, and the wireless charging transmitting end device 2 is matched with the vehicle-mounted wireless charging receiving end device 3; the invention discloses a high-interoperability wireless charging robot for an electric automobile, which can dynamically supply power to new energy electric automobiles in communities and parking lots in real time in a mobile power supply mode, solves the problems of insufficient charging parking spaces, difficult parking and charging and the like of the existing electric automobiles from the origin, reduces the construction cost of the charging parking spaces and reduces the area of a dual-purpose road surface.
The second embodiment is as follows: referring to fig. 1-5, a high interoperability wireless charging robot for an electric vehicle according to the present embodiment includes a transmitting coil 21, a transmitting end magnetic core 22, a transmitting end housing 23 and a transmitting end housing cover plate 24, the transmitting end housing 23 is bolted to the transmitting end housing cover plate 24, a transmitting coil 21 and a transmitting end magnetic core 22 are disposed between the transmitting end housing 23 and the transmitting end housing cover plate 24, the transmitting coil 21 is located on the upper side of the transmitting end magnetic core 22, and the wireless charging transmitting end device 2 is mounted on the upper surface of the housing in a manner of being tightly attached to the upper surface of the housing and is encapsulated in a high polymer plastic material housing.
And a third specific embodiment: 1-5, the transmitting coil 21 is a bipolar transmitting coil, and comprises two rectangular coils with the same configuration and turns, which are wound by high-frequency litz wire and embedded in the transmitting end shell 23, the overlapping distance of the two rectangular coils is 1/4 of the length of the transmitting coil 21, the length of the coil is 300-400 mm, the width is 500-800 mm, and the turn pitch is 1.25 times of the litz wire diameter; the transmitting end magnetic core 22 is made of MnZn ferrite soft magnetic material, the size of the transmitting end magnetic core is slightly larger than that of the transmitting coil 21, and the transmitting end magnetic core is positioned below the transmitting coil 21 and is placed in the transmitting end shell; the wireless charging transmitting terminal device 2 is connected with a high-frequency inversion source through a high-frequency litz wire, is connected with a control unit (wireless power supply control module 19) through a signal control box, and the bipolar transmitting coil 21 has two working modes of single-coil independent work and double-coil cooperative work; when the DD type receiving coil is adopted by the vehicle-mounted receiving end, the transmitting coil 21 adopts a double-coil working mode, the transmitting end magnetic core 22 adopts a plate type structure, the coupling performance is better, the electromagnetic shielding performance is better, and the leakage magnetic field is lower.
The specific embodiment IV is as follows: referring to fig. 1-5, a high interoperability wireless charging robot for an electric vehicle in this embodiment is described, where the resonant switching module 101 includes a compensation switch, a CP-type transmitting end compensation topology and a DD-type transmitting end compensation topology, in the charging process, the structural type of a vehicle-mounted receiving end is obtained by establishing information interaction with a vehicle to be charged, so as to switch the corresponding resonant compensation topology, an input end of the storage battery 11 is electrically connected with the charging jack 16, an output end of the storage battery 11 is sequentially connected with an onboard DC/DC converter, a high-frequency inverter module, a compensation switch, a parallel CP-type transmitting end compensation topology and a DD-type transmitting end compensation topology, a transmitting coil switch, and a transmitting coil 21, the wifi module is electrically connected with the central controller, the wifi module is electrically connected with the wireless power supply control module 19 through the central controller, the wireless power supply control module 19 is electrically connected with the compensation switch, the radar 17, the depth camera 18 are electrically connected with the central controller, and the radar 17 and the depth camera are electrically connected with the driving device through the central controller; the power supply system comprises a CP type transmitting end compensation topology, a DD type transmitting end compensation topology, a wireless charging transmitting end, a DC/DC output voltage, a power supply system and a power supply system, wherein the CP type transmitting end compensation topology is electrically connected with one rectangular coil, the DD type transmitting end compensation topology is electrically connected with two rectangular coils, an electric energy conversion device and a high-frequency inversion module in the robot are packaged at the left side of the wireless charging transmitting end, and the electric energy conversion device needs to adjust the DC/DC output voltage according to the charging power level of a vehicle to be charged so as to adapt to power requirements; the wireless charging transmitting coil structure with high interoperability and the resonance compensation topology switching device are adopted, have high compatibility and interoperability of multiple power levels and multiple vehicle-mounted receiving end types, can be matched with CP type and DD type vehicle-mounted receiving ends specified in national standards, have strong applicability, and can realize wireless charging of multiple types of electric vehicles.
Fifth embodiment: referring to fig. 1 to 5, a high interoperability wireless charging robot for an electric vehicle according to the present embodiment is described, in which a housing includes a robot base 12 and a housing 13, the robot base 12 is bolted to the housing 13, a battery 11, a wireless power supply control module 19 and a resonance switching module 101 are fixedly installed on the robot base 12, four radars 17 are uniformly installed on a side surface of the robot base 12, the radars on the left and right sides are symmetrically arranged, the radars on the front and rear sides are symmetrically arranged, and are symmetrically installed in an area outside the housing of the robot for acquiring space data around a scene, a depth camera 18 is installed at each of the front and rear ends of the housing 13 for obstacle recognition and space environment scanning, a charging socket 16 is installed at a rear side of the housing 13, and a transmitting end housing 23 is bolted to the housing 13.
Specific embodiment six: referring to fig. 1-5, a high interoperability wireless charging robot for an electric vehicle according to the present embodiment is described, where the driving device includes two front driving devices 14 and two rear driving devices 15, the two front driving devices 14 are symmetrically installed on the front side of the robot base 12, the two rear driving devices 15 are symmetrically installed on the rear side of the robot base 12, the front driving devices 14 and the rear driving devices 15 each include a driving wheel and a driving motor, a housing of the driving motor is connected with the robot base 12 through bolts, an output end of the driving motor is connected with the driving wheel, and a controller of the driving motor is electrically connected with a central controller; the rotation speeds of the two front/rear drive motors are the same in the advancing mode, and in the pose adjustment mode, the rotation speeds of the two front drive motors are different, and the rotation and pose adjustment of the robot are completed by utilizing the differential speed of the driving wheels; the method comprises the steps that after an electric automobile parks to a parking space, a charging demand is sent out, an idle charging robot receives a charging demand signal, and the robot automatically moves to the parking space of the automobile to be charged from a charging area and runs to the position right below the position of the automobile to be charged along a planned route; at the moment, the high-frequency inversion source works, and energy is transmitted to the vehicle-mounted receiving end through high-frequency magnetic field coupling, so that vehicle charging is realized.
Seventh embodiment: referring to fig. 1-5, a high interoperability wireless charging robot for an electric automobile according to the present embodiment is described, the battery 11 is a lithium iron phosphate battery pack, the lithium iron phosphate battery pack is connected with an onboard BMS battery management system, the onboard BMS is connected with the battery, the BMS is the battery management system, the battery is managed, and the battery 11 is controlled by the onboard BMS battery management system, the battery 11 is located below the wireless charging transmitting terminal device 2, the casing 13 is a high polymer plastic casing, and has non-conductive and non-magnetic properties, eddy current and hysteresis loss are avoided when the wireless charging system works, the coupling magnetic field between the transmitting coil 21 and the receiving coil is not shielded, the output power and the transmission efficiency are reduced, the radar 17 is a multi-thread laser radar, the base 12 is made of high strength steel, and is used for providing support for the battery and the wireless charging device, and is suitable for various environments such as indoor and outdoor.
Eighth embodiment: 1-5, a high interoperability wireless charging robot for an electric vehicle in the present embodiment is provided, the vehicle-mounted wireless charging receiving terminal device 3 is a CP type receiving terminal 31 or DD type receiving terminal 32, the height of the high interoperability wireless charging robot for the electric vehicle is smaller than the height of a chassis of the vehicle, and the high interoperability wireless charging robot for the electric vehicle is located below the vehicle-mounted wireless charging receiving terminal device 3; the robot is flat structure, highly is less than the interval of vehicle chassis from ground, and the robot is gone to the vehicle bottom and is charged, and space occupancy is low, is applicable to the application occasion that space is little, the vehicle density is high such as community, compares in current charging robot, does not have the problem that occupation can't be used, and adopts wireless charging mode to charge for the vehicle, and the car owner need not manual plug high voltage charging gun device and operates, and the security is high, and is more convenient.
Detailed description nine: the present embodiment will be described with reference to fig. 1 to 9, in which a high interoperability wireless charging method for an electric vehicle according to the present embodiment is adopted, and the high interoperability wireless charging robot for an electric vehicle, hereinafter referred to as a robot, includes the following steps:
step one: the idle robot receives a charging demand signal;
step two: a driving route is drawn;
step three: adjusting the charging posture;
step four: analyzing the type of the vehicle-mounted receiving end;
step five: switching states according to the type of the vehicle and charging; the intelligent charging robot can dynamically supply power to new energy electric vehicles in communities and parking lots in real time in a mobile power supply mode, so that the problems of shortage, occupation and the like of charging parking spaces of the existing electric vehicles can be effectively solved, and the problems of insufficient charging parking spaces, difficult parking and charging and the like of the existing electric vehicles are solved from the origin; the wireless charging robot can replace the existing charging mode of the charging pile, so that the defects of high construction cost, large road occupation ratio and the like of a charging parking space are reduced, and compared with the traditional charging pile, the wireless charging robot can greatly reduce the cost; in addition, compared with the existing charging pile, the robot has the advantages of high utilization rate, flexible and intelligent charging, no occupation and incapability of using, no need of manually inserting and extracting a high-voltage charging gun device for operation by a vehicle owner, and high safety and convenience; the charging robot adopts a high-interoperability wireless charging transmitting coil structure and a resonance compensation topology switching device, has high compatibility and interoperability of multiple power levels and multiple vehicle-mounted receiving end types, can be matched with CP type and DD type vehicle-mounted receiving ends specified in national standards, and has strong applicability.
Detailed description ten: 1-9, in the self-positioning wireless charging method for intelligent charging of an electric automobile according to the embodiment, after the electric automobile (vehicle) parks to a parking space (parking area), the vehicle to be charged sends a charging demand, and a central controller of an idle charging robot receives a charging demand signal through a wifi module and runs out of a robot charging area;
step two, a driving route is drawn based on map point cloud data of a parking area and a charging area in a cloud, a driving device of a robot is controlled by a robot driving controller (a central controller) to drive to the parking area of a vehicle to be charged, the type and the distance of an obstacle are identified through a radar 17 and a depth camera 18 in the driving process, the acquired data are sent to the driving device through the central controller, and the driving device is adjusted to realize obstacle avoidance;
step three, the robot runs to the position near the parking space where the automobile to be charged is located, preferably 1m behind the parking space, laser data near the automobile is collected through the depth camera 18, point cloud data of the spatial position of the automobile is established, and the central controller controls the robot to adjust to the position opposite to charging through driving the differential device (a front driving device and a rear driving device); the robot runs to the lower part of the vehicle-mounted receiving end (the vehicle-mounted wireless charging receiving end device 3), and the charging position of the robot, which is opposite to the vehicle-mounted receiving end, is adjusted;
in the fourth step, a handshake with the vehicle information to be charged is established through wifi, namely the wifi obtains the structure type (CP type receiving end or DD type receiving end) and rated charging power of the vehicle-mounted receiving end;
step five, including the following steps:
step 5.1: based on the obtained structure type of the vehicle-mounted receiving end, entering a mode switching state, transmitting a signal to a central controller by a wifi module, and controlling a compensation change-over switch by the central controller through a wireless power supply control module according to the detected CP type receiving end 31 or DD type receiving end 32 of the vehicle-mounted wireless charging receiving end device so as to enable a storage battery to be communicated with a corresponding CP type transmitting end compensation topology or DD type transmitting end compensation topology; if the receiving end adopts the national standard to prescribe the CP receiving end 31, the receiving end enters a CP mode, the receiving end is adjusted to be in a single-coil power supply mode through a compensation change-over switch, and the transmitting end is switched to be in a CP compensation (CP type transmitting end compensation topology); if the receiving end adopts the DD type receiving end 32 specified by national standards, entering a DD mode, adjusting to a double-coil power supply mode through a compensation change-over switch, and switching to DD compensation (DD type transmitting end compensation topology);
step 5.2: adjusting the output voltage of a DC/DC circuit (electric energy conversion device) based on the obtained rated charging power of the vehicle;
step 5.3: the high-frequency inversion source (high-frequency inversion module) works, rated frequency current is introduced into the wireless transmitting end (wireless charging transmitting end device 2) of the robot, a high-frequency alternating magnetic field is generated after resonance compensation of the transmitting end (resonance switching module 101), and energy is transmitted to the vehicle-mounted receiving end through high-frequency magnetic field coupling, so that vehicle charging is realized;
step 5.4: when the vehicle-mounted battery is fully charged and automatically sends a charging stopping instruction to the robot, or when the robot receives a charging stopping instruction manually sent by a driver, or when the SOC of the charging storage battery at the robot side is lower than a set threshold value, the robot stops charging and returns to a charging area to supplement electricity or continuously charge other vehicles to be charged;
in the charging process, the structure type of the vehicle-mounted receiving end is obtained by establishing information interaction with the vehicle to be charged, so that the corresponding resonance compensation topology is switched; when the receiving end adopts the national standard to prescribe the CP type receiving end, the compensation change-over switch connects the CP compensation topology in series into the circuit of the transmitting end of the system, and the switching-over switch is used for adjusting the CP compensation topology into a single-coil power supply mode, as shown in figure 7, at the moment, only a single transmitting coil is electrified, and the transmitting coil and the disc-type CP coil form a closed magnetic circuit to transmit energy; when the receiving end adopts the national standard to prescribe the DD type receiving end, the DD compensation topology is connected in series into a circuit of the transmitting end of the system by the compensation change-over switch, and the DD compensation topology is adjusted into a bipolar coil cooperative power supply mode through the change-over switch, as shown in figure 8, only two transmitting coils are simultaneously electrified and are connected in series reversely, a closed magnetic circuit is formed along the space, and the closed magnetic circuit is coupled with the DD type receiving coils to transmit energy.
It should be noted that, in the above embodiments, as long as the technical solutions that are not contradictory can be arranged and combined, those skilled in the art can exhaust all the possibilities according to the mathematical knowledge of the arrangement and combination, so the present invention does not describe the technical solutions after the arrangement and combination one by one, but should be understood that the technical solutions after the arrangement and combination have been disclosed by the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a wireless robot that charges of high interoperability for electric automobile which characterized in that: including wireless robot (1) and wireless transmitting end device (2) that charges, wireless robot (1) including drive arrangement, shell, battery (11), radar (17), degree of depth camera (18), wireless power supply control module (19) and resonance switch module (101), drive arrangement is installed to the shell left and right sides, install battery (11) in the shell, wireless power supply control module (19), resonance switch module (101), radar (17) are installed to the side mounting of shell, the degree of depth camera (18) are respectively installed at both ends around the shell, wireless transmitting end device (2) are located the shell upside, battery (11), resonance switch module (101), wireless transmitting end device (2) electric connection in order, wireless transmitting end device (2) and on-vehicle wireless receiving end device (3) establish the cooperation that charges.
2. The high interoperability wireless charging robot for electric vehicles according to claim 1, wherein: the wireless charging transmitting end device (2) comprises a transmitting coil (21), a transmitting end magnetic core (22), a transmitting end shell (23) and a transmitting end shell cover plate (24), wherein the transmitting end shell (23) is connected with the transmitting end shell cover plate (24) through bolts, the transmitting coil (21) and the transmitting end magnetic core (22) are arranged between the transmitting end shell (23) and the transmitting end shell cover plate (24), and the transmitting coil (21) is located on the upper side of the transmitting end magnetic core (22).
3. The high interoperability wireless charging robot for electric vehicles according to claim 2, wherein: the transmitting coil (21) is a bipolar transmitting coil and comprises two identical rectangular coils, which are wound by high-frequency litz wire and embedded in a transmitting end shell (23); the magnetic core (22) of the transmitting end is made of MnZn ferrite soft magnetic material, and the size of the magnetic core is larger than that of the transmitting coil (21); the bipolar transmitting coil is formed by combining two rectangular coils with the same configuration and turns, is wound by adopting high-frequency litz wire, and is embedded in a transmitting end shell; the superposition distance of the two rectangular coils is 1/4 of the length of the transmitting coil, the length of a single coil is 300-400 mm, the width of the single coil is 500-800 mm, and the turn pitch is 1.25 times of the litz wire diameter; the bipolar transmitting coil has two working modes of single-coil independent working and double-coil cooperative working, and when the CP receiving coil is adopted by the vehicle-mounted receiving end, the transmitting coil adopts the single-coil working mode; when the vehicle-mounted receiving end adopts a DD type receiving coil, the transmitting coil adopts a double-coil working mode; the magnetic core of the transmitting end is made of MnZn ferrite soft magnetic material, the size of the magnetic core is slightly larger than that of the transmitting coil, the magnetic core is positioned below the transmitting coil, and the magnetic core is placed in the shell of the transmitting end.
4. A highly interoperable wireless charging robot for electric vehicles according to claim 3, wherein: the resonance switching module (101) comprises a compensation change-over switch, a CP-type transmitting end compensation topology and a DD-type transmitting end compensation topology, an input end of the storage battery (11) is electrically connected with the charging jack (16), an output end of the storage battery (11) is sequentially connected with the electric energy conversion device, the high-frequency inverter module, the compensation change-over switch, the CP-type transmitting end compensation topology and the DD-type transmitting end compensation topology which are arranged in parallel, the transmitting coil change-over switch and the transmitting coil (21) in an electric connection mode, the wifi module is electrically connected with the central controller, the central controller is electrically connected with the wireless power supply control module (19), the wireless power supply control module (19) is electrically connected with the compensation change-over switch, and the radar (17), the depth camera (18) and the central controller are electrically connected.
5. The high interoperability wireless charging robot for electric vehicles according to claim 4, wherein: the shell includes robot base (12) and casing (13), and robot base (12) and casing (13) bolted connection install battery (11), wireless power supply control module (19) and resonance switch module (101) on robot base (12), and four radars (17) are evenly installed to the side of robot base (12), and a depth camera (18) are respectively installed at both ends around casing (13), and charging socket (16) are installed to the rear side of casing (13), and transmitting end shell (23) and casing (13) bolted connection.
6. The high interoperability wireless charging robot for electric vehicles according to claim 5, wherein: the driving device comprises two front driving devices (14) and two rear driving devices (15), the two front driving devices (14) are symmetrically arranged on the front side of the robot base (12), the two rear driving devices (15) are symmetrically arranged on the rear side of the robot base (12), the front driving devices (14) and the rear driving devices (15) comprise driving wheels and driving motors, a shell of each driving motor is connected with the robot base (12) through bolts, the output end of each driving motor is connected with the corresponding driving wheel, and a controller of each driving motor is electrically connected with the corresponding central controller; the rotation speeds of the 2 front/rear driving motors are the same in the advancing mode; in the pose adjustment mode, the rotation speed difference exists among the 2 front drive motors, and the rotation and pose adjustment of the robot are completed by utilizing the differential speed of the drive wheels.
7. The high interoperability wireless charging robot for electric vehicles according to claim 5, wherein: the storage battery (11) is a lithium iron phosphate storage battery, the shell (13) is a high-polymer plastic shell, the radar (17) is a multi-thread laser radar, and the robot base (12) is made of steel materials.
8. The high interoperability wireless charging robot for electric vehicles according to claim 6, wherein: the vehicle-mounted wireless charging receiving end device (3) is a CP type receiving end (31) or DD type receiving end (32), the height of the high-interoperability wireless charging robot for the electric automobile is smaller than the height of the chassis of the vehicle, and the high-interoperability wireless charging robot for the electric automobile is located below the vehicle-mounted wireless charging receiving end device (3).
9. The high-interoperability wireless charging method for the electric automobile is characterized by comprising the following steps of: a high interoperability wireless charging robot for electric vehicles using any one of claims 1 to 8, comprising the steps of:
step one: the idle robot receives a charging demand signal;
step two: a driving route is drawn;
step three: adjusting the charging posture;
step four: analyzing the type of the vehicle-mounted receiving end;
step five: the state is switched and charged according to the type of the vehicle.
10. The self-positioning wireless charging method for intelligent charging of an electric automobile according to claim 9, wherein the method comprises the following steps: step one, an electric automobile stops to a parking space and then sends out a charging demand, and an idle charging robot receives a charging demand signal;
step two, based on map point cloud data of a parking area and a charging area in a cloud, a driving route is drawn, a robot driving controller controls the robot to drive to a vehicle to be charged, the type and the distance of an obstacle are identified through a radar (17) and a depth camera (18) in the driving process, and a driving device is adjusted to realize obstacle avoidance;
step three, the robot runs to the vicinity of a parking space where the automobile to be charged is located, laser data of the vicinity of the automobile is collected through a depth camera (18), vehicle space position point cloud data are established, and the robot is controlled to be adjusted to be opposite to the charging position through driving a differential device; the robot runs to the lower part of the vehicle-mounted receiving end, and the charging position of the robot, which is opposite to the vehicle-mounted receiving end, is adjusted;
establishing a handshake with the vehicle information to be charged through wifi, and acquiring the structure type (CP type receiving end or DD type receiving end) and rated charging power of the vehicle-mounted receiving end;
step five, including the following steps:
step 5.1: based on the acquired type of the vehicle-mounted receiving end, entering a mode switching state, if the national standard is adopted to prescribe the CP receiving end 31, entering a CP mode, adjusting the mode into a single-coil power supply mode through a compensation change-over switch, and switching the transmitting end into the CP compensation; if the DD receiving end (32) specified by national standards is adopted, the DD mode is entered, and the DD mode is adjusted to be a double-coil power supply mode through a compensation change-over switch and is switched to DD compensation;
step 5.2: adjusting the output voltage of the DC/DC circuit based on the obtained rated charging power of the vehicle;
step 5.3: the high-frequency inversion source works, rated frequency current is introduced into a wireless transmitting end of the robot, a high-frequency alternating magnetic field is generated after resonance compensation of the transmitting end, and energy is transmitted to a vehicle-mounted receiving end through coupling of the high-frequency magnetic field, so that vehicle charging is realized;
step 5.4: and after the vehicle-mounted battery is fully charged, when a charging stopping instruction is sent to the robot, when the robot receives the charging stopping instruction manually sent by a driver, and when the SOC of the storage battery of the robot is lower than a set threshold value, the robot stops charging and returns to a charging area to supplement electricity or continuously charge other vehicles to be charged.
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