CN117748642A - Charging port protection device, mobile equipment, control method and control device of mobile equipment - Google Patents

Abstract

The invention relates to the technical field of electric mobile equipment, and discloses a charging port protection device, mobile equipment, a control method and a control device thereof. A charging port guard comprising: the protection frame is suitable for being arranged around the protruding charging port of the mobile equipment in a surrounding mode; the two protection doors are rotatably arranged on two opposite sides of the protection frame, and the two protection doors and the protection frame enclose a protection space for protecting the charging port; the two driving parts are fixed on the protective frame and are connected with the two protective doors in a one-to-one correspondence manner so as to drive the two protective doors to open or close. The charging port protection device can be directly covered at the convex charging port, waterproof and dustproof protection is carried out on the convex charging port, waterproof safety of the charging port is improved, a reserved space for the protection device is not needed in mobile equipment, and the charging port protection device is simple and convenient to install and good in universality.

Description

Charging port protection device, mobile equipment, control method and control device of mobile equipment

Technical Field

The invention relates to the technical field of electric mobile equipment, in particular to a charging port protection device, mobile equipment, a control method and a control device thereof.

Background

Currently, some electric vehicles or mobile robots are designed for indoor scenes, and their automatic charging ports are often exposed. In the carrying and transporting work scene of the electric vehicle or the mobile robot, the route often comprises an indoor part and an outdoor part, and when the electric vehicle or the mobile robot walks on the outdoor route in rainy and snowy days, the rainy and snowy easily flows into a charging port, so that potential safety hazards exist.

In the prior art, charging covers of passenger cars, commercial vehicles and the like are relatively mature, the charging ports of the passenger cars and the commercial vehicles need to consider the structure in the whole design stage, the charging ports are generally required to be embedded, the installation space of the charging covers is reserved in the passenger cars and the commercial vehicles, the charging ports of indoor electric vehicles or mobile robots are often protruded, the installation space is not reserved for the charging covers, and the charging covers of the passenger cars and the commercial vehicles cannot be applied to the indoor electric vehicles or the mobile robots. Therefore, there is an urgent need for a charging port protection device that performs waterproof protection for a protruding charging port.

Disclosure of Invention

In view of the above, the invention provides a charging port protection device, a mobile device, a control method and a control device thereof, so as to solve the problem that a charging port cover of a passenger car or a commercial car cannot be applied to a protruded charging port.

In a first aspect, the present invention provides a charging port guard comprising: the protection frame is suitable for being arranged around the protruding charging port of the mobile equipment in a surrounding mode; the two protection doors are rotatably arranged on two opposite sides of the protection frame, and the two protection doors and the protection frame enclose a protection space for protecting the charging port; the two driving parts are fixed on the protective frame and are connected with the two protective doors in a one-to-one correspondence manner so as to drive the two protective doors to open or close.

The beneficial effects are that: the charging port protection device can be directly covered at the convex charging port, waterproof and dustproof protection is carried out on the convex charging port, waterproof safety of the charging port is improved, a reserved space for the protection device is not needed in mobile equipment, and the charging port protection device is simple and convenient to install and good in universality.

In an alternative embodiment, the charging port protecting device further comprises an electric device module, wherein the electric device module is fixed on the protecting frame and is located in the protecting space, and the electric device module is electrically connected with the driving piece and the vehicle-mounted controller.

The beneficial effects are that: the electric device module is used for receiving the instruction of the vehicle-mounted controller and controlling the driving part to work, and the electric device module is matched with the vehicle-mounted controller, so that the accurate regulation and control of the driving part can be realized.

In an alternative embodiment, the electric device module includes a fixing plate, a driving plate and a serial port conversion plate, the fixing plate is fixed on the protection frame, the driving plate and the serial port conversion plate are fixed on the fixing plate, the driving plate is electrically connected with the driving piece and the serial port conversion plate, and the serial port conversion plate is suitable for being electrically connected with the vehicle-mounted controller.

The beneficial effects are that: the driving plate is a circuit board capable of controlling the driving piece and mainly used for receiving signals from the vehicle-mounted controller and converting the signals into control signals to control the direction and the rotation angle of the driving piece, so that accurate angle control and positioning are realized, the driving plate can provide proper current and voltage, the driving piece can be ensured to work normally, fluctuation and interference of power supply voltage and control signals can be effectively resisted, and safety and reliability of the driving piece are ensured. The serial port conversion board is an electronic device for realizing data communication between the vehicle-mounted controller and the driving board, and can convert the parallel interface into a serial interface, so that data can be transmitted between the devices in a serial transmission mode, the communication efficiency of the vehicle-mounted controller is improved, and the communication cost between hardware devices is reduced. The setting of fixed plate is convenient to fix drive plate and serial port conversion board.

In an alternative embodiment, the electric device module further comprises an electric device shield, wherein the electric device shield is fixed on the fixed plate and covers the outer sides of the driving plate and the serial port conversion plate.

The beneficial effects are that: the electrical appliance shield is used for resisting external force, and can also conduct waterproof and dustproof protection on the driving plate and the serial port conversion plate, so that waterproof safety of the electrical device is improved.

In an alternative embodiment, the top surface of the protective frame is a hydrophobic slope, and the protective door is retracted inside the outer edge of the upper frame edge of the protective frame.

The beneficial effects are that: the rainwater is prevented from gathering at the gap between the protective frame and the protective door, and the waterproof performance of the protective device is improved.

In an alternative embodiment, the protective frame is provided with a wire harness hole through which the wire harness is threaded.

The beneficial effects are that: the wire harness hole is convenient for the wire harness to run inside the device, so that the inside of the device is tidy and attractive.

In an alternative embodiment, be equipped with two at least pivot mechanisms between guard gate and the guard frame, every pivot mechanism includes fixing base, pivot and pivot base, and the fixing base is fixed on the guard gate, and the pivot is fixed on the fixing base, and the pivot base is fixed on the guard frame, and the pivot base has the mounting hole, and the pivot is installed in the mounting hole, drive end and the pivot fixed connection of driving piece.

The beneficial effects are that: the rotation shaft mechanism can enable the whole protective door to run more stably and smoothly, and the coaxiality requirements of the upper rotation shaft and the lower rotation shaft can be met.

In an alternative embodiment, the charging port protection device further comprises a bracket fixed to the protection frame, and the driving member is fixed to the bracket.

The beneficial effects are that: the driving piece is connected with the protective frame through the bracket, so that the connection is simple and convenient.

In an alternative embodiment, the charging port protection device further comprises a protective cover, wherein the protective cover is fixed on the bracket and covers the outer side of the driving piece.

The beneficial effects are that: the protection casing is used for resisting external force, still is used for waterproof dustproof.

In a second aspect, the present invention also provides a mobile device, including: an apparatus main body having a charging port protruding outward; the charging port protection device is fixed on the surface of the equipment main body, which is positioned around the charging port, and covers the outer side of the charging port.

In a third aspect, the present invention further provides a mobile device control method, applied to the mobile device, where the mobile device control method includes the following steps: acquiring a door opening and closing signal of a protective door; controlling the driving ends of the two driving parts to rotate by a preset angle according to the door opening and closing signals; acquiring actual angles of rotation of driving ends of the two driving pieces; and feeding back a signal of success or failure of opening and closing the protective door according to the relation between the actual angle and the preset angle.

The beneficial effects are that: the control method can realize the automatic opening or closing of the protective door without manual opening and closing, and has high automation degree.

In an alternative embodiment, the door opening signal includes a door opening signal and a door closing signal, the door opening signal is a position signal that the mobile device moves to a preset position at a preset distance from the charging pile, and the door closing signal is a signal that no charging current is generated after charging of the mobile device is completed.

In an alternative embodiment, after the step of feeding back the signal that the door is opened successfully, the mobile device control method further includes: judging whether an alignment signal of the charging pile is received or not; determining that the alignment signal of the charging pile is not received, controlling the mobile equipment to move, and executing the steps after the mobile equipment moves to judge whether the alignment signal of the charging pile is received or not; determining that an alignment signal of the charging pile is received, feeding back a signal of successful alignment of the mobile equipment to the charging pile, and judging whether the mobile equipment has charging current or not; determining that the mobile equipment does not have charging current, and feeding back a signal that the mobile equipment is not charging to the charging pile; determining that the mobile equipment has charging current, and judging whether the electric quantity of the mobile equipment meets a charging completion condition; and determining that the electric quantity of the mobile equipment meets the charging completion condition, and feeding back a charging completion signal of the mobile equipment to the charging pile.

The beneficial effects are that: the whole charging process is automated through the control method, manual operation is not needed during charging, the convenience of charging is improved, and the degree of automation is high.

In a fourth aspect, the present invention further provides a mobile device control apparatus, configured to execute the above mobile device control method, where the mobile device control apparatus includes: the first acquisition module is used for acquiring a door opening and closing signal of the protective door; the control module is used for controlling the driving ends of the two driving parts to rotate by a preset angle according to the door opening and closing signals; the second acquisition module is used for acquiring the actual rotation angle of the driving ends of the two driving pieces; and the feedback module is used for feeding back a signal of success or failure of opening and closing the protective door according to the relation between the actual angle and the preset angle.

In a fifth aspect, the present invention also provides a computer-readable storage medium storing computer instructions for causing a computer to execute the above-described mobile device control method.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a perspective view of a charging port protection device according to an embodiment of the present invention;

fig. 2 is a perspective view of the charge port guard shown in fig. 1 with the guard door open;

FIG. 3 is a partially exploded perspective view of the charging port guard shown in FIG. 2;

FIG. 4 is a partial perspective view of the charging port guard shown in FIG. 3;

FIG. 5 is an exploded view of a protective frame of the charging port guard shown in FIG. 4;

FIG. 6 is a partially exploded perspective view of the charging port guard shown in FIG. 2;

FIG. 7 is an enlarged partial schematic view of C in FIG. 6;

FIG. 8 is a rear view of the charging port guard shown in FIG. 1;

fig. 9 is a perspective view of a forklift according to an embodiment of the present invention;

FIG. 10 is an enlarged partial schematic view of FIG. 9A;

FIG. 11 is a perspective view of the truck shown in FIG. 9 with the guard door open;

FIG. 12 is an enlarged partial schematic view of B in FIG. 11;

fig. 13 is a schematic diagram of door opening control logic of a charging port protection device according to an embodiment of the present invention;

fig. 14 is a schematic diagram of door closing control logic of a charging port protecting device according to an embodiment of the present invention;

fig. 15 is a schematic diagram of control logic for automatic charging of a mobile device according to an embodiment of the present invention.

Reference numerals illustrate:

1. a protective frame; 101. an upper frame edge; 1011. a hydrophobic incline; 102. a lower frame edge; 1021. a wire bundle hole; 103. a side frame edge; 1031. a fixing hole;

2. a protective door;

3. a driving module; 301. a driving member; 302. a protective cover; 303. a bracket; 304. a switching disc;

4. an electrical device module; 401. a driving plate; 402. a serial port conversion board; 403. an electrical appliance shield; 404. a fixing plate;

5. a rotating shaft;

6. a spindle base;

7. a fixing seat;

8. a bushing;

901. a magnetic member; 902. a magnetic attraction piece;

15. a waterproof pad;

20. an apparatus main body; 21. a charging port; 211. and a charging plate.

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 of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the related art, the charging port of the passenger car and the commercial car accords with national standards, the size is small, and in order to meet the tolerance in the butt joint process of the automatic charging head, the automatic charging port is wide and convex, and the charging port cover of the passenger car and the commercial car cannot be applied to the convex charging port.

In order to solve the problem that the charging port cover of the passenger car, the commercial car cannot be applied to the protruding charging port, an embodiment of the present invention is described below with reference to fig. 1 to 12.

According to an embodiment of the present invention, there is provided a charging port protection device including: the protective frame 1, two protective doors 2 and two driving pieces 301. The protective frame 1 is suitable for surrounding the protruding charging port 21 of the mobile device; the two protection doors 2 are rotatably arranged on two opposite sides of the protection frame 1, and the two protection doors 2 and the protection frame 1 enclose a protection space for protecting the charging port 21; the two driving members 301 are fixed on the protection frame 1, and the two driving members 301 are connected with the two protection doors 2 in a one-to-one correspondence manner so as to drive the two protection doors 2 to open or close.

With the charging port protecting device of the present embodiment, the protecting frame 1 is fixed around the protruding charging port 21 of the mobile device, two protecting doors 2 and two driving pieces 301 are installed on the protecting frame 1, and the opening or closing of the protecting doors 2 is controlled by controlling the driving pieces 301. The charging port protection device can be directly covered at the convex charging port 21, waterproof and dustproof protection is carried out on the convex charging port 21, waterproof safety of the charging port 21 is improved, a space is not required to be reserved for the protection device inside the mobile equipment, and the charging port protection device is simple and convenient to install and good in universality.

In one embodiment, as shown in fig. 2 and 3, the charging port protecting device further includes an electric device module 4, where the electric device module 4 is fixed on the protecting frame 1 and located in the protecting space, and the electric device module 4 is electrically connected with the driving member 301 and the vehicle-mounted controller. The electric device module 4 is used for receiving the command of the vehicle-mounted controller and controlling the driving piece 301 to work, and the electric device module 4 is matched with the vehicle-mounted controller, so that the accurate regulation and control of the driving piece 301 can be realized.

In another embodiment, the driving member 301 may be controlled directly by the in-vehicle controller without providing the electric device module 4.

In one embodiment, as shown in fig. 3, the electrical device module 4 includes a fixing plate 404, a driving plate 401 and a serial port conversion plate 402, the fixing plate 404 is fixed on the protection frame 1, the driving plate 401 and the serial port conversion plate 402 are fixed on the fixing plate 404, the driving plate 401 is electrically connected with the driving member 301 and the serial port conversion plate 402, and the serial port conversion plate 402 is adapted to be electrically connected with the vehicle controller. The driving board 401 is a circuit board capable of controlling the driving member 301, and is mainly used for receiving signals from a vehicle-mounted controller, converting the signals into control signals, controlling the direction and the rotation angle of the driving member 301, realizing accurate angle control and positioning, and the driving board 401 can provide proper current and voltage, ensuring that the driving member 301 can work normally, effectively resisting fluctuation and interference of power supply voltage and control signals, and ensuring the safety and reliability of the driving member 301. The serial port conversion board 402 is an electronic device for realizing data communication between the vehicle-mounted controller and the driving board 401, and can convert a parallel interface into a serial interface, so that data can be transmitted between devices in a serial transmission mode, the communication efficiency of the vehicle-mounted controller is improved, and the communication cost between hardware devices is reduced. The fixing plate 404 is provided to facilitate fixing the driving plate 401 and the serial port conversion plate 402.

Specifically, the driving member 301 is specifically a steering engine capable of precisely controlling a rotation angle, where the steering engine includes a motor, a speed reducer, an encoder, a control circuit, etc., and the steering engine adopts a structure in the prior art, which is not described in detail herein.

Further, the serial port conversion board 402 is specifically an RS232/TTL serial port conversion board 402, the vehicle-mounted controller is connected with the serial port adapter board through an RS232 serial port line, the serial port adapter board is connected with the driving board 401 through a TTL serial port line, and the driving board 401 is connected with the steering engine through a serial port control line, so that the steering engine can be controlled by the vehicle-mounted controller.

In one embodiment, the electrical device module 4 further includes an electrical shield 403, where the electrical shield 403 is fixed on the fixed plate 404 and covers the outside of the drive plate 401 and the serial port conversion plate 402. The electrical appliance shield 403 is used for resisting external force, and can also protect the driving board 401 and the serial port conversion board 402 from water and dust, so as to improve the waterproof safety of the electrical device.

In one embodiment, as shown in fig. 1 and 3, the top surface of the protection frame 1 is a hydrophobic inclined plane 1011, and the protection door 2 is retracted inside the outer edge of the upper frame edge 101 of the protection frame 1, so that rainwater is ensured not to gather at the gap between the protection frame 1 and the protection door 2, and the waterproof performance of the protection device is improved.

In one embodiment, as shown in fig. 5, a wire harness hole 1021 through which a wire harness passes is formed in the protective frame 1, and the wire harness hole 1021 is formed to facilitate routing of the wire harness inside the device, so that the interior of the device is neat and attractive.

In one embodiment, as shown in fig. 6 and 7, at least two rotating shaft mechanisms are disposed between the protective door 2 and the protective frame 1, each rotating shaft mechanism includes a fixing seat 7, a rotating shaft 5 and a rotating shaft base 6, the fixing seat 7 is fixed on the protective door 2, the rotating shaft 5 is fixed on the fixing seat 7, the rotating shaft base 6 is fixed on the protective frame 1, the rotating shaft base 6 has a mounting hole, the rotating shaft 5 is mounted in the mounting hole, and the driving end of the driving member 301 is fixedly connected with the rotating shaft 5. The rotation of the whole protective door 2 can be smoother and smoother through the rotating shaft mechanism, and the coaxiality requirements of the upper rotating shaft 5 and the lower rotating shaft 5 can be met. The number of the rotating shaft mechanisms is preferably two, and two fixing seats 7 of the two rotating shaft mechanisms are arranged on the upper part and the lower part of the protective door 2.

Specifically, be equipped with the adapter plate 304 on the driving end of steering wheel, adapter plate 304 and the fixing base 7 fixed connection of below, adapter plate 304 passes through fastener such as screw with the fixing base 7 of below to be connected, and the steering wheel is given adapter plate 304 with moment of torsion output, and adapter plate 304 gives fixing base 7 with moment of torsion transmission, and then transmits for the door to realize the drive end rotation of steering wheel and drive the rotation of guard gate 2.

Further, the rotating shaft mechanism further comprises a bushing 8, the bushing 8 is arranged in the mounting hole, and the rotating shaft 5 is arranged in the bushing 8. The bushing 8 can reduce wear, vibration and noise between the rotating shaft 5 and the rotating shaft base 6, and has an anti-corrosion effect.

In one embodiment, the charging port protecting device further comprises a bracket 303, the bracket 303 is fixed on the protecting frame 1, and the driving member 301 is fixed on the bracket 303. The driving piece 301 and the protective frame 1 are connected together through the bracket 303, so that the connection is simple and convenient.

In one embodiment, as shown in fig. 3, the charging port protecting device further includes a protecting cover 302, and the protecting cover 302 is fixed on the bracket 303 and covers the outer side of the driving member 301. The shield 302 is used to resist external forces and also to resist water and dust. The adaptor plate 304, the protective cover 302, the steering engine and the bracket 303 form a steering engine module.

In one embodiment, as shown in fig. 5, the protection frame 1 includes an upper frame edge 101, a lower frame edge 102, and two opposite side frame edges 103, where the two side frame edges 103 are fixed between the upper frame edge 101 and the lower frame edge 102, and two driving members 301 are fixed at two ends of the lower frame edge 102. The top surface of the upper frame side 101 forms a hydrophobic inclined plane 1011, the electric device module 4 is fixed on the lower frame side 102, the harness hole 1021 is opened on the lower frame side 102, and the rotating shaft base 6 is fixed on the side frame side 103.

Further, the protection frame 1 is fixed on the apparatus main body 20 by a fastener, the side frame edge 103 is provided with a fixing hole 1031, the fastener passes through the fixing hole 1031 to be fixed on the apparatus main body 20, and the fastener is a bolt or the like. The number of the fixing holes 1031 on each side frame 103 is two, and the whole protection device is fixed on the device main body 20 of the mobile device through the four fixing holes 1031 on the two side frame 103.

Specifically, the upper frame edge 101, the lower frame edge 102 and the two side frame edges 103 are all cylindrical structures, the protection frame 1 is assembled by four independent cylindrical structures, and form and position tolerance of the whole protection frame 1 is guaranteed by a limiting structure, so that material cost is saved.

In one embodiment, a waterproof pad 15 is reserved between the protective frame 1 and the device main body 20 and between the protective frame 1 and the protective door 2, so that the fit between the parts is ensured. Specifically, the waterproof pad 15 is made of silica gel or the like.

In one embodiment, as shown in fig. 8, a door lock is arranged between two protection doors 2, the door lock comprises a magnetic attraction piece 902 and a magnetic piece 901, when the protection doors 2 are closed, the magnetic attraction piece 902 attracts the magnetic piece 901, and the door lock can provide additional locking force, so that the door can be further ensured not to be thrown away in the operation process of the forklift. Specifically, the magnetic material 901 is an iron sheet or the like, and the magnetic attraction material 902 is a permanent magnet or the like.

In another embodiment, the lock is not provided, and the locking force is provided by the torque of the steering engine.

In one embodiment, the material of structural members such as the protective frame 1, the protective door 2 and the like is 6061 aluminum, so that the overall quality of the device is light, and meanwhile, the moment of inertia in the door opening and closing process can be reduced, and the load of a steering engine is further reduced; and after the aluminum part is subjected to surface anodic oxidation, the aluminum part is subjected to baking finish treatment, so that the rust resistance of the structural part is improved.

According to a second aspect of embodiments of the present invention, there is also provided a mobile device comprising: an apparatus main body 20 and the above-described charging port guard, the apparatus main body 20 having a charging port 21 protruding outward; the charging port guard is fixed to a surface of the apparatus main body 20 around the charging port 21 and covers the outside of the charging port 21.

In one embodiment, the mobile device is an electric vehicle or a mobile robot, the electric vehicle is a forklift or the like, and the charging port guard is fixed to the body of the forklift.

Further, the mobile device further comprises an on-board controller, and the on-board controller is located in an electric cabinet of the electric vehicle.

The following describes an automatic charging process of a vehicle using a mobile device as an electric vehicle as an example with reference to fig. 15:

step 1: the vehicle is navigated to the position nearby the automatic charging pile;

step 2: the vehicle controller controls the protective door 2 of the charging port protective device to be opened;

step 3: aligning the vehicle with the automatic charging pile;

step 4: the vehicle and the charging pile are aligned and checked through an infrared sensor;

step 5: if the alignment of the vehicle and the charging pile is successful, the step 6 is entered, otherwise, the step 3 is returned;

step 6: the charging pile control brush stretches to the charging port 21 of the vehicle, whether charging current exists or not is judged, if charging current exists, the vehicle is charged, if no charging current exists, the charging pile control brush retracts, and then the charging pile control brush stretches to the charging port 21 of the vehicle;

step 7: judging whether the charging is completed, if so, entering a step 8, and if not, continuing the charging;

step 8: the charging pile controls the electric brush to retract to the charging pile;

step 9: the vehicle controller controls the protective door 2 of the charging port protective device to be closed, and the charging completion flow is ended.

Specifically, the vehicle-mounted controller comprises at least one processor and a memory in communication with the at least one processor; the memory stores instructions executable by one processor, and the instructions are executed by at least one processor, so that the at least one processor performs a control method described below.

In this embodiment, the processor may be a central processing unit (Central Processing Unit, abbreviated as CPU). The processor may also be other general purpose processors, digital signal processors (Digital Signal Processor, abbreviated as DSPs), application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASICs), field programmable gate arrays (Field-Programmable Gate Array, abbreviated as FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above.

In this embodiment, the memory is used as a non-transitory computer readable storage medium, and may be used to store a non-transitory software program, a non-transitory computer executable program, and modules, such as program instructions/modules corresponding to the control method in the embodiment of the present invention. The processor executes various functional applications of the processor and data processing by running non-transitory software programs, instructions, and modules stored in the memory, i.e., implementing the control methods in the method embodiments described below.

The memory may include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; the storage data area may store data created by the processor, etc. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory may optionally include memory located remotely from the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

According to a third aspect of the present invention, there is also provided a mobile device control method applied to the above mobile device, as shown in fig. 13 and 14, the mobile device control method including the steps of:

acquiring a door opening and closing signal of the protective door 2;

controlling the driving ends of the two driving members 301 to rotate by a preset angle according to the door opening and closing signal; wherein, the rotation directions of the driving ends of the two driving pieces 301 are opposite, for example, when the door is opened, the driving end of one driving piece 301 rotates forward by 90 degrees, and the driving end of the other driving piece 301 rotates reversely by 90 degrees; when the door is closed, the driving end of one driving piece 301 rotates reversely by 90 degrees, and the driving end of the other driving piece 301 rotates positively by 90 degrees;

acquiring actual angles of rotation of the driving ends of the two driving pieces 301; wherein the driving member 301 has an angle sensor, detects the angle of rotation of the driving end by the angle sensor and transmits the detected angle signal to the in-vehicle controller.

And feeding back a signal of success or failure of opening and closing the door of the protective door 2 according to the relation between the actual angle and the preset angle. The vehicle-mounted controller compares the detected actual angle with a preset angle, and sends a related instruction according to a comparison result, and when the door is opened or closed, a worker is required to be reminded to process the door.

Through the control method, the protective door 2 can be automatically opened or closed without manual operation, and compared with the traditional manual opening and closing of the charging port cover, the use experience of a user is improved.

In one embodiment, the door opening signal includes a door opening signal and a door closing signal, the door opening signal is a position signal of the mobile device moving to a preset position at a preset distance from the charging pile, and the door closing signal is a signal of no charging current after charging of the mobile device is completed. When the mobile equipment needs to be charged, the mobile equipment moves to a preset position at a preset distance from the charging pile, which indicates that the mobile equipment moves in place, and at the moment, the vehicle-mounted controller gives a door opening instruction to further control the driving end of the driving piece 301 to rotate, so that the protective door 2 is opened; after the mobile equipment is charged, the mobile equipment sends a charging completion signal to the charging pile, the charging pile receives the charging completion signal and then controls the electric brush to retract, no charging current exists at this time, the vehicle-mounted controller gives a door closing instruction, and then the driving end of the driving piece 301 is controlled to rotate, so that the protective door 2 is closed.

In another embodiment, the door opening signal may be an opening signal for controlling a key switch of the protection door 2, and the door closing signal may be a closing signal for controlling a key switch of the protection door 2.

In one embodiment, after the step of feeding back the signal that the door 2 is successfully opened, the mobile device control method further includes:

judging whether an alignment signal of the charging pile is received or not; the alignment signal can be an infrared signal and the like, an infrared emitter is arranged on the charging pile, an infrared receiver is arranged on the mobile device, when the mobile device is aligned with the charging pile, if the infrared receiver receives the infrared rays emitted by the infrared emitter when the mobile device moves near the charging pile, the mobile device is successfully aligned with the charging pile, if the infrared receiver does not receive the infrared rays emitted by the infrared emitter, the mobile device is not successfully aligned with the charging pile, and the mobile device is continuously aligned with the charging pile after the position is adjusted;

determining that the alignment signal of the charging pile is not received, controlling the mobile equipment to move, and executing the steps after the mobile equipment moves to judge whether the alignment signal of the charging pile is received or not;

determining that an alignment signal of the charging pile is received, feeding back a signal of successful alignment of the mobile equipment to the charging pile, and judging whether the mobile equipment has charging current or not; after the mobile device is successfully aligned, the charging pile receives a signal that the mobile device is successfully aligned, the charging pile controls the electric brush to stretch to the charging port 21, after the electric brush contacts with the charging plate 211 of the charging port 21, the charging pile charges the mobile device, at the moment, whether the mobile device is charged or not can be judged by detecting whether the mobile device has charging current, a current sensor is arranged on the mobile device, the charging current is detected through the current sensor, the current sensor sends a detected current signal to the vehicle-mounted controller, and the vehicle-mounted controller judges whether the mobile device is charged or not according to the current signal;

determining that the mobile equipment does not have charging current, and feeding back a signal that the mobile equipment is not charging to the charging pile;

determining that the mobile equipment has charging current, and judging whether the electric quantity of the mobile equipment meets a charging completion condition; the charging completion condition may be that the charging amount of the mobile device reaches a preset amount of electricity or the charging time reaches a preset time, for example, the preset amount of electricity may be 80% -90% of the maximum amount of electricity.

Determining that the electric quantity of the mobile equipment meets a charging completion condition, and feeding back a charging completion signal of the mobile equipment to the charging pile; when the mobile equipment is charged, the charging pile receives a charging completion signal, the charging pile controls the electric brush to retract, the mobile equipment can control the protective door 2 to be closed, and the mobile equipment can move to a working place to continue working.

The whole charging process is automated through the control method, manual operation is not needed during charging, the convenience of charging is improved, and the degree of automation is high.

It will be appreciated that the mobile device may be aligned with the charging post in other ways, and is not limited thereto.

The following describes the control logic for automatically charging a vehicle with a mobile device as the vehicle in connection with fig. 15:

acquiring a position signal of a mobile device;

judging whether the position of the mobile device reaches a preset position at a preset distance from the charging pile;

determining that the position of the mobile device does not reach a preset position which is a preset distance away from the charging pile, and continuing to execute the steps to acquire a position signal of the mobile device;

determining that the position of the mobile equipment reaches a preset position which is a preset distance away from the charging pile, and controlling the protective door 2 to be opened;

judging whether an alignment signal of the charging pile is received or not;

determining that the alignment signal of the charging pile is not received, controlling the mobile equipment to move, and executing the steps after the mobile equipment moves to judge whether the alignment signal of the charging pile is received or not;

determining that an alignment signal of the charging pile is received, feeding back a signal of successful alignment of the mobile equipment to the charging pile, and judging whether the mobile equipment has charging current or not;

determining that the mobile equipment does not have charging current, and feeding back a signal that the mobile equipment is not charging to the charging pile;

determining that the mobile equipment has charging current, and judging whether the electric quantity of the mobile equipment meets a charging completion condition;

determining whether the electric quantity of the mobile device does not meet the charging completion condition, and continuously executing whether the electric quantity of the mobile device meets the charging completion condition;

determining that the electric quantity of the mobile equipment meets a charging completion condition, feeding back a signal of the completion of charging of the mobile equipment to a charging pile, and judging whether the mobile equipment has charging current or not;

it is determined that there is no charging current, and the protection door 2 is controlled to be closed.

And determining that the charging current exists, and continuously feeding back a signal of the completion of charging the mobile equipment to the charging pile.

It should be noted that, the method in the prior art is only used for acquiring and judging the position of the mobile device, and detailed description thereof is omitted.

According to a fourth aspect of the embodiments of the present invention, there is also provided a mobile device control apparatus for executing the above mobile device control method, the mobile device control apparatus including:

the first acquisition module is used for acquiring a door opening and closing signal of the protective door 2;

the control module is used for controlling the driving ends of the two driving pieces 301 to rotate by a preset angle according to the door opening and closing signals;

a second acquisition module, configured to acquire actual angles of rotation of the driving ends of the two driving members 301;

and the feedback module is used for feeding back a signal of success or failure of opening and closing the protective door 2 according to the relation between the actual angle and the preset angle.

The mobile device control device provided by the embodiment of the present invention is used for executing the mobile device control method provided by the above embodiment, and its implementation manner and principle are the same, and details refer to the related descriptions of the above method embodiments, and are not repeated.

According to a fifth aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium storing computer instructions for causing a computer to execute the above-described mobile device control method. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

1. the size of the charging port protection device is larger than that of a conventional charging port cover, a double-door design is adopted, the protection door is driven to rotate by utilizing the movement of the steering engine, the opening and closing functions of the charging port protection device are realized, the charging port protection device is suitable for electric vehicle types (such as AGVs and forklifts) with open and convex charging ports, waterproof and dustproof protection is provided for the exposed open charging ports of the charging port protection device, and the charging port protection device can cope with rain and snow weather possibly met by an outdoor route and improve the waterproof safety of the charging ports.

2. The charging port protection device can be directly covered above the open charging port, a space is not required to be reserved for the device in the vehicle, and the charging port protection device is simple to install and good in universality.

3. The protection frame of the charging port protection device, the rotating shaft mechanism between the steering engine module and the protection frame, the magnetic door lock between the two protection, some waterproof and dustproof design treatments (the waterproof adhesive tape at the positions of the steering engine shield, the electric appliance shield and the door gap, the hydrophobic design of the protection frame and the like) and other structural designs have the advantages of stable and reliable operation, optimized part number and processing cost, simplified assembly and the like.

4. The charging port protection device is used as a sub-module, is integrated into an automatic charging function of the vehicle, and realizes the automation of the whole charging process by applying a reasonable control method and system logic steps; the device can take over the equipment manually when encountering abnormality (the door can be opened and closed normally and manually after power failure), and the charging function can not be influenced.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (15)

1. A charging port guard comprising:

a protective frame (1) which is suitable for being arranged around the protruding charging port (21) of the mobile equipment in a surrounding way;

the two protection doors (2) are rotatably arranged on two opposite sides of the protection frame (1), and the two protection doors (2) and the protection frame (1) enclose a protection space for protecting the charging port (21);

the two driving pieces (301) are fixed on the protective frame (1), and the two driving pieces (301) are connected with the two protective doors (2) in a one-to-one correspondence mode so as to drive the two protective doors (2) to open or close.

2. The charging port protection device according to claim 1, further comprising an electrical device module (4), the electrical device module (4) being fixed on the protection frame (1) and located in the protection space, the electrical device module (4) being electrically connected with the driving member (301), the on-board controller.

3. The charging port protection device according to claim 2, characterized in that the electrical device module (4) comprises a fixed plate (404), a driving plate (401) and a serial port conversion plate (402), the fixed plate (404) is fixed on the protection frame (1), the driving plate (401) and the serial port conversion plate (402) are fixed on the fixed plate (404), the driving plate (401) is electrically connected with the driving member (301) and the serial port conversion plate (402), and the serial port conversion plate (402) is adapted to be electrically connected with a vehicle-mounted controller.

4. A charging port protection arrangement as claimed in claim 3, characterized in that the electrical device module (4) further comprises an electrical device shield (403), the electrical device shield (403) being fixed on the fixed plate (404) and being housed outside the drive plate (401) and serial port conversion plate (402).

5. The charging port protection device according to any one of claims 1 to 4, characterized in that the top surface of the protection frame (1) is a hydrophobic slope (1011), and the protection door (2) is received inside the outer edge of the upper frame edge (101) of the protection frame (1).

6. The charging port protection device according to any one of claims 1 to 4, wherein a harness hole (1021) through which a harness is passed is opened in the protection frame (1).

7. The charging port protection device according to any one of claims 1 to 4, characterized in that at least two spindle mechanisms are arranged between the protection door (2) and the protection frame (1), each spindle mechanism comprises a fixing seat (7), a spindle (5) and a spindle base (6), the fixing seat (7) is fixed on the protection door (2), the spindle (5) is fixed on the fixing seat (7), the spindle base (6) is fixed on the protection frame (1), the spindle base (6) is provided with a mounting hole, the spindle (5) is mounted in the mounting hole, and the driving end of the driving piece (301) is fixedly connected with the spindle (5).

8. The charging port guard according to any one of claims 1 to 4, further comprising a bracket (303), the bracket (303) being fixed to the guard frame (1), the driving member (301) being fixed to the bracket (303).

9. The charging port protection arrangement as claimed in claim 8, characterized in that the charging port protection arrangement further comprises a protective cover (302), which protective cover (302) is fixed on the bracket (303) and covers the outside of the drive member (301).

10. A mobile device, comprising:

an apparatus main body (20) having a charging port (21) protruding outward;

the charging port protection device according to any one of claims 1 to 9, being fixed on a surface of the apparatus main body (20) located around the charging port (21) and being covered outside the charging port (21).

11. A mobile device control method, applied to the mobile device of claim 10, comprising the steps of:

acquiring a door opening and closing signal of the protective door (2);

controlling the driving ends of the two driving parts (301) to rotate by a preset angle according to the door opening and closing signals;

acquiring actual angles of rotation of the driving ends of the two driving pieces (301);

and feeding back a signal of success or failure of opening and closing the door of the protective door (2) according to the relation between the actual angle and the preset angle.

12. The method according to claim 11, wherein the door opening and closing signal includes a door opening signal and a door closing signal, the door opening signal is a position signal of the mobile device moving to a preset position at a preset distance from the charging pile, and the door closing signal is a signal of no charging current after the charging of the mobile device is completed.

13. The mobile device control method according to claim 11, characterized in that after the step of feeding back a signal that the door opening of the guard door (2) is successful, the mobile device control method further comprises:

judging whether an alignment signal of the charging pile is received or not;

determining that the alignment signal of the charging pile is not received, controlling the mobile equipment to move, and executing the step after the mobile equipment moves to judge whether the alignment signal of the charging pile is received or not;

determining that an alignment signal of the charging pile is received, feeding back a signal of successful alignment of the mobile equipment to the charging pile, and judging whether the mobile equipment has charging current or not;

determining that the mobile equipment does not have charging current, and feeding back a signal that the mobile equipment is not being charged to the charging pile;

determining that the mobile equipment has charging current, and judging whether the electric quantity of the mobile equipment meets a charging completion condition;

and determining that the electric quantity of the mobile equipment meets the charging completion condition, and feeding back a signal of the completion of charging of the mobile equipment to the charging pile.

14. A mobile device control apparatus for performing the mobile device control method of claim 11, the mobile device control apparatus comprising:

the first acquisition module is used for acquiring a door opening and closing signal of the protective door (2);

the control module is used for controlling the driving ends of the two driving pieces (301) to rotate by a preset angle according to the door opening and closing signals;

the second acquisition module is used for acquiring actual angles of rotation of the driving ends of the two driving pieces (301);

and the feedback module is used for feeding back a signal of success or failure of opening and closing the door of the protective door (2) according to the relation between the actual angle and the preset angle.

15. A computer-readable storage medium storing computer instructions for causing a computer to execute the mobile device control method according to any one of claims 11 to 13.