CN1463868A - Method for collecting electric vehicle trough power transmission and running state information - Google Patents
Method for collecting electric vehicle trough power transmission and running state information Download PDFInfo
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- CN1463868A CN1463868A CN 02122973 CN02122973A CN1463868A CN 1463868 A CN1463868 A CN 1463868A CN 02122973 CN02122973 CN 02122973 CN 02122973 A CN02122973 A CN 02122973A CN 1463868 A CN1463868 A CN 1463868A
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Abstract
The invention provides a method for collecting power transmission and running state information of an electric automobile geosyncline, which belongs to the power transmission and measurement and control technology of electric automobiles. The method combines the timely detection of the sensor and the beacon information and adopts the modes of queue operation and operation information notification, thereby meeting the requirements of an automatic control system on operation state information in the process of large dynamic range and nonlinearity. The invention can meet the requirements of electric vehicles and environment on a power transmission system and the requirements of a geosyncline power transmission type electric vehicle automatic driving system on running state information, and does not occupy surface space resources. The technical scheme provides favorable conditions for popularization and application of the electric automobile, reduction of environmental pollution, energy conservation and automatic development of automobile traffic.
Description
(1) technical field
The present invention relates to the transmission of electricity and the observation and control technology of electronlmobil, it is basic important step in this technical field: i.e. electric automobile floor groove power transmission and operating state information acquisition method.
(2) background technology
The automotive traffic scale is big, and is closely related with the human modern life.At present, the energy resource consumption of automotive traffic, environmental pollution, operating efficiency and security problems are more serious, need to solve.The finiteness of oil resources, high pollution, automotive traffic use the new energy to become inevitable development trend.Electronlmobil has low, the free of contamination advantage of energy consumption, and electronlmobil mainly contains two classes at present: a class is the vehicle power electronlmobil, and this class automobile exists cost height, the short shortcoming of operating range; Another kind of is transmission of electricity formula electronlmobil, this class electronlmobil is mainly aerial overhead electric power transmission mode, it uses at many urban highway traffics at present, owing to it takies limited urban surface space resources, reason such as go offline easily, the application of this class automobile is restricted, in addition, transmission of electricity type electronlmobil manoevreability difference also is to use the major reason that is restricted.
At present worldwide, automotive traffic still belongs to a kind of " artificial type " system basically.The navigating mate that hundreds of millions of occupations or non-professional technical ability differ comparatively greatly different is being driven automobile, travels jointly on same road; Number is carrying out the management or the service of automotive traffic in personnel necessarily.The automotive traffic operating efficiency is low, working strength big, traffic safety problem is more outstanding, and the automatization level that improves automotive traffic is the effective measures that address the above problem, and the automatic steering of automobile is the important symbol that the automotive traffic automation reaches higher level.For realizing the automatic steering of floor groove power transmission formula electronlmobil, at first need to solve the acquisition problems of this class electronlmobil running state information.
(3) summary of the invention
The object of the present invention is to provide a kind of reduction environmental pollution, energy savings, and do not take spatial surface resource, transmission of electricity failure-free electric automobile floor groove power transmission method, provide such automobile to realize the acquisition method of the required running state information of automatic steering simultaneously.For achieving the above object, the present invention has taked following technical measures:
A kind of floor groove power transmission method of electronlmobil, it comprises:
A) base model of floor groove power transmission
The floor groove power transmission base model is the two poles of the earth transmissions of electricity, also can realize three-phase alternating current transmission of electricity or the transmission of electricity of earth-free the two poles of the earth, and basic the two poles of the earth transmission of electricity form is: the opening on transmission of electricity geosyncline top is provided with non-hidden power transmission line, normally connects the zero level power transmission line of the earth; In transmission of electricity geosyncline bottom, be another utmost point power transmission line.Under the situation of three-phase alternating current transmission of electricity, the opening on transmission of electricity geosyncline top is the zero level phase power transmission line that connects the earth, in transmission of electricity both sides, geosyncline bottom, is respectively other two-phase power transmission line.Under the situation of earth-free the two poles of the earth transmission of electricity, the opening on transmission of electricity geosyncline top is the zero level car body bonding jumper that connects the earth, in transmission of electricity both sides, geosyncline bottom, is respectively earth-free the two poles of the earth power transmission lines.
On version, the transmission of electricity geosyncline adopts cement concrete flute profile, segmental structure, is provided with the road beacon markers in transmission of electricity both sides, geosyncline top or at non-shielding power transmission line position.The transmission of electricity geosyncline all should have the district drainage function, and links to each other with the road main drain, and the transmission of electricity geosyncline regularly cleans with pressurized air.The transmission of electricity geosyncline has three types, hidden-type, half hidden-type, style of opening, be applicable to different transmission voltages and different application scenarios respectively, wherein: hidden floor groove power transmission handle has the shelter that high-tension power transmission line is arranged on transmission of electricity geosyncline side to the earth, the earth is had good insulation performance on every side.Hidden transmission of electricity geosyncline is applicable to that high potential floor groove power transmission, circuit power consumption are little, safe, are applicable on major urban arterial highway and the highway.Half hidden floor groove power transmission is covered the external application insulator the earth being had both sides or the middle and lower part that high-tension power transmission line is arranged on the transmission of electricity geosyncline, the earth is had good insulation performance on every side.The power transmission line of open the two poles of the earth transmission of electricity is all on the top of geosyncline, and wherein the two-phase power transmission line is on the top of geosyncline for open three-phase power transmission, and third phase is in the bottom of geosyncline, and power transmission line all has insulating gasket when installing.Because outside the power transmission line of open geosyncline transmission of electricity all is exposed to, usually delivery safety voltage, be applicable to comparatively osed top local job zone.
B) fork of electric automobile floor groove power transmission grooved rail and remittance
The transmission of electricity geosyncline is turned to diverge and is adopted the separate mode of " Y " shape grooved rail, and Electromagnetic Drive or traction drive mode are adopted in the transition of wiper mechanism.The transmission of electricity geosyncline of transmission of electricity geosyncline turning turnoff is divided into left side transmission of electricity geosyncline and right side transmission of electricity geosyncline.When the electronlmobil turnon left, left side transmission of electricity geosyncline is a turnon left transmission of electricity geosyncline, and transmission of electricity geosyncline in right side is for the transmission of electricity geosyncline of keeping straight on, and when the electronlmobil right-hand corner, right side transmission of electricity geosyncline is a right-hand corner transmission of electricity geosyncline, and transmission of electricity geosyncline in left side is the transmission of electricity geosyncline of keeping straight on.And arranged on left and right sides in transmission of electricity geosyncline turning turnoff is provided with the permanent magnet that a pair of pole reversal is provided with, the road beacon markers of the bifurcation point that is provided with out, goes into to turn in the forward and backward both sides of transmission of electricity geosyncline turning turnoff.
Generally speaking, the transmission of electricity geosyncline the when wiper mechanism of electronlmobil is normal operation of dependence guiding transmission of electricity geosyncline remittance, the transmission of electricity geosyncline when guiding transmission of electricity geosyncline and normal the operation is that little drift angle is slipped into the type structure naturally.Guiding transmission of electricity geosyncline is arranged on the side of automotive operation circuit, and the initiating terminal of guiding transmission of electricity geosyncline has dustpan-shaped geosyncline inlet, is beneficial to slipping into naturally of wiper mechanism.
C) wiper mechanism of floor groove power transmission
The wiper mechanism of floor groove power transmission can adopt skid or pulley-type supporting form, and hidden or half hidden power transmission line brush adopts automatically controlled or suppresses form.The wiper mechanism of floor groove power transmission is done actuation mechanism, wiper mechanism direction angle sensor, turning control electromagnet, beacon sensor, brush holder main shaft, hidden power transmission line brush, non-hidden power transmission line brush etc. by brush carriage, brush electromagnetism and is partly formed.Wherein: brush carriage is the main carrier of wiper mechanism, is made by nylon or other abrasion resistant insulating material, and brush carriage, non-hidden brush contact with non-hidden power transmission line surface, are used to carry wiper mechanism; The brush electromagnetism is done actuation mechanism and is used for closure or openness between hidden transmission of electricity brush contact and hidden power transmission line; Wiper mechanism direction angle sensor is used to measure the direction deflection angle of transmission of electricity bar with respect to wiper mechanism; Non-hidden power transmission line brush is enclosed within the brush carriage, and this brush can easily be changed; The control electromagnet of turning is mounted in the brush carriage, and when applying control voltage and make that electromagnet is energized, magnetic field that is produced and the permanent magnet field mutual action that is arranged on transmission of electricity geosyncline both sides, turning make wiper mechanism groove track with going into corresponding transmission of electricity partially; Beacon sensor is used to detect the residing state of beacon carrier, to provide the road beacon signal of predetermined set; The brush holder main shaft is the supports main shaft of wiper mechanism.
Hidden power transmission line brush need adopt automatic or manual mode that it is carried out control, thereby makes brush well contact or safe escape with power transmission line.The spring leaf of half hidden power transmission line brush has curved arc shape structure under the sweepback, and the spring leaf plane is positioned at perpendicular, the contact periphery has the sliding limit of perk, so that brush can repeat upper and lower plug and not be damaged, spring leaf has prestress makes brush reliably contact with power transmission line.The non-shielding brush of half hidden interior V shape wiper mechanism is a shape of a saddle groove, at middle part, wiper mechanism bottom surface, is provided with the road beacon sensor in the both sides of groove.
D) wiper mechanism, transmission of electricity bar link with electronlmobil
Wiper mechanism is to rely on the transmission of electricity bar to link with electronlmobil, one end of transmission of electricity bar links to each other with wiper mechanism, the other end connected by the middle part of switching at the front wheel spindle carriage of electronlmobil by the universal of limited drift angle, take special detachable transmission of electricity bar and special transmission of electricity bar draw off gear, also the transmission of electricity bar can be installed in the afterbody of electronlmobil.Can make the transmission of electricity bar be locked to two stabilized conditionss by artificial or autocontrol method, promptly be locked in normal transmission of electricity and pack up and lay two states.In the transmission of electricity state, the transmission of electricity bar can left and right freely swing in predetermined angle, the transmission of electricity bar can be mentioned by steering unit or quilt is dropped to preset height, both be laid with the power power transmission line in the transmission of electricity bar, be laid with low pressure control line, signal wire (SW) again, between power power transmission line and low pressure control line, the signal wire (SW) good insulation performance and shielding are arranged, also be laid with wiper mechanism rise and landing trailing cable on the transmission of electricity bar.Transmission of electricity bar direction angle sensor is installed in the link position of front wheel spindle carriage mid point with the transmission of electricity bar of electronlmobil, is used to measure the transmission of electricity bar and the electronlmobil longitudinal axis at the angle of taking turns axis plane upslide shadow---transmission of electricity bar direction deflection angle.
E) control of electric automobile floor groove power transmission
The control of electric automobile floor groove power transmission mainly comprises the control of the bar of transmitting electricity and control two parts of wiper mechanism.The transmission of electricity bar mode of electric automobile floor groove power transmission is: when needs make wiper mechanism enter the transmission of electricity geosyncline, adopt manual operation mechanism or automatic controller to handle the transmission of electricity bar, make it drop to predetermined altitude, wiper mechanism alignment guidance transmission of electricity geosyncline initiating terminal had dustpan-shaped geosyncline inlet, the trailing cable that falls by wiper mechanism is put wiper mechanism in lowering position, and the utilization auxiliary power is also handled electronlmobil and advanced and make wiper mechanism slip into guiding transmission of electricity geosyncline naturally; When needs make wiper mechanism break away from the transmission of electricity geosyncline, put wiper mechanism in raised position by the rise trailing cable of wiper mechanism, adopt manual operation mechanism or automatic controller to handle the transmission of electricity bar, make the transmission of electricity bar return to original installation site.
The mode of electric automobile floor groove power transmission wiper mechanism is: on electronlmobil, should be provided with thyrister form switch or electromagnetic switch in its power transmitting loop, and be provided with the control setup at wiper mechanism; Make wiper mechanism enter transmission of electricity during geosyncline at needs, do not finish the transmission of electricity geosyncline process that enters, normally with before power transmission line contacts, the wiper mechanism control setup should not make the switch closure of power transmitting loop to the brush of wiper mechanism; The wiper mechanism control setup detects wiper mechanism and has finished the process that enters the transmission of electricity geosyncline, and the brush of wiper mechanism is normally with after power transmission line contacts, and the wiper mechanism control setup just makes the switch closure of power transmitting loop; When needs make wiper mechanism break away from the transmission of electricity geosyncline, at first should be under the effect of given instruction, the wiper mechanism control setup makes the switch of power transmitting loop open a way; In the electric automobile during traveling process, when wiper mechanism direction angle sensor records when exceeding predefined limit direction deflection angle, under the effect of wiper mechanism control setup, carry out the control process that wiper mechanism breaks away from the transmission of electricity geosyncline, the step of this control process is: the switch open circuit that makes the power transmitting loop, the control brush electromagnetism do actuation mechanism make brush break away from hidden power transmission line, return to the transmission of electricity geosyncline midway location, make wiper mechanism be in raised position, make the transmission of electricity bar return to original installation site; In the electric automobile during traveling process,, under the effect of wiper mechanism control setup, carry out the control process that wiper mechanism breaks away from the transmission of electricity geosyncline equally when the bar level sensor on the wiper mechanism records when exceeding that predefined limiting rod is biased to be moved.Under the situation that transmission of electricity geosyncline fork is turned, the mode of wiper mechanism is: going out, going into to transmit electricity geosyncline turning crotch, the road beacon of geosyncline turning bifurcated should set out respectively, go into to transmit electricity, by being arranged on the detection of the road beacon sensor on the wiper mechanism, simultaneously under the effect of given turn command, the wiper mechanism control setup makes the turning electromagnet be energized, under the magnetic field interaction of turning electromagnet magnetic field and transmission of electricity geosyncline turning crotch both sides permanent magnet, order about wiper mechanism and slip into corresponding transmission of electricity geosyncline, finish the turning process; Under the situation that transmission of electricity geosyncline fork is turned, suppress in the type wiper mechanism, the wiper mechanism control setup makes the turning electromagnetism do the actuation mechanism action, orders about the side that turning guide runner deflection is turned, and then make wiper mechanism slip into corresponding transmission of electricity geosyncline, finish the turning process.
F) floor groove power transmission auxiliary Power of Electric Vehicles source
The manoevreability of floor groove power transmission type electronlmobil is restricted, and auxiliary power source need be set, and can corresponding auxiliary power source be set according to requirements such as manoevreability, economy.
The acquisition method of the required running state information of a kind of floor groove power transmission type electronlmobil automatic steering, it comprises:
A) information of floor groove power transmission type electronlmobil automatic steering needs
Generally speaking, the automatic steering of floor groove power transmission type electronlmobil under qualifications needs following several category informations: the running state information between the first floor groove power transmission type electronlmobil and road; The running state information of the second floor groove power transmission type electronlmobil and adjacent work stall; The 3rd floor groove power transmission type electronlmobil built-in system status information; Interactive information between the 4th floor groove power transmission type electronlmobil and traffic surveillance and control system; Interactive information between the 5th floor groove power transmission type electronlmobil and navigating mate., claim the running state information that preceding two classes are floor groove power transmission type electronlmobil here, claim that back three classes are the monitor message of floor groove power transmission type electronlmobil.
B) collection of the relative road running state information of floor groove power transmission type electronlmobil
B1) the personal vehicle system small dynamic range stable operation running state parameter that need provide
The kinematic model of automatic steering floor groove power transmission type electronlmobil is: in ideal conditions, transmission of electricity geosyncline axis is the path of motion at the geometrical plane center of electronlmobil; Under the general situation, be body control R point with the mid point of the front-wheel line of centres, its path of motion left-right deviation and vertical, horizontal motion ride comfort should meet predefined requirement.For this reason, personal vehicle system need provide following electric vehicle motion parameter: lengthwise position, speed, acceleration/accel, lateral runout, depart from speed, depart from acceleration/accel, direction deflection angle, drift angle speed that automotive ordinate axis is transmitted electricity the geosyncline axis relatively.Usually can be by the longitudinal velocity sensor longitudinal velocity that is provided with; By integration to speed obtain distance that certain hour travels at interval and by initial position to determine current location; Obtain the longitudinal movement acceleration/accel by a subdifferential to longitudinal velocity; Three parameters of pitch angle that bar by wiper mechanism direction angle, transmission of electricity bar is long, the transmission of electricity bar is taken turns axis plane relatively can be determined the lateral runout of body control R point relative ideal track; Obtain to depart from speed by a subdifferential to lateral runout; The angle of the front-wheel plane of rotation and the front-wheel line of centres claims to handle the angle, on floor groove power transmission type electronlmobil, the manipulation angle transducer is installed, can determines lateral runout acceleration/accel, direction deflection angle and drift angle speed under the no sideslip condition respectively by wiper mechanism direction angle, transmission of electricity bar direction angle, the wheel base of handling angle, electronlmobil and longitudinal velocity parameter.
B2) the personal vehicle system great dynamic range stable operation running state parameter that need provide
Generally speaking, the personal vehicle system of floor groove power transmission electronlmobil need be worked under great dynamic range, nonlinear state, so lengthwise position, speed, acceleration/accel only are provided, lateral runout, depart from speed, depart from acceleration/accel, the in good time running state parameter of electronlmobil such as direction deflection angle, drift angle speed is not enough, the change information that also needs road environment in personal vehicle system provides nearest following a period of time scope, this is to rely on the road beacon system to realize.
Floor groove power transmission type electronlmobil road beacon system comprises: road beacon system physical structure, road beacon system database data, road beacon system software.Road beacon system physical structure comprises: be arranged on road beacon markers that transmission of electricity geosyncline upper side is encoded or the road beacon sensor on carrier and the wiper mechanism, the computing machine of store data database data and IO interface etc.When adopting permanent magnet as road beacon carrier, permanent magnet " N " utmost point is the forward setting up, represents its state with code " 1 "; Otherwise be the negative sense setting, represent its state with code " 0 "; When adopting magnetizer or conductor as road beacon carrier, detecting the definite state of beacon carrier simultaneously with two beacon sensor is code " 0 " state; Having only predetermined that to detect the state that the beacon carrier determines with two beacon sensor is the code one state.In floor groove power transmission type electronlmobil road beacon system database data structure, the information coding is identical with " constituting the method that magnetic course line, ground, beacon and sensor are installed under the computer management ".Floor groove power transmission type electronlmobil road beacon system software is mainly finished following task: the road beacon code that compiling is obtained from road beacon carrier, extract data from data bank, data are sent into personal vehicle system or people, machine interface equipment through handling.
C) collection of the running state information of floor groove power transmission type electronlmobil and adjacent work stall and transmission
C1) floor groove power transmission type electronlmobil line up the operation
Usually, floor groove power transmission type electronlmobil to be to line up mode operation, and its queue structure is by leader, queue member and keep team's three parts and form; Every set of queues all is encoded, and notifies the leader of this formation by traffic surveillance and control system, and code value is followed successively by 0～255 from front to back; Each queue member all is encoded, and notifies each member by the leader of this formation, and code value is followed successively by 0～255 from front to back.The leader is at head of the queue, serve as formation the leader, and traffic surveillance and control system, formation in and communication and formation monitor task between formation; Keep team at tail of the queue, bear formation monitoring, and forward and backward leader between communication task; Generally speaking, have leader qualification queue member by the front portion of layout in formation, have keep group qualification queue member by the rear portion of layout in formation; Have the one-way communication ability by before and after between queue member, a formation number of vehicles is in 1～256 scope.
C2) collection of the running state information of adjacent work stall and transmission
The variation of the running state of the adjacent work stall of floor groove power transmission type electronlmobil is mainly caused by the variation of the variation of front vehicles running state or vehicle running state.Under the situation of normally lining up to move, needing the target of control is rational spacing; The trailer reversing behavior mainly contains: the speed of a motor vehicle keeps, quickens, slows down, brakes; The reason that produces manipulative behavior mainly contains following three classes: the manipulative behavior that the manipulative behavior that external command causes, active manipulative behavior, random fault cause, preceding two class manipulative behaviors belong to known in advance manipulative behavior, the process of Tertiary Operation behavior also can be surveyed, above-mentioned Tertiary Operation behavior is detected and control by vehicle-mounted monitoring system, all with the communication modes of message code, accept the manipulative behavior information that front vehicles is sent here, and self manipulative behavior information is sent to front vehicle." implementation method that vehicle lines up to move in the highway communication " described method is adopted in the relative velocity of the adjacent work stall of floor groove power transmission type electronlmobil and the detection of spacing.
The transmission of floor groove power transmission type electronlmobil running state information, adopt two kinds of communication modes, that is: with the power transmission line carrier communication mode of transfer medium, control emissive power and frequency of utilization to be avoiding the mutual interference mutually of communication, and carrier communication relatively is suitable for speed greater than 40 kilometers/hour running state; Another kind is the infrared-ray communication mode between adjacent vehicle, and infrared-ray communication relatively is suitable for speed less than 40 kilometers/hour running state.
D) navigation of floor groove power transmission type electronlmobil
Floor groove power transmission type electronlmobil navigation divides two kinds, i.e. manual guidance and automatic navigation, and manual guidance is that the mode of operation that the navigation information that detects running state information, road beacon system in good time and provide at people, machine interface equipment carries out pilot steering is provided; Automatic navigation is that personal vehicle system is provided by the mode of operation that the navigation information that detects running state information, beacon system in good time and provide carries out automatic steering.
Electric automobile floor groove power transmission provided by the invention and operating state information acquisition method, do not take the spatial surface resource, transmission of electricity is reliable, cost is relatively low, for the automation development of applying, reduce environmental pollution, energy savings and automotive traffic of electronlmobil provides advantage.
(4) description of drawings
Fig. 1 is hidden transmission of electricity geosyncline structural representation;
Fig. 2 is half a hidden transmission of electricity geosyncline structural representation;
Fig. 3 is open transmission of electricity geosyncline structural representation;
Fig. 4 is the front view of electronic control type wiper mechanism scheme drawing;
Fig. 5 is the A-A section-drawing of Fig. 4;
Fig. 6 is the birds-eye view of Fig. 4;
Fig. 7 is for suppressing type wiper mechanism scheme drawing;
Fig. 8 be wiper mechanism, transmission of electricity bar, with the linking relationship scheme drawing of electronlmobil;
Fig. 9 is the structural representation of split type Electromagnetic Drive transmission of electricity geosyncline grooved rail turnoff.
(5) specific implementation
Among the figure: 1-road beacon markers or carrier (magnet or conductor), the non-hidden power transmission line of 2-, the 3-spark plug porcelain insulator, 4-insulated enclosure weighting material, the 5-shroud that insulate, 6-fastening screw rasp bar, the 7-nut, the hidden power transmission line of 8-, 9-concrete structure groove, the 10-dewatering ditch, the 11-power transmission line, 12-brush carriage, 13-brush electromagnetism is done actuation mechanism, the hidden power transmission line lead terminal of 14-, 15-control path connector, 16-wiper mechanism direction angle and bar level sensor, the mandrel connector of the limited pivot angle of 17-, the lifting linking member of 18-wiper mechanism, the 19-bar of transmitting electricity, 20-main shaft spring, the non-hidden power transmission line lead terminal of 21-, the non-hidden power transmission line brush of 22-, 23-brush protection block, 24-brush fixed link, 25-brush spring sheet, the hidden power transmission line brush of 26-, 27-brush driving lever, 28-turns and controls electromagnet, 29-road beacon magnetic (or current vortex) sensor, the 30-wiper mechanism rises trailing cable, the 31-wiper mechanism falls trailing cable, 32-wiper mechanism position control spring, 33-brush holder main shaft, the recovery spring of 34-brush driving lever, the 35-brush is made the dynamic pressure bar, 36-turning electromagnetism is done actuation mechanism, 37-turning driving lever, 38-turning guide runner, 39-slide block reseting spring leaf, the front wheel spindle carriage of 40-electronlmobil, 41-transmission of electricity bar direction angle sensor, the 42-wiper mechanism, 43-left side permanent magnet, 44-left side transmission of electricity geosyncline, 45-right side transmission of electricity geosyncline, 46-right side permanent magnet.
A. the realization of the floor groove power transmission method of electronlmobil
The realization of the floor groove power transmission method of electronlmobil provided by the invention, comprise as shown in Figure 1 hidden transmission of electricity geosyncline or the transmission of electricity of half hidden as shown in Figure 2 geosyncline, the structure setting of split type Electromagnetic Drive transmission of electricity geosyncline grooved rail turnoff as shown in Figure 9, as Fig. 4, Fig. 5, electronic control type wiper mechanism shown in Figure 6 or elastic press type wiper mechanism as shown in Figure 7, wiper mechanism as shown in Figure 8, transmission of electricity bar, with the setting that links of electronlmobil, and transmit electricity the retractable device of bar 19 and the parts such as control setup of electric automobile floor groove power transmission.
The cell body of transmission of electricity geosyncline is a concrete structure groove 9, and road beacon markers or carrier 1 and non-hidden power transmission line 2 are set at the top of transmission of electricity geosyncline; Non-hidden power transmission line 2 connects the earth, it with wiper mechanism 42 in non-hidden power transmission line brush 22 moving contacts, and carry wiper mechanism; Hidden power transmission line 8 is set at the both sides, bottom of transmission of electricity geosyncline, with spark plug porcelain insulator 3 and 9 insulation of concrete structure groove.
The control setup of electric automobile floor groove power transmission comprises transmission of electricity bar controlling and wiper mechanism control setup two parts, is arranged on the electronlmobil.Doing the circuit of circuit, wiper mechanism direction deflection angle and the bar level sensor 16 of the circuit of actuation mechanism 13, the control electromagnet 28 of turning, the circuit of road beacon sensor 29, the circuit of transmission of electricity bar direction angle sensor 41 with the brush electromagnetism respectively by the be laid in control of transmission of electricity in the bar 19, signal bus links to each other.The control setup of electric automobile floor groove power transmission according to the control requirement of electric automobile floor groove power transmission in the technical scheme, is controlled transmission of electricity bar 19 and wiper mechanism 42.
B. the acquisition method of the required running state information of floor groove power transmission type electronlmobil automatic steering
(same technical scheme)
Claims (2)
1, a kind of floor groove power transmission method of electronlmobil, it is characterized in that: it comprises the base model of floor groove power transmission, the fork of electric automobile floor groove power transmission grooved rail and remittance, the wiper mechanism of floor groove power transmission, wiper mechanism, transmission of electricity bar link with electronlmobil, parts such as the control of electric automobile floor groove power transmission and floor groove power transmission auxiliary Power of Electric Vehicles source, wherein:
A) base model of floor groove power transmission
The floor groove power transmission base model is the two poles of the earth transmissions of electricity, also can realize three-phase alternating current transmission of electricity or the transmission of electricity of earth-free the two poles of the earth, and basic the two poles of the earth transmission of electricity form is: the opening on transmission of electricity geosyncline top is provided with non-hidden power transmission line, normally connects the zero level power transmission line of the earth; In transmission of electricity geosyncline bottom, be another utmost point power transmission line; Under the situation of three-phase alternating current transmission of electricity, the opening on transmission of electricity geosyncline top is the zero level phase power transmission line that connects the earth, in transmission of electricity both sides, geosyncline bottom, is respectively other two-phase power transmission line; Under the situation of earth-free the two poles of the earth transmission of electricity, the opening on transmission of electricity geosyncline top is the zero level car body bonding jumper that connects the earth, in transmission of electricity both sides, geosyncline bottom, is respectively earth-free the two poles of the earth power transmission lines
On version, the transmission of electricity geosyncline adopts the cement concrete flute profile, segmental structure, be provided with the road beacon markers in transmission of electricity both sides, geosyncline top or at non-shielding power transmission line position, the transmission of electricity geosyncline all should have the district drainage function, and link to each other with the road main drain, the transmission of electricity geosyncline regularly cleans with pressurized air, the transmission of electricity geosyncline has three types, hidden-type, half hidden-type, opening, be applicable to different transmission voltages and different application scenarios respectively, wherein: hidden floor groove power transmission handle has the shelter that high-tension power transmission line is arranged on transmission of electricity geosyncline side to the earth, the earth is had good insulation performance on every side; Hidden transmission of electricity geosyncline is applicable to that high potential floor groove power transmission, circuit power consumption are little, safe, are applicable on major urban arterial highway and the highway; Half hidden floor groove power transmission is covered the external application insulator the earth being had both sides or the middle and lower part that high-tension power transmission line is arranged on the transmission of electricity geosyncline, the earth is had good insulation performance on every side; The power transmission line of open the two poles of the earth transmission of electricity is all on the top of geosyncline, open three-phase power transmission wherein the two-phase power transmission line on the top of geosyncline, third phase is in the bottom of geosyncline, power transmission line all has insulating gasket when installing, because outside the power transmission line of open geosyncline transmission of electricity all is exposed to, usually delivery safety voltage, be applicable to comparatively osed top local job zone
B) fork of electric automobile floor groove power transmission grooved rail and remittance
The transmission of electricity geosyncline is turned to diverge and is adopted the separate mode of " Y " shape grooved rail, Electromagnetic Drive or traction drive mode are adopted in the transition of wiper mechanism, the transmission of electricity geosyncline of transmission of electricity geosyncline turning turnoff is divided into left side transmission of electricity geosyncline and right side transmission of electricity geosyncline, when the electronlmobil turnon left, left side transmission of electricity geosyncline is a turnon left transmission of electricity geosyncline, transmission of electricity geosyncline in right side is the transmission of electricity geosyncline of keeping straight on, when the electronlmobil right-hand corner, right side transmission of electricity geosyncline is a right-hand corner transmission of electricity geosyncline, transmission of electricity geosyncline in left side is the transmission of electricity geosyncline of keeping straight on, left side in transmission of electricity geosyncline turning turnoff, right both sides are provided with the permanent magnet that a pair of pole reversal is provided with, before transmission of electricity geosyncline turning turnoff, back both sides are provided with out, go into the to turn road beacon markers of bifurcation point
Generally speaking, the wiper mechanism of electronlmobil is the transmission of electricity geosyncline when relying on guiding transmission of electricity geosyncline to import normally operation, transmission of electricity geosyncline when guiding transmission of electricity geosyncline and normal operation is that little drift angle is slipped into the type structure naturally, guiding transmission of electricity geosyncline is arranged on the side of automotive operation circuit, the initiating terminal of guiding transmission of electricity geosyncline has dustpan-shaped geosyncline inlet, is beneficial to slipping into naturally of wiper mechanism
C) wiper mechanism of floor groove power transmission
The wiper mechanism of floor groove power transmission, can adopt skid or pulley-type supporting form, hidden or half hidden power transmission line brush adopts automatically controlled or suppresses form, the wiper mechanism of floor groove power transmission is by brush carriage, the brush electromagnetism is done actuation mechanism, wiper mechanism direction angle sensor, turn and control electromagnet, beacon sensor, the brush holder main shaft, hidden power transmission line brush, non-hidden power transmission line brushes etc. are partly formed, wherein: brush carriage is the main carrier of wiper mechanism, make by nylon or other abrasion resistant insulating material, brush carriage, non-hidden brush contacts with non-hidden power transmission line surface, is used to carry wiper mechanism; The brush electromagnetism is done actuation mechanism and is used for closure or openness between hidden transmission of electricity brush contact and hidden power transmission line; Wiper mechanism direction angle sensor is used to measure the direction deflection angle of transmission of electricity bar with respect to wiper mechanism; Non-hidden power transmission line brush is enclosed within the brush carriage, and this brush can easily be changed; The control electromagnet of turning is mounted in the brush carriage, and when applying control voltage and make that electromagnet is energized, magnetic field that is produced and the permanent magnet field mutual action that is arranged on transmission of electricity geosyncline both sides, turning make wiper mechanism groove track with going into corresponding transmission of electricity partially; Beacon sensor is used to detect the residing state of beacon carrier, to provide the road beacon signal of predetermined set; The brush holder main shaft is the supports main shaft of wiper mechanism
Hidden power transmission line brush need adopt automatic or manual mode that it is carried out control, thereby make brush well contact or safe escape with power transmission line, the spring leaf of half hidden power transmission line brush has curved arc shape structure under the sweepback, and the spring leaf plane is positioned at perpendicular, the contact periphery has the sliding limit of perk, so that brush can repeat, following plug and not being damaged, spring leaf has prestress makes brush reliably contact with power transmission line, the non-shielding brush of half hidden interior V shape wiper mechanism is a shape of a saddle groove, at middle part, wiper mechanism bottom surface, be provided with the road beacon sensor in the both sides of groove
D) wiper mechanism, transmission of electricity bar link with electronlmobil
Wiper mechanism is to rely on the transmission of electricity bar to link with electronlmobil, one end of transmission of electricity bar links to each other with wiper mechanism, the other end connected by the middle part of switching at the front wheel spindle carriage of electronlmobil by the universal of limited drift angle, take special detachable transmission of electricity bar and special transmission of electricity bar draw off gear, also the transmission of electricity bar can be installed in the afterbody of electronlmobil, can make the transmission of electricity bar be locked to two stabilized conditionss by artificial or autocontrol method, promptly be locked in normal transmission of electricity and pack up and lay two states, in the transmission of electricity state, the transmission of electricity bar can be left freely in predetermined angle, right swing, the transmission of electricity bar can be mentioned by steering unit or quilt is dropped to preset height, both be laid with the power power transmission line in the transmission of electricity bar, be laid with the low pressure control line again, signal wire (SW), power power transmission line and low pressure control line, good insulation performance and shielding are arranged between the signal wire (SW), also be laid with wiper mechanism rise and landing trailing cable on the transmission of electricity bar, transmission of electricity bar direction angle sensor is installed in the link position of front wheel spindle carriage mid point with the transmission of electricity bar of electronlmobil, is used to measure the transmission of electricity bar and the electronlmobil longitudinal axis at the angle of taking turns axis plane upslide shadow---transmission of electricity bar direction deflection angle
E) control of electric automobile floor groove power transmission
The control of electric automobile floor groove power transmission mainly comprises the control of the bar of transmitting electricity and control two parts of wiper mechanism, the transmission of electricity bar mode of electric automobile floor groove power transmission is: when needs make wiper mechanism enter the transmission of electricity geosyncline, adopt manual operation mechanism or automatic controller to handle the transmission of electricity bar, make it drop to predetermined altitude, wiper mechanism alignment guidance transmission of electricity geosyncline initiating terminal had dustpan-shaped geosyncline inlet, the trailing cable that falls by wiper mechanism is put wiper mechanism in lowering position, and the utilization auxiliary power is also handled electronlmobil and advanced and make wiper mechanism slip into guiding transmission of electricity geosyncline naturally; When needs make wiper mechanism break away from the transmission of electricity geosyncline, put wiper mechanism in raised position by the rise trailing cable of wiper mechanism, adopt manual operation mechanism or automatic controller to handle the transmission of electricity bar, make the transmission of electricity bar return to original installation site
The mode of electric automobile floor groove power transmission wiper mechanism is: on electronlmobil, should be provided with thyrister form switch or electromagnetic switch in its power transmitting loop, and be provided with the control setup at wiper mechanism; Make wiper mechanism enter transmission of electricity during geosyncline at needs, do not finish the transmission of electricity geosyncline process that enters, normally with before power transmission line contacts, the wiper mechanism control setup should not make the switch closure of power transmitting loop to the brush of wiper mechanism; The wiper mechanism control setup detects wiper mechanism and has finished the process that enters the transmission of electricity geosyncline, and the brush of wiper mechanism is normally with after power transmission line contacts, and the wiper mechanism control setup just makes the switch closure of power transmitting loop; When needs make wiper mechanism break away from the transmission of electricity geosyncline, at first should be under the effect of given instruction, the wiper mechanism control setup makes the switch of power transmitting loop open a way; In the electric automobile during traveling process, when wiper mechanism direction angle sensor records when exceeding predefined limit direction deflection angle, under the effect of wiper mechanism control setup, carry out the control process that wiper mechanism breaks away from the transmission of electricity geosyncline, the step of this control process is: the switch open circuit that makes the power transmitting loop, the control brush electromagnetism do actuation mechanism make brush break away from hidden power transmission line, return to the transmission of electricity geosyncline midway location, make wiper mechanism be in raised position, make the transmission of electricity bar return to original installation site; In the electric automobile during traveling process, when the bar level sensor on the wiper mechanism records when exceeding that predefined limiting rod is biased to be moved, under the effect of wiper mechanism control setup, the same control process of carrying out wiper mechanism disengaging transmission of electricity geosyncline, under the situation that transmission of electricity geosyncline fork is turned, the mode of wiper mechanism is: going out, the geosyncline turning crotch of going into to transmit electricity, should set out respectively, go into the to transmit electricity road beacon of geosyncline turning bifurcated, by being arranged on the detection of the road beacon sensor on the wiper mechanism, simultaneously under the effect of given turn command, the wiper mechanism control setup makes the turning electromagnet be energized, under the magnetic field interaction of turning electromagnet magnetic field and transmission of electricity geosyncline turning crotch both sides permanent magnet, order about wiper mechanism and slip into corresponding transmission of electricity geosyncline, finish the turning process; Under the situation that transmission of electricity geosyncline fork is turned, suppress in the type wiper mechanism, the wiper mechanism control setup makes the turning electromagnetism do the actuation mechanism action, orders about the side that turning guide runner deflection is turned, and then make wiper mechanism slip into corresponding transmission of electricity geosyncline, finish the turning process
F) floor groove power transmission auxiliary Power of Electric Vehicles source
The manoevreability of floor groove power transmission type electronlmobil is restricted, and auxiliary power source need be set, and can corresponding auxiliary power source be set according to requirements such as manoevreability, economy
2, the acquisition method of the required running state information of a kind of floor groove power transmission type electronlmobil automatic steering, it is characterized in that: it comprises the parts such as navigation of the collection of running state information of collection, floor groove power transmission type electronlmobil and adjacent work stall of the relative road running state information of floor groove power transmission type electronlmobil and transmission, floor groove power transmission type electronlmobil, wherein:
A) information of floor groove power transmission type electronlmobil automatic steering needs
Generally speaking, the automatic steering of floor groove power transmission type electronlmobil under qualifications needs following several category informations: the running state information between the first floor groove power transmission type electronlmobil and road; The running state information of the second floor groove power transmission type electronlmobil and adjacent work stall; The 3rd floor groove power transmission type electronlmobil built-in system status information; Interactive information between the 4th floor groove power transmission type electronlmobil and traffic surveillance and control system; Interactive information between the 5th floor groove power transmission type electronlmobil and navigating mate, claims the running state information that preceding two classes are floor groove power transmission type electronlmobil here, claims that back three classes are the monitor message of floor groove power transmission type electronlmobil
B) collection of the relative road running state information of floor groove power transmission type electronlmobil
B1) the personal vehicle system small dynamic range stable operation running state parameter that need provide
The kinematic model of automatic steering floor groove power transmission type electronlmobil is: in ideal conditions, transmission of electricity geosyncline axis is the path of motion at the geometrical plane center of electronlmobil; Under the general situation, mid point with the front-wheel line of centres is a body control R point, its path of motion left-right deviation and vertical, horizontal motion ride comfort should meet predefined requirement, for this reason, personal vehicle system need provide following electric vehicle motion parameter: lengthwise position, speed, acceleration/accel, lateral runout, depart from speed, depart from acceleration/accel, direction deflection angle, drift angle speed that automotive ordinate axis is transmitted electricity the geosyncline axis relatively, usually can be by the longitudinal velocity sensor longitudinal velocity that is provided with; By integration to speed obtain distance that certain hour travels at interval and by initial position to determine current location; Obtain the longitudinal movement acceleration/accel by a subdifferential to longitudinal velocity; Three parameters of pitch angle that bar by wiper mechanism direction angle, transmission of electricity bar is long, the transmission of electricity bar is taken turns axis plane relatively can be determined the lateral runout of body control R point relative ideal track; Obtain to depart from speed by a subdifferential to lateral runout; The angle of the front-wheel plane of rotation and the front-wheel line of centres claims to handle the angle, on floor groove power transmission type electronlmobil, the manipulation angle transducer is installed, can determines lateral runout acceleration/accel, direction deflection angle and drift angle speed under the no sideslip condition respectively by wiper mechanism direction angle, transmission of electricity bar direction angle, the wheel base of handling angle, electronlmobil and longitudinal velocity parameter
B2) the personal vehicle system great dynamic range stable operation running state parameter that need provide
Generally speaking, the personal vehicle system of floor groove power transmission electronlmobil need be worked under great dynamic range, nonlinear state, so lengthwise position, speed, acceleration/accel only are provided, lateral runout, depart from speed, depart from acceleration/accel, the in good time running state parameter of electronlmobil such as direction deflection angle, drift angle speed is not enough, the change information that also needs road environment in personal vehicle system provides nearest following a period of time scope, this is to rely on the road beacon system to realize
Floor groove power transmission type electronlmobil road beacon system comprises: road beacon system physical structure, road beacon system database data, road beacon system software, road beacon system physical structure comprises: be arranged on road beacon markers that transmission of electricity geosyncline upper side is encoded or the road beacon sensor on carrier and the wiper mechanism, the computing machine of store data database data and IO interface etc., when adopting permanent magnet as road beacon carrier, permanent magnet " N " utmost point is the forward setting up, represents its state with code " 1 "; Otherwise be the negative sense setting, represent its state with code " 0 "; When adopting magnetizer or conductor as road beacon carrier, detecting the definite state of beacon carrier simultaneously with two beacon sensor is code " 0 " state; Having only predetermined that to detect the state that the beacon carrier determines with two beacon sensor is the code one state, in floor groove power transmission type electronlmobil road beacon system database data structure, information coding is identical with " constituting the method that magnetic course line, ground, beacon and sensor are installed under the computer management ", and floor groove power transmission type electronlmobil road beacon system software is mainly finished following task: the road beacon code that compiling is obtained from road beacon carrier, extract data from data bank, data are sent into personal vehicle system or people, machine interface equipment through processing
C) collection and the transmission of the running state information in the period of floor groove power transmission type electronlmobil and the adjacent vapour
C1) floor groove power transmission type electronlmobil line up the operation
Usually, floor groove power transmission type electronlmobil to be to line up mode operation, and its queue structure is by leader, queue member and keep team's three parts and form; Every set of queues all is encoded, and notifies the leader of this formation by traffic surveillance and control system, and code value is followed successively by 0～255 from front to back; Each queue member all is encoded, and notifies each member by the leader of this formation, and code value is followed successively by 0～255 from front to back; The leader is at head of the queue, serve as formation the leader, and traffic surveillance and control system, formation in and communication and formation monitor task between formation; Keep team at tail of the queue, bear formation monitoring, and forward and backward leader between communication task; Generally speaking, have leader qualification queue member by the front portion of layout in formation, have keep group qualification queue member by the rear portion of layout in formation; Have the one-way communication ability by before and after between queue member, a formation number of vehicles is in 1～256 scope
C2) collection of the running state information of adjacent work stall and transmission
The variation of the running state of the adjacent work stall of floor groove power transmission type electronlmobil mainly causes that by the variation of the variation of front vehicles running state or vehicle running state under the situation of normally lining up to move, needing the target of control is rational spacing; The trailer reversing behavior mainly contains: the speed of a motor vehicle keeps, quickens, slows down, brakes; The reason that produces manipulative behavior mainly contains following three classes: the manipulative behavior that external command causes, the active manipulative behavior, the manipulative behavior that random fault causes, preceding two class manipulative behaviors belong to known in advance manipulative behavior, the process of Tertiary Operation behavior also can be surveyed, above-mentioned Tertiary Operation behavior is detected and control by vehicle-mounted monitoring system, all with the communication modes of message code, accept the manipulative behavior information that front vehicles is sent here, and self manipulative behavior information sent to front vehicle, " implementation method that vehicle lines up to move in the highway communication " described method is adopted in the relative velocity of the adjacent work stall of floor groove power transmission type electronlmobil and the detection of spacing
The transmission of floor groove power transmission type electronlmobil running state information, adopt two kinds of communication modes, that is: with the power transmission line carrier communication mode of transfer medium, control emissive power and frequency of utilization to be avoiding the mutual interference mutually of communication, and carrier communication relatively is suitable for speed greater than 40 kilometers/hour running state; Another kind is the infrared-ray communication mode between adjacent vehicle, and infrared-ray communication relatively is suitable for speed less than 40 kilometers/hour running state
D) navigation of floor groove power transmission type electronlmobil
Floor groove power transmission type electronlmobil navigation divides two kinds, i.e. manual guidance and automatic navigation, and manual guidance is that the mode of operation that the navigation information that detects running state information, road beacon system in good time and provide at people, machine interface equipment carries out pilot steering is provided; Automatic navigation is that personal vehicle system is provided by the mode of operation that the navigation information that detects running state information, beacon system in good time and provide carries out automatic steering.
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| CN 02122973 CN1463868A (en) | 2002-06-14 | 2002-06-14 | Method for collecting electric vehicle trough power transmission and running state information |
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| CN1463868A true CN1463868A (en) | 2003-12-31 |
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Cited By (10)
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| CN102233831A (en) * | 2010-05-04 | 2011-11-09 | 金健 | Charging device at bottom of electric vehicle |
| CN101044040B (en) * | 2004-09-30 | 2012-05-23 | 罗尔工业公司 | Ground power supply system for electric vehicle |
| CN102939216A (en) * | 2010-04-01 | 2013-02-20 | 爱尔维斯公司 | A system adapted for one or more electrically propellable vehicles (arm-shaped contact means) |
| CN105270207A (en) * | 2014-07-14 | 2016-01-27 | 刁心玺 | Electricity receiving method and device for vehicles |
| CN105291892A (en) * | 2014-07-14 | 2016-02-03 | 刁心玺 | Current collecting method and device |
| CN105291894A (en) * | 2014-07-14 | 2016-02-03 | 刁心玺 | Current supply method, current collecting method and device |
| CN105291893A (en) * | 2014-07-14 | 2016-02-03 | 刁心玺 | Construction method of current supply network along road, and current supply operation method and system |
| CN105102718B (en) * | 2013-03-21 | 2016-11-02 | 东亚道路工业株式会社 | Groove, paving structure body and the construction method of paving structure body |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101044040B (en) * | 2004-09-30 | 2012-05-23 | 罗尔工业公司 | Ground power supply system for electric vehicle |
| CN102939216A (en) * | 2010-04-01 | 2013-02-20 | 爱尔维斯公司 | A system adapted for one or more electrically propellable vehicles (arm-shaped contact means) |
| CN102939216B (en) * | 2010-04-01 | 2016-01-20 | 爱尔维斯公司 | For the system (arm shape contact device) of one or more electrically driven vehicle |
| CN102233831A (en) * | 2010-05-04 | 2011-11-09 | 金健 | Charging device at bottom of electric vehicle |
| CN102233831B (en) * | 2010-05-04 | 2013-12-18 | 金健 | Charging device at bottom of electric vehicle |
| US9873333B2 (en) | 2013-03-21 | 2018-01-23 | Toa Road Corporation | Paved structure and construction method for paved structure |
| US9855847B2 (en) | 2013-03-21 | 2018-01-02 | Toa Road Corporation | Trough, paved structure, and construction method for paved structure |
| CN105102718B (en) * | 2013-03-21 | 2016-11-02 | 东亚道路工业株式会社 | Groove, paving structure body and the construction method of paving structure body |
| CN105291893A (en) * | 2014-07-14 | 2016-02-03 | 刁心玺 | Construction method of current supply network along road, and current supply operation method and system |
| CN105291894A (en) * | 2014-07-14 | 2016-02-03 | 刁心玺 | Current supply method, current collecting method and device |
| CN105291892A (en) * | 2014-07-14 | 2016-02-03 | 刁心玺 | Current collecting method and device |
| CN105270207A (en) * | 2014-07-14 | 2016-01-27 | 刁心玺 | Electricity receiving method and device for vehicles |
| CN105291894B (en) * | 2014-07-14 | 2019-12-27 | 亳州易泽信息科技有限公司 | Power supply method, power receiving method and device |
| CN105291892B (en) * | 2014-07-14 | 2019-12-31 | 亳州易泽信息科技有限公司 | Power receiving method and device |
| CN105291893B (en) * | 2014-07-14 | 2020-01-07 | 刁心玺 | Construction method of on-line power supply network, power supply operation method and system |
| US11541768B2 (en) | 2017-02-15 | 2023-01-03 | Volvo Truck Corporation | Arrangement and method for active alignment control of a contact element |
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