CN207449645U - Automatic charging system - Google Patents
Automatic charging system Download PDFInfo
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- CN207449645U CN207449645U CN201721350737.1U CN201721350737U CN207449645U CN 207449645 U CN207449645 U CN 207449645U CN 201721350737 U CN201721350737 U CN 201721350737U CN 207449645 U CN207449645 U CN 207449645U
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- equipment
- automatic charging
- charging system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The utility model provides a kind of automatic charging system, and including mechanical arm, mechanical arm includes movable end and fixing end, and the movable end of mechanical arm is provided with a charging connector, and the movable end of mechanical arm is moved compared with the fixing end of mechanical arm；Charging interface pose identification equipment is fixedly installed compared with the fixing end of mechanical arm；Charging unit；Control cabinet, first side and second side are respectively arranged with the fixing end and charging unit of mechanical arm, are internally provided with controller.The automatic charging system of the utility model drastically increases the car experience and processing safety of electric vehicle especially lease electric vehicle；Solving the problems, such as that user forgets to charge causes vehicle short of electricity, is improved particularly the utilization rate of lease electric vehicle；Electric vehicle automatic charging can be combined with other automation installations, form perfect electric vehicle automation services system, fully be realized intelligent；It is whole manually to participate in, reduce later maintenance cost.
Description
Technical field
The utility model is related to charging technique field more particularly to a kind of automatic identification charging interface and automatically by charging
The automatic charging system of head insertion charging interface.
Background technology
The rise of electric vehicle timesharing charter business brings facility to the people to a certain extent, and user can be easily
Take public electric vehicle, and access point and returning the car need not a little be consistent, and met the needs that user goes on a journey, and made
It is very flexible with mode.
However, the problem that existing electric vehicle timesharing lease is run into is the inconvenience to charge.It charges in parking lot
Stake limited amount brings detrimental effect to the continuation of the journey of electric vehicle, also hinders electric vehicle timesharing lease to a certain extent
The development of business.Country's large parking lot is provided with part charging parking stall at present, sets charging pile at parking stall rear, is carried for user
For Vehicular charging service.It is currently on the market such as the charging pile of the patent application publication of Application No. CN201710176604.5
There are more common a kind of charging piles, generally comprise the charging gun and distribution box being arranged on beside parking stall.Using this
During charging pile, user needs that charging gun is pulled up charging pile manually after a stoppage, and insertion electric vehicle charge interface charges,
It operates complex, certain burden is caused using electric vehicle to user, also weaken electric vehicle point to a certain extent
When the convenience leased.Charging gun damage may also be easy to cause, subsequently causing can not because of certain customers' misoperation simultaneously
It charges, brings the increase of follow-up maintenance cost.
Utility model content
It, can be certainly the purpose of this utility model is to provide a kind of automatic charging system for the problems of the prior art
Dynamic identification charging interface position, and then charging connector is guided to be automatically inserted into charging interface and is charged, it realizes full-automatic electronic
Automobile charges, and is manually operated again without user.
The utility model embodiment provides a kind of automatic charging system, including：
The mechanical arm includes a movable end and a fixing end, and the end set of the movable end of the mechanical arm has a charging
Connector, and the movable end of the mechanical arm is moved compared with the fixing end of the mechanical arm；
Charging interface pose identification equipment is fixedly installed compared with the fixing end of the mechanical arm；
Charging unit, the charging unit are electrically connected by charge cable with the charging connector；
Control cabinet, the first side of the control cabinet are fixed with the fixing end of the mechanical arm, and with the control cabinet
The second side of the opposite controller of one side is provided with the charging unit, and the control cabinet is internally provided with controller,
The charging interface pose identification equipment is arranged at the first side of the control cabinet or the first side phase with the control cabinet
To control cabinet the 3rd side, the controller respectively with the mechanical arm, the charging interface pose identification equipment and institute
Charging unit is stated by the communications cable to be connected.
Optionally, the charging interface pose identification equipment includes two cameras.
Optionally, the charging interface pose identification equipment includes Laser Positioning Equipment, ultrasonic positioning devices, infrared fixed
At least one of position equipment, UWB positioning devices and radio frequency positioning device.
Optionally, the charging interface pose identification equipment includes laser transmitting-receiving equipment, ultrasonic transmission/reception equipment and infrared
Transceiver；Or
The charging interface pose identification equipment include laser receiving set, ultrasonic wave receiving device, infrared receiving set,
UWB receiving devices or radio frequency reception equipment, the surface of the charging interface are correspondingly arranged at least one laser generator, ultrasound
Wave producer, infrared emittance, UWB electronic tags or radiofrequency launcher.
Optionally, the end face of the charging connector is provided with an at least force snesor, is filled described in the force snesor acquisition
The force data of the end face of electrical interface, the force snesor communicate with the controller.
Optionally, the inside of the control cabinet is additionally provided with wireless data transceiving equipment, and the controller passes through the nothing
Line data transmitting/receiving equipment communicates with the electronic organizers of vehicle.
Optionally, the mechanical arm is multi-joint mechanical arm, and the charging connector is arranged at the movable end of the mechanical arm
End, the joint extending direction of the movable end of the mechanical arm is parallel or perpendicular to the extending direction of the charging connector；
The charge cable is extended along the one side of the multi-joint mechanical arm, and the charge cable is closed more close to described
It saves the outer surface of mechanical arm or is set close to the inner surface of the multi-joint mechanical arm.
Optionally, the side of the control cabinet is additionally provided with a vehicle equipment, and the vehicle equipment is pre- to one
If detection zone sends detection signal and receives the feedback signal of the predetermined detection area, the vehicle equipment with it is described
Controller communicates.
Optionally, the vehicle equipment includes laser transceiver, camera, electromagnetic wave transceiver, ultrasonic transmission/reception
At least one of device, infrared transceiver and bluetooth transceiver.
Optionally, the bottom of the automatic charging system is additionally provided at least one movable pulley or transmission belt, the movement
Wheel or conveyer belt are driven by one or more driving motors to be rotated, and the driving motor passes through communications cable phase with the controller
Connection.
Optionally, the side of the automatic charging system is additionally provided with an at least anticollision strip or an at least impact microphone,
The impact microphone is attached with the controller.
Optionally, the charging unit includes municipal electric conversion circuit, input terminal and the alternating current electricity of the municipal electric conversion circuit
Source is connected, and the output terminal of the municipal electric conversion circuit is electrically connected by the charge cable with the charging connector；It is or described
Charging unit includes rechargeable battery, and the discharge end of the rechargeable battery passes through the charge cable and charging connector electricity
Connection；
The system also includes auditory tone cues equipment and/or charge status indicating light, the auditory tone cues equipment and/or fill
Electricity condition indicator light communicates respectively with the controller.
Automatic charging system provided by the utility model has following advantages：
The utility model provides a kind of automatic technical solution for Vehicular charging, can be by filling after vehicle parking
Electrical interface pose identification equipment identifies the spatial pose of charging interface, by controller according to the spatial pose vectoring aircraft of charging interface
Tool arm moves so that charging connector is automatically inserted into charging interface, and then notice charging unit charges to electric vehicle；Greatly
Ground improves the car experience and processing safety of electric vehicle especially lease electric vehicle；It solves user and forgets charging
The problem of causing vehicle short of electricity, is improved particularly the utilization rate of lease electric vehicle；Electric vehicle automatic charging can be with other certainly
Dynamicization facility is combined, such as automatic parking, automated cleaning etc., forms perfect electric vehicle automation services system, fully
It realizes intelligent；Whole unmanned participation, reduces maintenance cost.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon.
Fig. 1 is the structure diagram of the automatic charging system of one embodiment of the utility model；
Fig. 2 is the structural representation that the mechanical arm of one embodiment of the utility model is in the automatic charging system of collapsed state
Figure；
Fig. 3 is the structural representation that the mechanical arm of one embodiment of the utility model is in the automatic charging system of unfolded state
Figure；
Fig. 4 is the structure diagram of the vehicle to be charged of one embodiment of the utility model；
Fig. 5 is the structure diagram that the vehicle to be charged of one embodiment of the utility model is docked with automatic charging system；
Fig. 6 is the schematic diagram of the movable end movement of the mechanical arm of one embodiment of the utility model；
Fig. 7 is the structure diagram of the charging connector insertion charging interface of one embodiment of the utility model；
Fig. 8 is the structure diagram of the automatic charging system of another embodiment of the utility model；
Fig. 9 is the structure diagram that infrared transmitter is set around the charging interface of the utility model another embodiment；
Figure 10~11 are the structure diagrams of the automatic charging system of the increase moving cart of one embodiment of the utility model.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, these embodiments are provided so that this practicality is new
The design of example embodiment fully and completely, and comprehensively will be communicated to those skilled in the art by type.It is identical in figure
Reference numeral represent same or similar structure, thus repetition thereof will be omitted.
As shown in Figures 1 to 3, the utility model embodiment provides a kind of automatic charging system, and the system comprises mechanical arms
100th, charging interface pose identification equipment 200, charging unit 300 and controller 400.In this embodiment, charging interface pose
Identification equipment 200 is using the binocular vision identification equipment for including two cameras 201, but the utility model is without being limited thereto.Wherein：
Mechanical arm 100 includes a movable end 101 and a fixing end 102, and the movable end of the mechanical arm 101 is provided with one and fills
Electric connection 500, and the movable end 101 of the mechanical arm 100 is removable compared with the fixing end 102 of the mechanical arm 100；Its
In, the state that mechanical arm 100 is packed up and is unfolded can be respectively referring to Fig. 2 and Fig. 3；
Charging interface pose identification equipment 200 is fixedly installed compared with the fixing end 102 of mechanical arm 100, i.e. charging interface
Pose identification equipment 200 is also fixed.The charging interface pose identification equipment 200 can obtain the charging of vehicle
The spatial pose of mouth, insert space pose can be the three-dimensional coordinate or six-dimensional coordinate of charging interface, including three-dimensional coordinate (x
Axis, y-axis and z-axis coordinate) and charging interface surface compared with x-axis, y-axis and z-axis rotational angle displacement or charging interface
Position relationship between the movable end 101 of mechanical arm 100 can determine the position of charging interface；
Charging unit 300 is electrically connected by charge cable with the charging connector 500；
Controller 400 is arranged in a control cabinet 401, and the upper surface of the control cabinet 401 is fixed with the mechanical arm 100
Fixing end 102 and charging interface pose identification equipment 200, the lower section of the control cabinet 401 be provided with the charging unit
300, the control cabinet 401 is internally provided with controller 400, the controller 400 respectively with the mechanical arm 100, described
Charging interface pose identification equipment 200 is connected with the charging unit 300 by the communications cable, is obtained charging interface pose and is known
The spatial pose of the charging interface of other equipment 200, guides the movement of mechanical arm 100, and the charging of charging unit 300 is notified to open
And closing.Control cabinet 401 can be the body structure or a branch with upper brace that an one side is opened the door herein
Frame structure can not only accommodate controller 400, can also support the weight of mechanical arm 100.In addition, charging interface pose identifies
Equipment 200 can also be arranged on the side adjacent with upper surface of control cabinet 401, and the not necessarily fixation with mechanical arm 100
End 102 is located at same surface.
According to the number of camera, computer vision can be generally divided into monocular vision identification and binocular vision identification.It is single
Mesh visual identity can only obtain extraneous visual information by a camera, and mode is simple, but can only obtain target
Two-dimensional space information.And binocular vision identification passes through the knot of two two dimensional images generally using the camera of two equivalent specifications
It closes, then can possess the ability for obtaining three-dimensional spatial information.It in practical applications, can be in charging interface pose identification equipment
Set in 200 one with reference to three-dimensional system of coordinate (the general coordinate system for using left side camera, but not limited to this), then pass through knot
The acquisition image of two cameras of analysis is closed, the three-dimensional coordinate of charging interface and the inclination angle of charging interface can be calculated
Degree, the movement of the movable end 101 of mechanical arm 100 can be guided according to the three-dimensional coordinate of the charging interface.Meanwhile this practicality is new
Charging interface pose identification equipment 200 is moved with the movable end 101 of mechanical arm 100 in type, in the movable end of mechanical arm 100
In 101 moving process, 200 the image collected of charging interface pose identification equipment is also real-time change, can reflect and fill
Electrical interface most accurate location in real time, controller 400 it is possible thereby to obtain the accurate three-dimensional coordinate of charging interface, preferably in real time
Guide the movement of the movable end 101 of mechanical arm 100.
In this embodiment, charging interface pose identification equipment 200 uses two cameras 201, but the utility model is not
It is limited to this.For example, the charging interface pose identification equipment 200 of the utility model can also include Laser Positioning Equipment, ultrasonic wave
In positioning device, infrared positioning device, UWB (Ultra Wideband, ultra wide band) positioning devices and radio frequency positioning device extremely
Few one kind.The hardware product of existing maturation in the prior art may be employed in charging interface pose identification equipment 200, such as commercially available
Laser emitter, laser pickoff, radio electronic label, radio frequency receiver etc..By taking infrared positioning device as an example, Ke Yi
The surrounding of charging interface sets a circle infrared transmitter, and the movable end in mechanical arm sets an infrared remote receiver, by red
Outer receiver receives the infrared signal of the surrounding transmitting of charging interface, judges the spatial pose of charging interface.Concrete application mode
It can be described in detail below.
The charging unit 300 can include municipal electric conversion circuit, input terminal and the alternating current electricity of the municipal electric conversion circuit
Source is connected, and the output terminal of the municipal electric conversion circuit is electrically connected by the charge cable with the charging connector 500；Or
The charging unit 300 includes rechargeable battery, and the discharge end of the rechargeable battery is filled by the charge cable with described
Electric connection 500 is electrically connected.
Therefore, using the automatic charging system of the embodiment, after vehicle parking, can be identified by charging interface pose
200 automatic collection charging interface image of equipment identifies charging interface position by controller 400 in image is gathered, and guides
The movable end 101 of mechanical arm 100 moves close to charging interface, so that charging connector 500 is automatically inserted into charging interface, then
Notice charging unit 300 charges to electric vehicle；It is whole manually to participate in, improve electric vehicle charging operations
Efficiency avoids damaging charging connector 500 and charging interface, reduces later maintenance cost, and improve user uses body
It tests.
It is illustrated in figure 4 the structure diagram of the vehicle to be charged of the embodiment.The one side of vehicle 600 is provided with charging
Interface 601, the inside of vehicle 600 can also set electronic organizers 602, and electronic organizers 602 can realize charging
The automatic opening of charging lid at mouth 601, and can further realize being automatically closed for the lid that charges.The lid that charges herein automatically opens
Mode it is unlimited, such as charge and cover the link mechanism that can set and be driven by the cylinder, when cylinder receives electronic organizers
During the opening signal of 602 transmissions, drive link is protruding, and the lid that will charge struts.Electronic organizers 602 are received in cylinder
During the shutdown signal of transmission, drive link moves inward, and the lid that will charge retracts.The structure of charging lid automatic shutter is only and shows herein
Example, is not limited, the structure of other components such as using spring is also possible, belongs to this practicality in practical applications
Within new protection domain.
Vehicle 600 can be the electric vehicle of timesharing lease herein, and user is by login account and applies for a car and can divide
An electric vehicle is fitted on, when electric vehicle needs to charge, specific place can be reached and charged, it can also be directly also
Charging connector with charging interface is connected during vehicle, is electric vehicle automatic charging, facilitates next user in use, electricity is straight
It connects what is be full of, can directly carry vehicle.In practical applications, the electronic vapour that the vehicle 600 is without being limited thereto or user buys by oneself
Vehicle or hybrid vehicle etc. can use the automatic charging system of the utility model, realize that vehicle quickly fills automatically
Electricity reduces the workload of user's manual operation.
As shown in figure 5, the structure diagram that is docked with automatic charging system of vehicle to be charged for the embodiment.Its
In, the side of the control cabinet 401 can also be further provided with a vehicle equipment 402, the vehicle equipment 402
Detection signal is sent to a predetermined detection area and receives the feedback signal of the predetermined detection area, for detecting in default inspection
Whether there is vehicle 600 to stop in the range of survey, the vehicle equipment 402 communicates with the controller 400, by reception
Feedback signal is sent to the controller 400.Only when vehicle equipment 402 has detected that vehicle 600 is stopped, just pass through
Charging interface pose identification equipment 200 carries out Image Acquisition, and passes through charging unit 300 and carry out Vehicular charging, can so save
Resource-saving avoids performing unnecessary action and causes the wasting of resources.
Optionally, the vehicle equipment 402 can include laser transceiver, electromagnetic wave transceiver, ultrasonic transmission/reception
Device, infrared transceiver or bluetooth transceiver.For example, when vehicle equipment 402 is using laser transceiver, it can be in Figure 5 two
Periodically emit laser in the range of dotted line, judge the situation of the laser of the reflection received, default detection range is judged with this
Inside whether there is vehicle parking.Or infrared transceiver or bluetooth transceiver may be employed in vehicle equipment 402, is carried out with vehicle
It communicates, after the feedback information for receiving vehicle, determines there is vehicle parking etc. in default detection range.It is only several ways herein
Enumerate, it is in practical applications, also possible using other kinds of vehicle equipment, belong to the guarantor of the utility model
Within the scope of shield.
Further, the inside of the control cabinet 401 is additionally provided with wireless data transceiving equipment, and the controller 400 is logical
The wireless data transceiving equipment is crossed to communicate with the electronic organizers 602 of vehicle.I.e. controller 400 starts in charging
Before, wireless data transceiving equipment can be first passed through and send a charge request signal, electronics to the electronic organizers 602 of vehicle
Management equipment 602 controls the charging lid of vehicle 600 to automatically open after charge request signal is received.In charging complete, control
Device 400 processed can send a charging completion signal, electricity by wireless data transceiving equipment to the electronic organizers 602 of vehicle
Sub- management equipment 602 controls the charging lid of vehicle 600 to be automatically closed after charging completion signal is received.Wireless data is received herein
Hair equipment can be that infrared data transceiver, blue-teeth data transceiver, WIFI data transmitting/receiving equipments, CDMA data transmit-receives are set
Standby, GPS data transceiver, 3G/4G data transmitting/receiving equipments etc., can make choice as needed.
By using the structure of charging lid automatic shutter, full automation charging is realized, user rests in vehicle 600
It behind designated position, charges and covers without opened manually, you can to charge, further, after charging complete, charge lid
It can also be automatically closed, without charging, personnel are turned off manually, the further perfect automatic flow of automatic charging system.This
It is especially beneficial for the electric vehicle of timesharing lease, when user's use finishes electric vehicle and needs to return the car, it is only necessary to by vehicle
600, which are parked in designated position, to leave.Automatic charging system can charge from behavior electric vehicle, after charging complete, control
Device 400 can further be moved with control machinery arm 100 and return to initial position.Just do not have to when user returns the car again manually by charging yet
First 500 are inserted into charging interface 601, greatly facilitate the use of user.
Further, the end face of the charging connector 500 can be provided with an at least force snesor, and the force snesor is adopted
Collect the force data of the end face of the charging interface, the force snesor communicates with the controller 400.Work as charging connector
500 when being inserted into charging interface 601, and charging connector 500 can be subject to the pressure from the charging interface 601, and force snesor can
To detect the pressure value and the pressure value be sent in controller 400.Force snesor in a unlimited number, Ke Yicong herein
From the perspective of cost-effective, only setting one can detect whether charging connector 500 is inserted into charging interface, from inspection
It surveys from the perspective of effect, multiple force snesors can be set, detect the pressure of multiple positions on the end face of charging connector 500
Power, avoids error detection, and multiple force snesors can be preferably evenly distributed on the end face of charging connector 500.
Mechanical arm 100 is the automated machine device of robot technical field, can receive instruction, be precisely positioned to three
Certain point in dimension space carries out operation.The mechanical arm 100 of the utility model is preferably the multi-joint with multiple servomotors
Mechanical arm, the charging connector 500 are arranged at the end of the movable end 101 of the mechanical arm 100, the work of the mechanical arm 100
The joint extending direction of moved end 101 so passes through control machinery parallel or perpendicular to the extending direction of the charging connector 500
The joint extending direction of the movable end 101 of arm 100, you can to control the extending direction of charging connector 500.That is charging connector 500
It is preferably parallel to the end extending direction of mechanical arm 100.But without being limited thereto in practical application, charging connector 500 can be with machinery
The joint extending direction of the movable end 101 of arm 100 has certain angle, and charging interface is inserted into control charging connector 500
When 601, which is taken into account.
Optionally, the mechanical arm 100 be six-axis linkage mechanical arm, six servomotors of generally use, to six joints
Be respectively controlled, there is higher degree of freedom, can simulation arm very well action, the movable end of realization mechanical arm 100
The flexible control of 101 positions.But in practical application, it is possible using five-axle linkage mechanical arm, three-shaft linkage mechanical arm etc.,
It belongs within the scope of protection of the utility model.
Further, the charge cable can be extended along the one side of the multi-joint mechanical arm, the charging wire
Cable is set close to the outer surface of the multi-joint mechanical arm or close to the inner surface of the multi-joint mechanical arm.I.e. charge cable can
To be fixed on the outer surface of multi-joint mechanical arm, it is easy for installation and removal；Charge cable can also be integrated in multi-joint machinery
The inside of arm, the shell of mechanical arm 100 can form charge cable certain protection.Further, charge cable not only may be used
Think that charging connector is powered, can also divide and out individually power all the way to binocular vision identification equipment, but not limited to this.
It is the schematic diagram that the movable end 101 of the mechanical arm 100 of one embodiment of the utility model moves as shown in Figure 6；Such as Fig. 7
Shown is that the charging connector 500 of one embodiment of the utility model is inserted into the structure diagram of charging interface 601.Here for clear
It represents, illustrates only the movable end 101 of mechanical arm 100 and the matching relationship of charging connector 500.As shown in fig. 6, in charging interface
Under the guiding of pose identification equipment 200 and controller 400, the movable end 101 of mechanical arm 100 is moved to position S2 from position S1,
Position S3 is further moved to, with close to charging interface 601.As shown in fig. 7, the movable end 101 of mechanical arm 100 further moves
It moves to position S4 so that charging connector 500 is inserted into charging interface 601.At this point, charging unit 300 passes through charge cable pair
601 corresponding Vehicular charging of charging interface.The position of charging unit 300 and charge cable is only to illustrate in figure.
It can thus be seen that using the automatic charging system of the utility model embodiment, in the charging process of vehicle, entirely
Cheng Jun improves the efficiency of electric vehicle charging operations, avoids that charging connector and charging interface are caused to damage without manually participating in
It is bad, later maintenance cost is reduced, improves the usage experience of user.
It is illustrated in figure 8 the structure diagram of the automatic charging system of another embodiment of the utility model.The embodiment with it is upper
Difference lies in add flash lamp 700, auditory tone cues equipment 800 and charge status indicating light 900 to one embodiment.Flash lamp
700th, auditory tone cues equipment 800 and charge status indicating light 900 communicate respectively with controller 400.
It is possible to further set the flash lamp 700 among two cameras, for dark it is weak when,
Carry out light filling；The opening ways of flash lamp 700 can there are two types of, when the daylight rate of charging interface pose identification equipment 200 is less than
During default daylight rate threshold value, controller 400 opens flash lamp or starts 200 progress image of charging interface pose identification equipment and adopts
During collection, controller 400 opens flash lamp simultaneously.The position of flash lamp can also there are many kinds of, such as be arranged on control cabinet
The other positions on surface as long as camera is located in the range of the light radiation of flash lamp, and are not limited to be arranged at two camera shootings
Between head.
Further, controller 400 can play default suggestion voice by auditory tone cues equipment 800, and controller 400 can
To show charged state by charge status indicating light 900.For example, before charging starts, controller 400 controls auditory tone cues to set
Standby 800 play cuing voices, remind user to proceed by charging at once, if being not turned on the lid that charges, please open charging lid,
After charging connector is inserted into charging interface, charge status indicating light shows red light 900, and expression is being charged, after charging complete, filled
Electricity condition indicator light 900 can become green light, represent charging complete, and auditory tone cues equipment 800 can be reminded with play cuing voice
User's charging complete, vehicle can be continuing with.
When using other kinds of charging interface pose identification equipment 200, charging interface pose identification equipment 200 can be with
Including laser transmitting-receiving equipment, ultrasonic transmission/reception equipment and infrared transceiver device, charging interface pose identification equipment 200 can basis
The reflection detection signal that various signal sending and receiving equipments receive determines the spatial pose of charging interface；Or charging interface pose is known
Other equipment 200 can only include laser receiving set, ultrasonic wave receiving device, infrared receiving set, UWB receiving devices or radio frequency
Receiving device, the surface of the charging interface are correspondingly arranged at least one laser generator, supersonic generator, infrared generation
Device, UWB electronic tags or radiofrequency launcher, charging interface pose identification equipment 200 can connect according to various signal receivers
The signal received determines the spatial pose of charging interface.
As shown in figure 9, it is the schematic diagram for the charging interface that the utility model uses infrared emittance.In charging interface 601
Surrounding one or more infrared emittances 603 are set, in the side of control cabinet 400, corresponding infrared receiving set is set.It is red
Outer receiving device receives the signal that infrared emittance 603 is sent, you can to determine the spatial pose of charging interface.Infrared emittance
There are many 603 set-up modes, such as is set within 601 1 weeks around charging interface as shown in Figure 9, but the utility model is unlimited
In this.
As shown in Figure 10~11, further, in the bottom of the automatic charging system of the present invention movement can also be set small
Vehicle so that entire automatic charging system can be in automatic moving under different conditions.The moving cart can be conveyer belt or shifting
Driving wheel 700, conveyer belt or movable pulley 700 can be driven by least one driving motor, and controller 400 can control driving electricity
Machine forward or reverse is to control the direction of motion of conveyer belt or movable pulley 700.Controller 400 can also further control driving
The velocity of rotation of motor come control automatic charging system move speed.
It can not have to rest in specific setting regions after the moving cart of the present embodiment is added, during vehicle parking
In, vehicle parking can be moved automatic charging system first close to vehicle by moving cart, then passed through again behind a certain position
Controller 400 controls charging connector 500 to be inserted into charging interface 601, then charges.So that the automatic charging mistake of vehicle
Cheng Gengjia is flexible, avoid vehicle parking apart from it is too far when, the movable end of mechanical arm can not arrive at charging interface, more convenient use
The use at family.
Further, at least one anticollision strip or at least one hit can also be set to pass in the side of automatic charging system
Sensor, the impact microphone can communicate with controller.Anticollision strip may be employed to be made with certain material, is being moved
During dynamic trolley control automatic charging system movement, if running into barrier, certain impact force can be buffered, impact microphone exists
When running into barrier, detection signal can be sent in controller.
Automatic charging system provided by the utility model has following advantages：
The utility model provides a kind of automatic technical solution for Vehicular charging, can be by filling after vehicle parking
Electrical interface pose identification equipment identifies the spatial pose of charging interface, by controller according to the spatial pose vectoring aircraft of charging interface
Tool arm moves so that charging connector is automatically inserted into charging interface, and then notice charging unit charges to electric vehicle；Greatly
Ground improves the car experience and processing safety of electric vehicle especially lease electric vehicle；It solves user and forgets charging
The problem of causing vehicle short of electricity, is improved particularly the utilization rate of lease electric vehicle；Electric vehicle automatic charging can be with other certainly
Dynamicization facility is combined, such as automatic parking, automated cleaning etc., forms perfect electric vehicle automation services system, fully
It realizes intelligent；Whole unmanned participation, reduces maintenance cost.
The above content is combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that the specific implementation of the utility model is confined to these explanations.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, several simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (12)
1. a kind of automatic charging system, which is characterized in that including：
Mechanical arm, the mechanical arm include a movable end and a fixing end, and the end set of the movable end of the mechanical arm has one
Charging connector, and the movable end of the mechanical arm is moved compared with the fixing end of the mechanical arm；
Charging interface pose identification equipment is fixedly installed compared with the fixing end of the mechanical arm；
Charging unit, the charging unit are electrically connected by charge cable with the charging connector；
Control cabinet, the first side of the control cabinet are fixed with the fixing end of the mechanical arm, the first side with the control cabinet
The second side of the opposite controller in face is provided with the charging unit, and the control cabinet is internally provided with controller, described
Charging interface pose identification equipment is arranged at the first side or opposite with the first side of the control cabinet of the control cabinet
3rd side of control cabinet, the controller is respectively with the mechanical arm, the charging interface pose identification equipment and described filling
Electric installation is connected by the communications cable.
2. automatic charging system according to claim 1, which is characterized in that the charging interface pose identification equipment includes
Two cameras.
3. automatic charging system according to claim 1, which is characterized in that the charging interface pose identification equipment includes
At least one in Laser Positioning Equipment, ultrasonic positioning devices, infrared positioning device, UWB positioning devices and radio frequency positioning device
Kind.
4. automatic charging system according to claim 3, which is characterized in that the charging interface pose identification equipment includes
Laser transmitting-receiving equipment, ultrasonic transmission/reception equipment and infrared transceiver device；Or
The charging interface pose identification equipment includes laser receiving set, ultrasonic wave receiving device, infrared receiving set, UWB
Receiving device or radio frequency reception equipment, the surface of the charging interface are correspondingly arranged at least one laser generator, ultrasonic wave
Generator, infrared emittance, UWB electronic tags or radiofrequency launcher.
5. automatic charging system according to claim 1, which is characterized in that the end face of the charging connector is provided at least
One force snesor, the force snesor gather the force data of the end face of the charging interface, the force snesor and the control
Device communicates.
6. automatic charging system according to claim 1, which is characterized in that the inside of the control cabinet is additionally provided with wirelessly
Data transmitting/receiving equipment, the controller are communicated by the wireless data transceiving equipment with the electronic organizers of vehicle.
7. automatic charging system according to claim 1, which is characterized in that the mechanical arm be multi-joint mechanical arm, institute
The end that charging connector is arranged at the movable end of the mechanical arm is stated, the joint extending direction of the movable end of the mechanical arm is parallel
In or perpendicular to the charging connector extending direction；
The charge cable is extended along the one side of the multi-joint mechanical arm, and the charge cable is close to the multi-joint machine
The outer surface of tool arm or the inner surface setting close to the multi-joint mechanical arm.
8. automatic charging system according to claim 1, which is characterized in that the side of the control cabinet is additionally provided with a vehicle
Detection device, the vehicle equipment send detection signal to a predetermined detection area and receive the predetermined detection area
Feedback signal, the vehicle equipment communicates with the controller.
9. automatic charging system according to claim 8, which is characterized in that the vehicle equipment includes laser transmitting-receiving
At least one of device, camera, electromagnetic wave transceiver, ultrasonic transmitter-receiver, infrared transceiver and bluetooth transceiver.
10. automatic charging system according to claim 1, which is characterized in that the bottom of the automatic charging system is also set
At least one movable pulley or transmission belt are equipped with, the movable pulley or conveyer belt are driven by one or more driving motors to be rotated, institute
Driving motor is stated with the controller by the communications cable to be connected.
11. automatic charging system according to claim 10, which is characterized in that the side of the automatic charging system is also set
It is equipped with an at least anticollision strip or an at least impact microphone, the impact microphone is attached with the controller.
12. automatic charging system according to claim 1, which is characterized in that the charging unit includes alternating current conversion electricity
Road, the input terminal of the municipal electric conversion circuit are connected with mains supply, and the output terminal of the municipal electric conversion circuit passes through described
Charge cable is electrically connected with the charging connector；Or the charging unit includes rechargeable battery, the rechargeable battery is put
Electric end is electrically connected by the charge cable with the charging connector；
The system also includes auditory tone cues equipment and/or charge status indicating light, the auditory tone cues equipment and/or charging shape
State indicator light communicates respectively with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721350737.1U CN207449645U (en) | 2017-10-19 | 2017-10-19 | Automatic charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721350737.1U CN207449645U (en) | 2017-10-19 | 2017-10-19 | Automatic charging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207449645U true CN207449645U (en) | 2018-06-05 |
Family
ID=62249827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721350737.1U Active CN207449645U (en) | 2017-10-19 | 2017-10-19 | Automatic charging system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171309A (en) * | 2019-06-06 | 2019-08-27 | 上海机器人产业技术研究院有限公司 | A kind of automatic charge device |
| CN110303934A (en) * | 2019-06-19 | 2019-10-08 | 安徽沃博源科技有限公司 | Unmanned electric vehicle automatic recharging method and electric vehicle |
| CN110758163A (en) * | 2019-10-10 | 2020-02-07 | 南方电网电动汽车服务有限公司 | Intelligent charging device and system |
| CN110861513A (en) * | 2019-10-10 | 2020-03-06 | 南方电网电动汽车服务有限公司 | Intelligent charging device and system |
| CN111332141A (en) * | 2018-12-18 | 2020-06-26 | 青岛海汇德电气有限公司 | Charging method and mechanical arm power supply system |
| CN112218780A (en) * | 2018-06-27 | 2021-01-12 | 本田技研工业株式会社 | Electric vehicle |
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2017
- 2017-10-19 CN CN201721350737.1U patent/CN207449645U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112218780A (en) * | 2018-06-27 | 2021-01-12 | 本田技研工业株式会社 | Electric vehicle |
| CN111332141A (en) * | 2018-12-18 | 2020-06-26 | 青岛海汇德电气有限公司 | Charging method and mechanical arm power supply system |
| CN110171309A (en) * | 2019-06-06 | 2019-08-27 | 上海机器人产业技术研究院有限公司 | A kind of automatic charge device |
| CN110303934A (en) * | 2019-06-19 | 2019-10-08 | 安徽沃博源科技有限公司 | Unmanned electric vehicle automatic recharging method and electric vehicle |
| CN110758163A (en) * | 2019-10-10 | 2020-02-07 | 南方电网电动汽车服务有限公司 | Intelligent charging device and system |
| CN110861513A (en) * | 2019-10-10 | 2020-03-06 | 南方电网电动汽车服务有限公司 | Intelligent charging device and system |
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