WO2020034744A1 - 一种充电移动机构及其应用的充电装置、充电方法 - Google Patents

一种充电移动机构及其应用的充电装置、充电方法 Download PDF

Info

Publication number
WO2020034744A1
WO2020034744A1 PCT/CN2019/091686 CN2019091686W WO2020034744A1 WO 2020034744 A1 WO2020034744 A1 WO 2020034744A1 CN 2019091686 W CN2019091686 W CN 2019091686W WO 2020034744 A1 WO2020034744 A1 WO 2020034744A1
Authority
WO
WIPO (PCT)
Prior art keywords
charging device
electrode
charging
component
dimensional moving
Prior art date
Application number
PCT/CN2019/091686
Other languages
English (en)
French (fr)
Inventor
朱君亮
钟毛毛
贡晶晶
邵丹薇
刘明刚
李德胜
Original Assignee
江苏万帮德和新能源科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810930614.8A external-priority patent/CN109050309A/zh
Priority claimed from CN201810994271.1A external-priority patent/CN109080489A/zh
Application filed by 江苏万帮德和新能源科技股份有限公司 filed Critical 江苏万帮德和新能源科技股份有限公司
Publication of WO2020034744A1 publication Critical patent/WO2020034744A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present application relates to the technical field of charging docking, and in particular, to a charging mobile mechanism, a charging device and a charging method thereof.
  • BEVs Electric vehicles
  • the ascending or descending charging device is docked with the electrode to be charged to complete the necessary electrical connection for charging, but the ascending or descending charging device can only move in the vertical direction.
  • the ascending or descending charging device In order to achieve the alignment of the horizontal plane between the charging device and the electrode to be charged, only the manual control of the left, right, and front and rear distances of the vehicle can be achieved. Such control requirements are difficult for the driver and the driving requirements of the driver. Extremely high, especially in complex traffic environments, such as stopping at a halfway station and controlling the left and right distance of the vehicle.
  • the purpose of this application is to provide a charging mobile mechanism, a charging device and a charging method applied to the same.
  • the application has the characteristics of being able to automatically align the charging device and the electrode to be charged, and the alignment process is accurate and convenient.
  • This application provides a charging mobile mechanism, including:
  • a two-dimensional moving component which is used to connect the charging device electrodes and allows the charging device electrodes to be moved along the adjustment plane; wherein an angle is set between the adjustment plane and the extending direction of the charging device;
  • a detecting component which is installed on the two-dimensional moving component and is used for collecting original position data of the charging device electrode and the electrode to be charged;
  • a main controller which is electrically connected to the two-dimensional moving component and the detecting component respectively, and generates position adjustment information according to the original position data collected by the detecting component, and controls the two-dimensional moving component according to the position adjustment information mobile.
  • the two-dimensional moving component includes a first slider and a second slider connected to each other, wherein the first slider allows the second slider to be moved along a straight line in a first direction, so The second slider is connected to the electrode of the charging device, and allows the electrode of the charging device to move linearly along the second direction.
  • first direction and the second direction are located in the adjustment plane, and the first direction and the second direction are disposed at an angle.
  • the first slider and the second slider are linear movement mechanisms.
  • the first slider and the second slider are respectively connected to the main controller.
  • the detection component includes a vision sensor for detecting position images of the charging device electrode and the vehicle-mounted electrode and generating the position adjustment information accordingly.
  • the vision sensor is further configured to collect image change information of an area where the preset position is located.
  • the vision sensor is further configured to collect a vehicle image of an area where the preset position is located.
  • the vision sensor includes a transmitting portion and a receiving portion, the transmitting portion is configured to transmit a detection light wave to the electrode of the charging device, and the receiving portion is electrically connected to the main controller for receiving The detection light wave reflected by the charging device electrode.
  • the application also provides a charging device, including:
  • One end of the charging bow is fixed on the ground or wall;
  • a bow head which is fixedly connected to the other end of the charging bow body; the bow head includes a supporting component, a charging device electrode, and a charging moving mechanism;
  • the charging mobile mechanism includes:
  • a two-dimensional moving component which is used to connect the charging device electrodes and allows the charging device electrodes to be moved along the adjustment plane; wherein an angle is set between the adjustment plane and the extending direction of the charging device;
  • a detecting component which is installed on the two-dimensional moving component and is used for collecting original position data of the charging device electrode and the electrode to be charged;
  • a main controller which is electrically connected to the two-dimensional moving component and the detecting component respectively, and generates position adjustment information according to the original position data collected by the detecting component, and controls the two-dimensional moving component according to the position adjustment information mobile.
  • the supporting assembly includes a connecting member, wherein one end of the connecting member is fixedly connected to the charging bow body.
  • the supporting assembly further includes a supporting member, wherein one end of the supporting member is fixedly connected to the other end of the connecting member remote from the charging bow body; wherein the other end of the supporting member is parallel to The horizontal plane of the ground extends.
  • the charging moving mechanism is slidably mounted on a side of the support near the ground.
  • the device head further includes a telescopic mechanism, wherein one end of the telescopic mechanism is connected to the two-dimensional moving component, and the other end of the telescopic mechanism is connected to the electrode of the charging device;
  • the two-dimensional moving component drives the telescopic mechanism to move along the adjustment plane; wherein the telescopic mechanism drives the electrode of the charging device to move in the extending direction of the telescopic mechanism.
  • the telescopic mechanism includes a fixing member, a first robot arm, and a second robot arm; wherein one end of the fixing member is slidably connected to an end of the second sliding member away from the first sliding member; One end of the first mechanical arm is rotatably connected to the other end of the fixing member; one end of the second mechanical arm is rotatably connected to the other end of the first mechanical arm away from the fixing member; the second The other end of the mechanical arm remote from the first mechanical arm is connected to the charging device electrode.
  • a temperature sensor is disposed on the electrode of the charging device, and the temperature sensor is disposed on a side of the electrode of the charging device near the second robot arm.
  • a pressure balancer is provided on the fixing member, and the pressure balancer is disposed at a position of the fixing member near the first robot arm.
  • an air blowing nozzle is provided on the telescopic mechanism, and the air blowing nozzle is provided at a position of the second mechanical arm near the electrode of the charging device.
  • This application also provides a charging method, including:
  • the charging and moving mechanism includes:
  • a two-dimensional moving component which is used to connect the charging device electrodes and allows the charging device electrodes to be moved along the adjustment plane; wherein an angle is set between the adjustment plane and the extending direction of the charging device;
  • a detecting component which is installed on the two-dimensional moving component and is used for collecting original position data of the charging device electrode and the electrode to be charged;
  • a main controller which is electrically connected to the two-dimensional moving component and the detecting component respectively, and generates position adjustment information according to the original position data collected by the detecting component, and controls the two-dimensional moving component according to the position adjustment information mobile.
  • the electrode of the charging device is controlled to move toward the electrode to be charged according to the position coordinate information, so that the electrode of the charging device is aligned with the electrode to be charged.
  • the two-dimensional moving component of the present application is used to connect the charging device and can drive the charging device to move along the adjustment plane.
  • the two-dimensional moving component is used to connect the electrode to be charged and move the electrode to be charged along the adjustment plane.
  • An angle is set between the plane and the extending direction of the charging device.
  • the detection component is electrically connected to the main controller and is used to collect the original position data of the charging device or the electrode to be charged.
  • the main controller is configured to generate position adjustment information according to the original position data.
  • the main controller is also electrically connected to the two-dimensional moving component, and after generating the position adjustment information, the main controller can control the movement of the two-dimensional moving component according to the position adjustment information, so that the charging device corresponds to the electrode to be charged so as to be charged.
  • the device is docked with the electrode to be charged. Because the two-dimensional moving component is used to drive the charging device or the electrode to be charged, and the basis for the movement of the two-dimensional moving component is the position adjustment data generated from the original position data, the alignment of the charging device and the electrode to be charged is automatically performed, and High accuracy and convenience for the driver.
  • the charging device described in this application can be moved within a preset range to align the electrode to be charged, and then lower the electrode of the charging device to achieve active alignment of the electrode to be charged, and perform automatic alignment and charging without manually controlling the vehicle alignment electrode. Reduces complex manual operations and saves time.
  • FIG. 1 is a schematic structural diagram of a charging moving mechanism applied to a charging device provided by the present application
  • FIG. 2 is a schematic structural diagram of a detection component provided by the present application.
  • FIG. 3 is another schematic structural diagram of a detection component provided by the present application.
  • FIG. 4 is a schematic structural diagram of a charging device provided by the present application.
  • FIG. 5 is a schematic structural diagram of the charging device provided from another perspective of the present application.
  • FIG. 6 is a schematic structural diagram of a charging device provided from another perspective of the present application.
  • FIG. 7 is a schematic structural diagram of an arch head provided in the present application.
  • FIG. 8 is a flowchart of a charging method provided by the present application.
  • connection may be a fixed connection, a detachable connection, or an integral connection. ; It can be mechanical or electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two components.
  • connection may be a fixed connection, a detachable connection, or an integral connection. ; It can be mechanical or electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two components.
  • the present application provides a charging moving mechanism 10 which is mounted on a mounting frame 19 and includes a two-dimensional moving component 12, a detection component 15 and a main controller 17.
  • the two-dimensional moving component 12 is completed.
  • the detection component 15 is used to collect data for generating position adjustment information
  • the main controller 17 is used to control the movement of the two-dimensional movement component 12.
  • the charging moving mechanism 10 is connected to the charging device electrode 40.
  • the electrode 30 to be charged can be installed on the preset vehicle 50, and the charging moving mechanism 10 can obtain the Position adjustment information, and can drive the charging device electrode 40 according to the position adjustment information, so that the to-be-charged electrode 30 and the charging device electrode 40 correspond to each other, and it is convenient to charge the preset vehicle 50.
  • By automatically aligning the charging device electrode 40 and the to-be-charged The electrode 30 improves the convenience and accuracy of charging, and avoids the difficult way of aligning the charging device electrode 40 and the electrode 30 to be charged by manually controlling the front-rear and left-right distance of the preset vehicle 50.
  • the charging moving mechanism 10 may also be connected to the electrode 30 to be charged to move the electrode 30 to be charged so that the electrode 30 to be charged is aligned with the electrode 40 of the charging device.
  • the charging moving mechanism 10 may also be installed on the preset vehicle 50 for driving the charging device electrode 40 or the charging electrode 30 to move to automatically align the charging electrode 30 and the charging device electrode 40.
  • the charging device electrode 40 or the charging device electrode 40 The charging electrode 30 can also be hoisted on the mounting frame 19, so that the charging device electrode 40 or the electrode to be charged 30 can be docked above the preset vehicle 50, avoiding external factors to interfere with the docking operation, and improving the safety of the charging device.
  • the charging device electrode 40 can also be communicatively connected with the charging moving mechanism 10.
  • the charging moving mechanism 10 sends the position to the charging device electrode 40 after acquiring the position adjustment information corresponding to the preset vehicle 50. Adjustment information. After receiving the position adjustment information, the charging device electrode 40 extends toward the two-dimensional mobile component 12 according to the position adjustment information to achieve docking with the electrode 30 to be charged, thereby increasing the distance between the charging device electrode 40 and the electrode to be charged 30 Docking accuracy and reliability.
  • the two-dimensional moving component 12 is used to connect the charging device electrode 40 and can drive the charging device electrode 40 to move along the adjustment plane, or the two-dimensional moving component 12 is used to connect the electrode 30 to be charged. And can drive the electrode 30 to be charged along the adjustment plane, wherein the adjustment plane is provided with an angle between the extension direction of the charging device electrode 40, it can be understood that the adjustment plane and the extension direction of the charging device electrode 40 It is vertical, so that when the two-dimensional moving component 12 drives the charging device electrode 40 or the to-be-charged electrode 30 to move along the adjustment plane, the charging device electrode 40 and the to-be-charged electrode 30 will not move toward or away from each other.
  • the adjustment plane can also be It is disposed at an acute angle to the extending direction of the charging device electrode 40.
  • the two-dimensional moving component 12 includes a first slider 121 and a second slider 122 connected to each other, and the first slider 121 and the second slider 122 and the main controller 17. Electrically connected, the first slider 121 can drive the second slider 122 to move linearly in the first direction, and the second slider 122 is connected to the charging device electrode 40 or the electrode to be charged 30, and can drive the charging device electrode 40 or the electrode to be charged.
  • the charging electrode 30 moves in a straight line along the second direction, wherein the first direction and the second direction are located on the adjustment plane, and an angle is set between the first direction and the second direction, so that the charging device electrode 40 or the electrode to be charged 30
  • the movement in the adjustment plane is simple and stable, so as to ensure the stability of the alignment and docking of the charging device electrode 40 and the electrode 30 to be charged.
  • the first direction is perpendicular to the second direction, where the X direction is the first direction and the Y direction is the second direction in FIG. 2.
  • the The one direction and the second direction may be arranged at an acute angle or an obtuse angle.
  • the first slider 121 and the second slider 122 are linear movement mechanisms, for example, two linear movement mechanisms such as a linear slide rail and a linear guide rail, a linear slide table and a linear slider, and the like. They are connected to each other to complete the movement of the charging device electrode 40 or the to-be-charged electrode 30 along the adjustment plane.
  • the two-dimensional moving component 12 thus composed has a simple and stable structure, low cost, and convenient maintenance.
  • a robot arm or the like may be used to complete the task of driving the charging device electrode 40 or the electrode 30 to be charged.
  • the main controller 17 is electrically connected to the two-dimensional mobile component 12, and after generating the position adjustment information, the main controller 17 can control the two-dimensional mobile component 12 to move according to the position adjustment information to enable charging.
  • the device electrode 40 corresponds to the electrode 30 to be charged, so that the charging device electrode 40 is in contact with the electrode 30 to be charged. Because the two-dimensional moving component 12 is used to drive the charging device electrode 40 or the electrode to be charged 30, and the two-dimensional moving component 12 is moved based on the position adjustment data generated from the original position data, so that the charging device electrode 40 and the to-be-charged electrode are moved.
  • the alignment of the electrodes 30 is performed automatically, and the accuracy is high, which provides convenience to the driver.
  • the above-mentioned main controller 17 may also be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a voice processor, and
  • the video processor, etc. may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.
  • the disclosed logical block diagrams in the embodiments of the present application may be implemented or executed.
  • the main controller 17 may also be any conventional processor, such as a PLC (Programmable Logic Controller), a single-chip microcomputer, or the like.
  • the main controller 17 may also be a relay contactor control system, which uses a combination of control appliances such as switches, relays, and buttons to realize receiving signals and making functions such as line switching or switching.
  • the detection component 15 is electrically connected to the main controller 17, and is used to collect the original position data of the charging device electrode 40 or the electrode to be charged 30.
  • the main controller 17 is configured to generate a position adjustment based on the original position data.
  • the position adjustment information may include projection position data of the charging device electrode 40 or the electrode to be charged 30 on the adjustment plane, and may further include distance data between the electrode 30 to be charged and the charging device electrode 40.
  • the detection component includes a vision sensor 151, and the vision sensor 151 is configured to detect position images of the charging device electrode 40 and the electrode to be charged 30 and generate the position adjustment information accordingly.
  • the visual sensor 151 can adapt to various installation environments, and the visual sensor 151 can acquire more data, and can also avoid setting multiple detection units.
  • the visual sensor 151 is electrically connected to the main controller 17, and the visual sensor 151 is used to detect the position image of the charging device electrode 40 or the electrode to be charged 30.
  • the visual sensor 151 may be a camera device or a laser, laser speckle, TOF (Time of Flight, Time of Flight 3D Imaging Technology), structured light, grating and other imaging technologies, so that the visual sensor 151 can use ordinary image acquisition in a simpler environment and use in a complex environment
  • the foregoing three-dimensional imaging technology makes the acquired position image data of the charging device electrode 40 or the electrode to be charged 30 more accurate.
  • the above-mentioned original position image may include a position image.
  • the main controller 17 may generate position adjustment information according to the position image.
  • the visual sensor 151 is a reflective visual sensor, that is, the visual sensor 151 includes a transmitting portion 1513 and a receiving portion 1516.
  • the transmitting portion 1513 is configured to transmit detection to the charging device electrode 40 or the electrode 30 to be charged.
  • the receiving section 1516 is electrically connected to the main controller 17 and is used to receive the detection light waves reflected by the charging device electrode 40 or the electrode to be charged 30, and by transmitting the detection light waves and imaging the reflected detection light waves,
  • a corresponding filter can be used on the receiver 1516 to filter the data of the non-detection light wave to further exclude the ambient light from the collection location Image interference.
  • the wavelength of the detection light wave is, for example, 940 nm. Since the charging device electrode 40 and the electrode to be charged 30 are often installed in an outdoor environment, the 940 nm wavelength in the solar spectrum is absorbed by the atmosphere. The detection light wave with a wavelength of 940 nm can effectively resist the interference from sunlight, and further improve the accuracy of the charging moving mechanism 10 aligning the charging device electrode 40 and the electrode to be charged 30 in an outdoor environment.
  • the vision sensor 151 can also be used to collect image change information of the area where the preset position 60 is located.
  • the preset vehicle 60 needs to be parked as the position range during the docking process.
  • the image change information represents the difference information of multiple position images collected by the visual sensor 151 in a unit time when the preset vehicle 50 is at the preset position 60.
  • the image change information is abnormally different, it represents the preset information.
  • the preset vehicle 50 at the position 60 is not parked smoothly.
  • the user can determine whether the image change information is abnormal by setting a threshold or a preset range.
  • the main controller 17 is also configured to determine whether a vehicle is parked in the area where the preset position 60 is located according to the image change information.
  • the vision sensor 151 is also used to collect the position image of the charging device electrode 40 or the electrode 30 to be charged according to the received vehicle parking information, that is, the position of the preset vehicle 50 is determined to be completed before the parking is completed. The collection of images improves the accuracy of position adjustment information.
  • the vision sensor 151 can also be used to collect a vehicle image of the area where the preset position 60 is located.
  • the vehicle image represents the vehicle image at the preset position 60 and is used to determine the location of the preset position 60. Whether the vehicle is a preset vehicle 50.
  • the main controller 17 may also be configured to determine whether the vehicle in the area where the preset position 60 is the preset vehicle 50 according to the vehicle image, and determine that the vehicle in the area where the preset position 60 is the preset vehicle 50, to the vision sensor.
  • the visual sensor 151 sends vehicle determination information, and the visual sensor 151 is further configured to collect a position image of the charging device 20 or the electrode 30 to be charged according to the received vehicle determination information, that is, the parked vehicle at the predetermined position 60 is a preset vehicle 50 Only then are the corresponding position images collected on the charging device electrode 40 or the electrode to be charged 30 to improve the accuracy of the position adjustment information.
  • the detection component 15 may further include a radio frequency identifier 156 (RFID), and the radio frequency identifier 156 may also be a long-distance RFID.
  • RFID radio frequency identifier
  • the radio frequency identifier 156 is used for identifying a radio frequency signal through radio signals. It is assumed that the preset vehicle 50 at the position 60 reads and writes vehicle data. It does not need to establish mechanical or optical contact between the detection component 15 and the preset vehicle 50.
  • the main controller 17 may also be configured to determine the preset position based on the vehicle data. Whether the vehicle in the area where the 60 is located is the preset vehicle 50.
  • the vehicle determination information is sent to the vision sensor 151, and the vision sensor 151 is also used to receive the vehicle according to the received vehicle.
  • the position information of the charging device electrode 40 or the electrode 30 to be charged is determined, and the vehicle image is used to determine the parked vehicle at the preset position 60 as the preset vehicle 50 to further improve the accuracy of the position adjustment information.
  • the detection component 15 may further include an ultrasonic sensor 155, which is in communication connection with the main controller 17, and the ultrasonic sensor 155 is used to detect the preset position 60.
  • the detecting component 15 may further include a magnetic sensor 152, which is connected to the main controller 17 in communication.
  • the magnetic sensor 152 is configured to detect the magnetic field intensity of the preset position 60. Change information, and send the magnetic field strength change information to the main controller 17, the main controller 17 is further configured to determine whether a vehicle is parked in the area where the preset position 60 is located according to the received magnetic field strength change information, and determine the preset position After a vehicle is parked in the area 60, the vehicle parking information is sent to the vision sensor 151, and the image change information is used to determine that the preset vehicle 50 has completed parking, further improving the accuracy of the alignment work of the charging mobile mechanism 10.
  • the charging and moving mechanism 10 may further include a microstrip antenna 153.
  • the microstrip antenna 153 is electrically connected to the main controller 17.
  • the microstrip antenna 153 is used for detecting presets.
  • the microwave data change information at position 60 is sent to the main controller.
  • the main controller 17 is further configured to determine whether a vehicle is parked in the area where the preset position 60 is located according to the received microwave data change information. After determining that a vehicle is parked in the area where the preset position 60 is located, the vehicle parking information is sent to the visual sensor 151, and the image change information is used to determine that the preset vehicle 50 has completed parking, thereby improving the accuracy of the alignment work of the charging mobile mechanism 10.
  • the working principle of the charging moving mechanism 10 provided in the embodiment of the present application is:
  • the two-dimensional moving component 12 is used to connect the charging device electrode 40 and can drive the charging device electrode 40 along the adjustment plane, or the two-dimensional moving component 12 is used to connect the electrode to be charged 30 and can drive the electrode to be charged 30 along the adjustment plane.
  • the adjustment plane is a plane at an angle to the extending direction of the charging device electrode 40.
  • the detection component 15 is electrically connected to the main controller 17 and is used to collect original position data of the charging device electrode 40 or the electrode to be charged 30.
  • the main controller 17 is configured to generate position adjustment information according to the original position data.
  • the main controller 17 is also electrically connected to the two-dimensional moving component 12, and after generating the position adjustment information, the main controller 17 can control the two-dimensional moving component 12 to move according to the position adjustment information, so that the charging device electrode 40 and the electrode to be charged are moved.
  • 30 corresponds so that the charging device electrode 40 is docked with the electrode 30 to be charged. Because the two-dimensional moving component 12 is used to drive the charging device electrode 40 or the electrode to be charged 30, and the two-dimensional moving component 12 is moved based on the position adjustment data generated from the original position data, so that the charging device electrode 40 and the to-be-charged electrode are moved.
  • the alignment of the electrodes 30 is performed automatically, and the accuracy is high, which provides convenience to the driver.
  • the present application also provides a charging device including: a charging bow body 1, a bow head portion 2, a control device 4, a first driving component, a second driving component, and a third driving component 5.
  • the bow head 2 includes a support assembly 20, a charging device electrode 40, a charging moving mechanism 10, and a telescopic mechanism 22.
  • one end of the charging bow body 1 may be fixedly disposed on the wall 6, and the control device 4 may be disposed on the wall 6.
  • the first driving component, the second driving component, and the third driving component 5 may be disposed inside the wall 6.
  • one end of the charging bow body 1 may be fixed on the ceiling, and the first driving component, the second driving component, and the third driving component 5 may be correspondingly disposed inside the ceiling.
  • the other end of the charging bow body 1 is fixedly connected to the support assembly 20 for supporting the bow head 2.
  • the supporting assembly 20 includes a connecting member 201 and a supporting member 202, wherein one end of the connecting member 201 is fixedly connected to the charging bow body 1, and one end of the supporting member 202 is fixedly connected to the connecting member 201 away from the charging member 1.
  • the other end of the charging bow body 1, wherein the other end of the support member 202 extends along a horizontal plane parallel to the ground.
  • a first slide rail is provided on a side of the support member 202 near the ground, and the installation direction of the first slide rail is consistent with the extending direction of the support member 202.
  • the charging moving mechanism 10 includes: a two-dimensional moving component 12 is slidably mounted on the first slide rail, so that the two-dimensional moving component 12 is mounted on the first driving component. Driven in a first direction on a plane defined by the support component 20 and the two-dimensional moving component 21, the two-dimensional moving component 12 is used to connect the charging device electrode 40 and allow the charging device electrode 40 to be driven Moving along the adjustment plane, an angle is set between the adjustment plane and the extending direction of the charging device electrode 40.
  • a detection component 15 is installed on the two-dimensional moving component 12 and is configured to collect original position data of the charging device electrode 40 and the electrode 30 to be charged.
  • the main controller 17 is electrically connected to the two-dimensional moving component 12 and the detection component 15 respectively, and generates position adjustment information based on the original position data collected by the detection component 15 and controls the position adjustment information according to the position adjustment information.
  • the two-dimensional moving component 12 moves.
  • One end of the telescopic mechanism 22 is connected to the two-dimensional moving component 12, and the other end of the telescopic mechanism 22 is connected to the charging device electrode 40.
  • the two-dimensional moving component 12 drives the telescopic mechanism 22 to move along an adjustment plane. An angle is formed between a plane in which the telescopic mechanism 22 extends and the adjustment plane.
  • the telescopic mechanism 22 drives the charging device electrode 40 to move in the extending direction of the telescopic mechanism 22.
  • the telescopic mechanism 22 is driven by the second driving component to move in a second direction in which the two-dimensional moving component 12 extends.
  • the two directions are located on a plane defined by the support component 20 and the two-dimensional moving component 12 and are perpendicular to the first direction.
  • first direction and the second direction may be perpendicular to each other and parallel to the ground. In other embodiments, the first direction and the second direction may not be perpendicular, or may not be parallel to the ground.
  • first driving component and the second driving component may be disposed inside the charging bow body 1.
  • first driving component and the second driving component may also be disposed near the support 202 and the two-dimensional moving component 12.
  • first driving component The driving component and the second driving component may also be disposed on the support 202 and the two-dimensional moving component 12.
  • the two-dimensional moving component 12 includes a moving rod, a first pulley, a second slide rail, and a second pulley.
  • the first pulley is disposed on a side of the moving rod near the support 202.
  • the moving rod is perpendicular to the support 202, and the moving rod is disposed parallel to the ground.
  • the first pulley cooperates with the first slide rail, so that the moving rod slides along the first direction in which the support member 202 extends.
  • a second slide rail is provided on a side of the moving rod near the ground, and a setting direction of the second slide rail is consistent with an extending direction of the moving rod.
  • a second pulley matching the second slide rail is provided on a side of the telescopic mechanism 22 near the two-dimensional moving component 12, so that the telescopic mechanism 22 is perpendicular to the two-dimensional moving component 12 Sliding in a second direction in which the supporting member 202 extends.
  • the relative movement between the two-dimensional moving component 12 and the support member 202 and between the telescopic mechanism 22 and the moving member may be achieved by a combination of a pulley and a slide rail.
  • the two-dimensional moving assembly 12 and the supporting member 202 and the telescopic mechanism 22 and the moving member may also adopt a sliding bar or a sliding groove to implement the two-dimensional moving assembly 12 and the supporting member 202.
  • a ball may be provided in the chute.
  • the telescopic mechanism 22 includes a fixing member 221, a first robot arm 222 and a second robot arm 223.
  • One end of the fixing member 221 is slidably connected to an end of the second sliding member 122 away from the first sliding member 121.
  • One end of the first robot arm 222 is rotatably connected to the other end of the fixing member 221.
  • One end of the second robot arm 223 is rotatably connected to the other end of the first robot arm 222 away from the fixing member 221.
  • the other end of the second robot arm 223 is connected to the charging device electrode 40.
  • the telescopic mechanism 22 controls the charging device electrode 40 to move in a vertical direction determined by a plane with the support component 20 and the two-dimensional moving component 12 under the driving of the third driving component 5.
  • the lowering of the telescopic mechanism 22 between the first mechanical arm 222, the second mechanical arm 223, and the charging device electrode 40 may be achieved by rotation.
  • the arrangement manner between the first robot arm 222, the second robot arm 223, and the charging device electrode 40 may be coaxially sleeved together, and the lowering of the telescopic mechanism 22 may be achieved through the first mechanism
  • the arm 222, the second mechanical arm 223, and the charging device electrode 40 are coaxially extended to achieve.
  • the third driving assembly 5 may be disposed inside the fixing member 221, and the third driving assembly 5 includes a servo driver and a servo motor.
  • the servo driver is connected to the control device 4 and the servo motor, and the servo motor is connected to the first robot arm 222 and the second robot arm 223.
  • the servo driver is configured to receive a control instruction sent by the control device 4 and drive the servo motor to rotate according to the control instruction to drive the first robot arm 222 and the second robot arm 223 to move and extend.
  • the mechanism 22 moves in a direction perpendicular to a plane defined by the support assembly 20 and the two-dimensional moving mechanism 12.
  • a device for providing power to the third driving component 5 may be a servo driver and a servo motor.
  • the device for powering the third driving assembly 5 may also be a stepper driver and a stepper motor.
  • the charging device electrode 40 is further provided with a temperature sensor 7.
  • the temperature sensor 7 is disposed on a side of the charging device electrode 40 near the second robot arm 223.
  • the temperature sensor 7 is configured to collect a temperature value of the charging device electrode 40 when the charging device is being charged, and send the temperature value to the control device 4.
  • the control device 4 is configured to receive the temperature value, compare the temperature value with a preset temperature value, and control the charging device electrode 40 to stop when the temperature value reaches the preset temperature value.
  • the electrode 30 to be charged is charged.
  • the fixing member 221 includes a pressure balancer 8, and the pressure balancer 8 is disposed at a position of the fixing member 221 near the first mechanical arm 222 for:
  • a pressure value received by the charging device electrode 40 is collected, and the pressure value is sent to the control device 4.
  • the control device 4 is configured to receive the pressure value, compare the pressure value with a preset pressure value, and control the first robot arm when it is determined that the pressure value reaches the preset pressure value.
  • 222 and the second robot arm 223 stop descending.
  • the telescopic mechanism 22 includes a blowing nozzle 9 which is disposed at a position of the second mechanical arm 223 near the charging device electrode 40;
  • the air blowing nozzle 9 is used to clean and blow foreign objects on the to-be-charged electrode 30 before charging the to-be-charged electrode 30.
  • the telescopic mechanism 22 further includes a bio-detector, and the bio-detector is disposed on a side of the fixing member 221 near the charging device electrode 40,
  • the biological monitor is configured to collect biological activity intensity information near the preset vehicle 50 when the preset vehicle 50 is charged, and send the biological activity information to the control device 4.
  • the control device 4 is configured to receive the biological activity intensity information and compare the biological activity intensity information with preset biological activity intensity information. When the biological activity intensity information reaches the preset biological activity intensity information, , Control the charging device electrode 40 to stop charging the preset vehicle 50.
  • the vision sensor 151 may also be disposed at an end of the support assembly 20 away from the charging bow 1 for collecting the position of the electrode 30 to be charged.
  • the position of the visual sensor 151 may be on the telescopic mechanism 22, or it may be fixed on a wall or ceiling near the charging device, as long as the position of the electrode 30 to be charged can be clearly collected.
  • the setting position of the vision sensor 151 is not specifically limited.
  • the vision sensor 151 may be disposed at an end of the support assembly 20 away from the charging bow body 1.
  • the vision sensor 151 is electrically connected to the control device 4, and the control device 4 controls the movement of the bow head 2 according to the position of the electrode 30 to be charged collected by the vision sensor 151, so that the charging device The electrode 40 is aligned with the electrode 30 to be charged.
  • This application also provides a charging method, including:
  • step S101 image information is collected by the charging moving mechanism 10.
  • the charging moving mechanism 10 includes a two-dimensional moving component 12 for connecting a charging device electrode 40 and allowing the charging device electrode 40 to be moved along the adjustment plane. An angle is set between the adjustment plane and the extending direction of the charging device.
  • a detection component 15 is installed on the two-dimensional moving component 12 and is configured to collect original position data of the charging device electrode 40 and the electrode 30 to be charged.
  • the main controller 17 is electrically connected to the two-dimensional moving component 12 and the detection component 15 respectively, and generates position adjustment information based on the original position data collected by the detection component 15 and controls the position adjustment information according to the position adjustment information.
  • the two-dimensional moving component 12 moves.
  • step S102 the collected image information is processed to obtain position coordinate information of the electrode to be charged 30 and the charging device electrode 40 in the image information.
  • step S103 the charging device electrode 40 is controlled to move toward the electrode 30 to be charged according to the position coordinate information, so that the charging device electrode 40 is aligned with the electrode 30 to be charged.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

一种充电移动机构及其应用的充电装置、充电方法，涉及充电对接技术领域。该充电移动机构（10）包括二维移动组件（12），其用于连接充电装置电极（40），并允许带动所述充电装置电极（40）沿调整平面移动；其中所述调整平面与充电装置的伸展方向之间设有一夹角；检测组件（15），其安装在所述二维移动组件（12）上，用于采集所述充电装置电极（40）及待充电电极（30）的原始位置数据；主控制器（17），其与所述二维移动组件（12）和所述检测组件（15）分别电连接，且依据所述检测组件（15）采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件（12）移动。

Description

一种充电移动机构及其应用的充电装置、充电方法 技术领域
本申请涉及充电对接技术领域，具体而言，涉及一种充电移动机构及其应用的充电装置、充电方法。
背景技术
电动汽车(BEV)是指以车载电源为动力，用电机驱动车轮行驶，符合道路交通、安全法规各项要求的车辆。由于对环境影响相对传统汽车较小，其越来越多地投入到交通运输中。
目前，部分电动汽车在充电时，会使用的上升式或者下降式的充电装置与待充电电极对接，以完成充电必要的电连接，但是上升或者下降式的充电装置只能在竖直方向上运动，要实现充电装置与待充电电极间水平平面的位置对准充电，只能是人工的方式控制车辆的左右及前后距离，这样的操控要求对于驾驶员来说难以做到，对司机的驾驶要求极高，特别是在复杂的交通环境下，例如，在中途车站停车并控制车辆的左右距离。
有鉴于此，研发设计出一种能够解决上述技术问题的充电移动机构及充电装置显得尤为重要。
发明内容
针对以上问题，本申请的目的在于提供一种充电移动机构及其应用的充电装置、充电方法，本申请具有能够自动对准充电装置和待充电电极，且对准过程准确便利的特点。
本申请提供一种充电移动机构，包括：
二维移动组件，其用于连接充电装置电极，并允许带动所述充电装置电极沿所述调整平面移动；其中所述调整平面与所述充电装置的伸展方向之间设有一夹角；
检测组件，其安装在所述二维移动组件上，用于采集所述充电装置电极及待充电电极的原始位置数据；
主控制器，其与所述二维移动组件和所述检测组件分别电连接，且依据所述检测组件采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件移动。
在一实施例中，所述二维移动组件包括相互连接的第一滑动件和第二滑动件，其中所述第一滑动件允许带动所述第二滑动件沿第一方向所在直线移动，所述第二滑动件与所述充电装置电极连接，并允许带动所述充电装置电极沿第二方向所在直线移动。
在一实施例中，所述第一方向和所述第二方向位于所述调整平面内，且所述第一方向与所述第二方向呈夹角设置。
在一实施例中，所述第一滑动件和第二滑动件为直线移动机构。
在一实施例中，所述第一滑动件和第二滑动件分别与主控制器连接。
在一实施例中，所述检测组件包括视觉传感器，所述视觉传感器用于检测所述充电装置电极及所述车载电极的位置图像并依此生成所述位置调整信息。
在一实施例中，所述视觉传感器还用于采集预设位置所在区域的图像变化信息。
在一实施例中，所述视觉传感器还用于采集预设位置所在区域的车辆图像。
在一实施例中，所述视觉传感器包括发射部和接收部，所述发射部用于向所述充电装置电极发射检测光波，所述接收部与所述主控制器电连接，用于接收经所述充电装置电极反射后的所述检测光波。
本申请还提供一种充电装置，包括：
充电弓体，其一端固定设置在地面或墙体上；
弓头部，其与所述充电弓体的另一端固定连接；所述弓头部包括支撑组件、充电装置电极及充电移动机构；
所述充电移动机构包括：
二维移动组件，其用于连接充电装置电极，并允许带动所述充电装置电极沿所述调整平面移动；其中所述调整平面与所述充电装置的伸展方向之间设有一夹角；
检测组件，其安装在所述二维移动组件上，用于采集所述充电装置电极及待充电电极的原始位置数据；
主控制器，其与所述二维移动组件和所述检测组件分别电连接，且依据所述检测组件采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件移动。
在一实施例中，所述支撑组件包括连接件，其中所述连接件的一端固定连接于所述充电弓体。
在一实施例中，所述支撑组件还包括支撑件，其中所述支撑件的 一端固定连接于所述连接件远离所述充电弓体的另一端；其中所述支撑件的另一端沿平行于地面的水平面延伸。
在一实施例中，所述充电移动机构滑动安装在所述支撑件靠近地面的一侧。
在一实施例中，所述装置头部还包括伸缩机构，其中所述伸缩机构的一端连接于所述二维移动组件，其中所述伸缩机构的另一端连接于所述充电装置电极；其中所述二维移动组件带动所述伸缩机构沿调整平面移动；其中所述伸缩机构驱动所述充电装置电极在所述伸缩机构的伸展方向上运动。
在一实施例中，所述伸缩机构的伸展方向所在的平面与所述调整平面之间有一夹角。
在一实施例中，所述伸缩机构包括固定件、第一机械臂和第二机械臂；其中所述固定件的一端滑动连接于所述第二滑动件远离所述第一滑动件的一端；其中所述第一机械臂的一端转动连接于所述固定件的另一端；所述第二机械臂的一端转动连接于所述第一机械臂远离所述固定件的另一端；所述第二机械臂远离所述第一机械臂的另一端与所述充电装置电极连接。
在一实施例中，所述充电装置电极上设置有温度传感器，所述温度传感器设置在所述充电装置电极靠近所述第二机械臂的一侧。
在一实施例中，所述固定件上设置有压力平衡器，所述压力平衡器设置在所述固定件靠近所述第一机械臂的位置。
在一实施例中，所述伸缩机构上设置有吹气嘴，所述吹气嘴设置 在所述第二机械臂靠近所述充电装置电极的位置。
本申请还提供一种充电方法，包括：
通过充电移动机构来采集图像信息；
所述充电移动机构，包括：
二维移动组件，其用于连接充电装置电极，并允许带动所述充电装置电极沿所述调整平面移动；其中所述调整平面与所述充电装置的伸展方向之间设有一夹角；
检测组件，其安装在所述二维移动组件上，用于采集所述充电装置电极及待充电电极的原始位置数据；
主控制器，其与所述二维移动组件和所述检测组件分别电连接，且依据所述检测组件采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件移动。
对采集的图像信息进行处理，得到所述待充电电极与所述充电装置电极在所述图像信息中的位置坐标信息；
根据位置坐标信息控制所述充电装置电极向所述待充电电极移动，以使所述充电装置电极与所述待充电电极对准。
本申请的二维移动组件用于连接充电装置，并能够带动充电装置沿调整平面移动，或者，二维移动组件用于连接待充电电极，并能够带动待充电电极沿调整平面移动，其中，调整平面为与充电装置的伸展方向之间设有一夹角。检测组件与主控制器电连接，并用于采集充电装置或者待充电电极的原始位置数据，主控制器被配置为依据原始位置数据生成位置调整信息。主控制器还与二维移动组件电连接，并且，主控制器能够在生成位 置调整信息后，依据位置调整信息控制二维移动组件移动，以使充电装置与待充电电极相对应，以便以充电装置与待充电电极对接。由于采用了二维移动组件带动充电装置或者待充电电极移动，且上述二维移动组件移动的依据为由原始位置数据生成的位置调整数据，进而使得充电装置和待充电电极对准自动进行，且准确性高，为驾驶员提供了便利。采用本申请所述的充电装置可以在预设的范围内移动去对准待充电电极，然后下降充电装置电极，实现主动对准待充电电极，进行自动对准充电，无需人工控制车辆对准电极，减少了复杂的人工操作，节省了时间。
为使本申请的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所使用的附图作简单地介绍。应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定。对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请提供的充电移动机构应用于充电装置的结构示意图；
图2为本申请提供的检测组件的结构示意图；
图3为本申请提供的检测组件的另一结构示意图；
图4为本申请提供的充电装置结构示意图；
图5为本申请提供的充电装置另一视角下的结构示意图；
图6为本申请提供的充电装置另一视角下的结构示意图；
图7为本申请提供的弓头部结构示意图；
图8为本申请提供的充电方法的流程图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。术语“上”、“下”、“内”、“外”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该申请产品使用时惯常摆放的方位或位置关系，或者是本领域技术人员惯常理解的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的设备或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
还需要说明的是，除非另有明确的规定和限定，“设置”、“连接”等术语 应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接连接，也可以通过中间媒介间接连接，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下面结合附图，对本申请的具体实施方式进行详细说明。
请参阅图1至图3，本申请提供了一种充电移动机构10，其安装在安装架19上，其包括二维移动组件12、检测组件15及主控制器17，二维移动组件12完成移动对准工作，检测组件15用于采集用于生成位置调整信息的数据，主控制器17用于控制二维移动组件12移动。
请参阅图1至图3，充电移动机构10与充电装置电极40连接，本实施例中，待充电电极30可以安装于预设车辆50上，充电移动机构10能够获取与预设车辆50对应的位置调整信息，并能够依据位置调整信息带动充电装置电极40移动，以使待充电电极30和充电装置电极40相对应，便于向预设车辆50充电，通过自动对准充电装置电极40和待充电电极30，提高充电的便利性和准确性，避免通过人工控制预设车辆50的前后及左右距离来对准充电装置电极40和待充电电极30的难度较高的方式。
请参阅图1至图3，在其他实施例中，也可以充电移动机构10与待充电电极30连接，以带动待充电电极30移动，使得待充电电极30与充电装置电极40对准，当然，充电移动机构10也可以安装于预设车辆50上，用于带动充电装置电极40或者待充电电极30移动，以自动对准待充电电极30与充电装置电极40，此外，充电装置电极40或者待充电电极30也可以吊装于安装架19上，以使充电装置电极40或者待充电电极30可以于预设车辆50上方完成对接，避免外界因素干扰对接作业，提高充电装置的安全性。
请参阅图1至图3，进一步地，充电装置电极40还能够与充电移动机构10通讯连接，充电移动机构10在获取与预设车辆50对应的位置调整信息后，向充电装置电极40发送位置调整信息，充电装置电极40在接收到位置调整信息后，依据位置调整信息朝向二维移动组件12伸展，以实现与待充电电极30的对接，进而提高充电装置电极40和待充电电极30之间的对接准确性和可靠性。
请参阅图1至图3，进一步地，二维移动组件12用于连接充电装置电极40，并能够带动充电装置电极40沿调整平面移动，或者，二维移动组件12用于连接待充电电极30，并能够带动待充电电极30沿调整平面移动，其中，调整平面为与充电装置电极40的伸展方向之间设有一夹角，可以理解的是，该调整平面可以与充电装置电极40的伸展方向垂直，使得二维移动组件12在带动充电装置电极40或者待充电电极30沿调整平面移动时，充电装置电极40和待充电电极30间不会产生相向或者背离的位移，当然，调整平面也可以与充电装置电极40的伸展方向成锐角设置。
请参阅图1至图3，进一步地，该二维移动组件12包括相互连接的第一滑动件121和第二滑动件122，且第一滑动件121和第二滑动件122与主控制器17电连接，第一滑动件121能够带动第二滑动件122沿第一方向的所在直线移动，第二滑动件122与充电装置电极40或者待充电电极30连接，并能够带动充电装置电极40或者待充电电极30沿第二方向所在直线移动，其中，第一方向和第二方向位于调整平面，且第一方向与第二方向之间设有一夹角，进而使得充电装置电极40或者待充电电极30在调整平面运动，且该结构简单，稳固，以保证充电装置电极40和待充电电极30对准和对接的稳固性。
请参阅图1至图3，在本实施例中，第一方向与第二方向垂直，其中图2中X方向为第一方向，Y方向为第二方向，当然，在其他实施例中，第一方向和第二方向也可以呈锐角或者钝角设置。
请参阅图1至图3，进一步地，第一滑动件121和第二滑动件122为直线移动机构，例如，直线滑轨与直线导轨、直线滑台与直线滑块等，两个直线移动机构相互连接，以完成带动充电装置电极40或者待充电电极30沿调整平面运动，这样组成的二维移动组件12，其结构简单且稳固，成本低，且便于维护。
请参阅图1至图3，在其他实施例中，也可以使用机械臂等部件完成带动充电装置电极40或者待充电电极30移动的工作。
请参阅图1至图3，主控制器17与二维移动组件12电连接，并且，主控制器17能够在生成位置调整信息后，依据位置调整信息控制二维移动组件12移动，以使充电装置电极40与待充电电极30相对应，以便使充电装置电极40与待充电电极30对接。由于采用了二维移动组件12带动充电装置电极40或者待充电电极30移动，且上述二维移动组件12移动的依据为由原始位置数据生成的位置调整数据，进而使得充电装置电极40和待充电电极30对准自动进行，且准确性高，为驾驶员提供了便利。
请参阅图1至图3，进一步地，上述的主控制器17也可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)、语音处理器以及视频处理器等，还可以是数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的逻辑框图。主控制器17也可以是任何常规的处理器，如PLC(Programmable Logic Controller，可编程逻辑控制器)、单片机等。当然， 主控制器17也可以是继电接触器控制系统，采用开关、继电器及按钮等控制电器的组合，实现接收信号，并做出线路的切换或者开关等功能。
请参阅图1至图3，检测组件15与主控制器17电连接，并用于采集充电装置电极40或者待充电电极30的原始位置数据，主控制器17被配置为依据原始位置数据生成位置调整信息，该位置调整信息可以包括充电装置电极40或者待充电电极30在调整平面上的投影位置数据，还可以包括待充电电极30和充电装置电极40间的距离数据。
请参阅图1至图3，所述检测组件包括视觉传感器151，所述视觉传感器151用于检测所述充电装置电极40及所述待充电电极30的位置图像并依此生成所述位置调整信息。通过视觉传感器151可适应多样的安装环境，并且，视觉传感器151可以获取的数据更多，还可以避免设置多个检测单元。视觉传感器151与主控制器17电连接，视觉传感器151用于检测充电装置电极40或者待充电电极30的位置图像，可以理解的是该视觉传感器151可以为摄像设备或者采用激光，激光散斑，TOF(Time of flight，飞行时间，利用飞行时间三维成像技术)，结构光，光栅等成像技术，进而使得视觉传感器151可以在较简单的环境中使用普通的图像采集，而在复杂的环境中使用上述的三维成像技术，使得获取的充电装置电极40或者待充电电极30的位置图像数据更加准确，可以理解的是，上述的原始位置图像可以包括位置图像。主控制器17在接收到位置图像后，可依据位置图像生成位置调整信息。
请参阅图1至图3，进一步地，视觉传感器151为反射型视觉传感器，即视觉传感器151包括发射部1513和接收部1516，发射部1513用于向充电装置电极40或者待充电电极30发射检测光波，接收部1516与主控制器17电连接，且用于接收经充电装置电极40或者待充电电极30反射后的检 测光波，通过发射检测光波和利用反射后的检测光波来成像的方式，能够避免检测环境中各种光线对视觉传感器151采集位置图像的干扰，需要说明的是，在接收部1516上可使用对应的滤镜，以过滤非检测光波的数据，以进一步排除环境光线对采集位置图像的干扰。
请参阅图1至图3，进一步地，上述的检测光波的波长例如为940nm，由于充电装置电极40和待充电电极30常常安装室外环境中，而太阳光谱中的940nm波长被大气层所吸收，采用波长940nm的检测光波能够有效的抵抗来自太阳光的干扰，进一步地提高充电移动机构10在室外环境中对准充电装置电极40和待充电电极30的准确性。
请参阅图1至图3，本实施例中，视觉传感器151还可以用于采集预设位置60所在区域的图像变化信息，该预设位置60至对接过程中预设车辆50需要停放为位置范围，此外，图像变化信息表征了预设车辆50在预设位置60上时单位时间内的视觉传感器151所采集到的多个位置图像的差异信息，当图像变化信息差异异常时，表征着预设位置60上的预设车辆50并未停靠平稳，用户可通过设置阈值或者预设范围来判断图像变化信息是否异常。主控制器17还被配置为依据图像变化信息，确定预设位置60所在区域是否有车辆停车，在确定预设位置60所在区域有车辆停车后，向视觉传感器151发送车辆停车信息，进而确定预设车辆50已经完成了停车，此外，视觉传感器151还用于根据接收到的车辆停车信息采集充电装置电极40或者待充电电极30的位置图像，即在确定预设车辆50完成停车后再进行位置图像的采集，提高位置调整信息的准确性。
请参阅图1至图3，进一步地，视觉传感器151还可以用于采集预设位置60所在区域的车辆图像，该车辆图像表征预设位置60上的车辆图像，用于判别预设位置60上车辆是否为预设车辆50。主控制器17还可以被配 置为依据车辆图像，确定预设位置60所在区域内的车辆是否为预设车辆50，在确定预设位置60所在区域内的车辆为预设车辆50，向视觉传感器151发送车辆确定信息，视觉传感器151还用于根据接收到的车辆确定信息采集充电装置20或者待充电电极30的位置图像，即在确定预设位置60上的所停放的车辆为预设车辆50时才对充电装置电极40或者待充电电极30进行对应的位置图像的采集，提高位置调整信息的准确性。
请参阅图1至图3，进一步地，检测组件15还可以包括射频识别器156(RFID)，且该射频识别器156还可以为远距离RFID，该射频识别器156用于通过无线电讯号识别预设位置60上的预设车辆50并读写车辆数据，其无需检测组件15与预设车辆50之间建立机械或者光学接触，主控制器17还可以被配置为依据车辆数据，确定预设位置60所在区域内的车辆是否为预设车辆50，在确定预设位置60所在区域内的车辆为预设车辆50，向视觉传感器151发送车辆确定信息，视觉传感器151还用于根据接收到的车辆确定信息采集充电装置电极40或者待充电电极30的位置图像，配合车辆图像来确定预设位置60上的所停放的车辆为预设车辆50，进一步地提高位置调整信息的准确性。
请参阅图1至图3，进一步地，对于检测组件15，其还可以包括超声波感应器155，该超声波感应器155与主控制器17通讯连接，该超声波感应器155用于检测预设位置60上的车辆的距离变化信息，并将距离变化信息发送给主控制器17，主控制器17还被配置为依据接收到的距离变化信息，确定预设位置60所在区域是否有车辆完成停车，在确定预设位置60所在区域有车辆完成停车后，向视觉传感器151发送车辆停车信息，配合图像变化信息来确定预设车辆50已经完成了停车，提高充电移动机构10的对准工作的准确性。
请参阅图1至图3，进一步地，检测组件15还可以包括磁敏传感器152，该磁敏传感器152与主控制器17通讯连接，该磁敏传感器152用于检测预设位置60的磁场强度变化信息，并将磁场强变化信息发送给主控制器17，主控制器17还被配置为依据接收到的磁场强度变化信息，确定预设位置60所在区域是否有车辆停车，在确定预设位置60所在区域有车辆停车后，向视觉传感器151发送车辆停车信息，配合图像变化信息来确定预设车辆50已经完成了停车，进一步提高充电移动机构10的对准工作的准确性。
请参阅图1至图3，在其他实施例中，充电移动机构10还可以包括微带天线153，该微带天线153与主控制器17理电连接，该微带天线153用于检测预设位置60的微波数据变化信息，并将微波数据变化信息发送给主控器，主控制器17还被配置为根据接收到的微波数据变化信息，确定预设位置60所在区域是否有车辆停车，在确定预设位置60所在区域有车辆停车后，向视觉传感器151发送车辆停车信息，配合图像变化信息来确定预设车辆50已经完成了停车，提高充电移动机构10的对准工作的准确性。
请参阅图1至图3，本申请实施例提供的充电移动机构10的工作原理是：
二维移动组件12用于连接充电装置电极40，并能够带动充电装置电极40沿调整平面移动，或者，二维移动组件12用于连接待充电电极30，并能够带动待充电电极30沿调整平面移动，其中，调整平面为与充电装置电极40的伸展方向呈夹角的平面。检测组件15与主控制器17电连接，并用于采集充电装置电极40或者待充电电极30的原始位置数据，主控制器17被配置为依据原始位置数据生成位置调整信息。主控制器17还与二维移动组件12电连接，并且，主控制器17能够在生成位置调整信息后，依据位置调整信息控制二维移动组件12移动，以使充电装置电极40与待充电电 极30相对应，以便使充电装置电极40与待充电电极30对接。由于采用了二维移动组件12带动充电装置电极40或者待充电电极30移动，且上述二维移动组件12移动的依据为由原始位置数据生成的位置调整数据，进而使得充电装置电极40和待充电电极30对准自动进行，且准确性高，为驾驶员提供了便利。
请一并参阅图4至图7，本申请还提供了一种充电装置包括：充电弓体1、弓头部2、控制装置4、第一驱动组件、第二驱动组件、第三驱动组件5、所述弓头部2包括支撑组件20、充电装置电极40及充电移动机构10、伸缩机构22。
请一并参阅图4至图7，在本实施例中，所述充电弓体1的一端可以固定设置在墙体6上，所述控制装置4可以设置该墙体6上。所述第一驱动组件、第二驱动组件和第三驱动组件5可以设置在墙体6内部。在其他实施例中，所述充电弓体1的一端可以固定设置在天花板上，所述第一驱动组件、第二驱动组件和第三驱动组件5可以对应地设置在天花板内部。所述充电弓体1的另一端与所述支撑组件20固定连接，用于支撑所述弓头部2。所述支撑组件20包括连接件201和支撑件202，其中所述连接件201的一端固定连接于所述充电弓体1，其中所述支撑件202的一端固定连接于所述连接件201远离所述充电弓体1的另一端，其中所述支撑件202的另一端沿平行于地面的水平面延伸。所述支撑件202靠近地面的一侧设置有第一滑轨，所述第一滑轨的设置方向与所述支撑件202延伸方向一致。
请一并参阅图4至图7，所述充电移动机构10包括：二维移动组件12滑动安装在所述第一滑轨上，以使所述二维移动组件12在所述第一驱动组件的驱动下在所述支撑组件20与所述二维移动组件21 确定的平面沿第一方向运动，所述二维移动组件12用于连接充电装置电极40，并允许带动所述充电装置电极40沿所述调整平面移动，其中所述调整平面与所述充电装置电极40的伸展方向之间设有一夹角。检测组件15，其安装在所述二维移动组件12上，用于采集所述充电装置电极40及待充电电极30的原始位置数据。主控制器17，其与所述二维移动组件12和所述检测组件15分别电连接，且依据所述检测组件15采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件12移动。
请一并参阅图4至图7，所述伸缩机构22的一端连接于所述二维移动组件12，其中所述伸缩机构22的另一端连接于所述充电装置电极40。所述二维移动组件12带动所述伸缩机构22沿调整平面移动，所述伸缩机构22的伸展方向所在的平面与所述调整平面之间有一夹角。所述伸缩机构22驱动所述充电装置电极40在所述伸缩机构22的伸展方向上运动。
请一并参阅图4至图7，本实施例中，所述伸缩机构22在所述第二驱动组件的驱动下沿所述二维移动组件12延伸的第二方向运动，其中，所述第二方向位于所述支撑组件20与所述二维移动组件12确定的平面，且与所述第一方向垂直。
请一并参阅图4至图7，在本实施例中，所述的第一方向和第二方向可以是相互垂直且平行于地面的。在其他实施例中，第一方向和第二方向可以是不垂直的，也可以是不与地面平行的。
请一并参阅图4至图7，进一步地，所述第一驱动组件和所述第二驱动组件可以设置在所述充电弓体1内部。在其他实施例中，所述第一驱动组件和所述第二驱动组件也可以设置在靠近所述支撑件202与所述二维移动组件12的位置，在其他实施例中，所述第一驱动组件和所述第二驱动组件还可以设置在所述支撑件202与所述二维移 动组件12上。
请一并参阅图4至图7，进一步地，所述二维移动组件12包括运动杆、第一滑轮、第二滑轨和第二滑轮。所述第一滑轮设置在所述运动杆靠近所述支撑件202的一侧。所述运动杆与所述支撑件202垂直，所述运动杆平行于地面设置。所述第一滑轮与所述第一滑轨配合，以使所述运动杆沿所述支撑件202延伸的所述第一方向滑动。所述运动杆靠近地面的一侧设置有第二滑轨，所述第二滑轨的设置方向与所述运动杆延伸方向一致。所述伸缩机构22靠近所述二维移动组件12的一侧设置有与所述第二滑轨相配合的第二滑轮，以使所述伸缩机构22在所述二维移动组件12上沿垂直于所述支撑件202延伸的第二方向滑动。
请一并参阅图4至图7，进一步地，所述的二维移动组件12与支撑件202之间、伸缩机构22与运动件之间，可以采用滑轮与滑轨相结合的方式实现相对运动。在其他实施例中，所述二维移动组件12与支撑件202之间、伸缩机构22与运动件之间还可以采用滑杆、滑槽的方式，实现二维移动组件12与支撑件202之间、伸缩机构22与运动件之间的相对运动，为了增强滑动性能，还可以在滑槽中设置滚珠。
请一并参阅图4至图7，进一步地，所述伸缩机构22包括固定件221、第一机械臂222和第二机械臂223。所述固定件221的一端滑动连接于所述第二滑动件122远离所述第一滑动件121的一端。所述第一机械臂222的一端转动连接于所述固定件221的另一端。所述第二机械臂223的一端转动连接于所述第一机械臂222远离所述固定件221的另一端。所述第二机械臂223的另一端连接于所述充电装置 电极40。所述伸缩机构22在所述第三驱动组件5的驱动下控制所述充电装置电极40沿与所述支撑组件20和所述二维移动组件12确定平面的垂直方向运动。
请一并参阅图4至图7，在本实施例中，所述第一机械臂222、第二机械臂223和充电装置电极40之间实现伸缩机构22的下降可以是通过转动实现。在其他实施例中，所述第一机械臂222、第二机械臂223和充电装置电极40之间的设置方式可以是同轴套设在一起，实现伸缩机构22的下降可以是通过第一机械臂222、第二机械臂223和充电装置电极40之间同轴伸缩来实现。
请一并参阅图4至图7，进一步地，所述第三驱动组件5可以设置在所述固定件221内部，所述第三驱动组件5包括伺服驱动器和伺服电机。所述伺服驱动器与所述控制装置4和所述伺服电机连接，所述伺服电机与所述第一机械臂222和第二机械臂223连接。所述伺服驱动器，用于接收所述控制装置4发送的控制指令，根据所述控制指令驱动所述伺服电机转动，以带动所述第一机械臂222和第二机械臂223运动，以使伸缩机构22在与所述支撑组件20和所述二维移动机构12确定的平面垂直的方向运动。
请一并参阅图4至图7，在本实施例中，为第三驱动组件5提供动力的设备可以是伺服驱动器和伺服电机。在其他实施例中，为第三驱动组件5提供动力的设备还可以是步进驱动器和步进电机。
请一并参阅图4至图7，所述充电装置电极40上还设置有温度传感器7，所述温度传感器7设置在所述充电装置电极40靠近所述第二机械臂223的一侧，所述温度传感器7用于在充电装置充电时，采集所述充电装置电极40的温度值，并将所述温度值发送给所述控 制装置4。所述控制装置4，用于接收所述温度值，并将所述温度值与预设温度值进行比较，当所述温度值达到所述预设温度值时，控制所述充电装置电极40停止给待充电电极30充电。
请一并参阅图4至图7，进一步地，所述固定件221包括压力平衡器8，所述压力平衡器8设置在所述固定件221靠近所述第一机械臂222的位置，用于在所述充电装置电极40下降的过程中，采集所述充电装置电极40受到的压力值，并将所述压力值发送给所述控制装置4。所述控制装置4，用于接收所述压力值，将所述压力值与预设压力值行比对，在确定所述压力值达到所述预设压力值时，控制所述第一机械臂222和第二机械臂223停止下降。
请一并参阅图4至图7，进一步地，所述伸缩机构22包括吹气嘴9，所述吹气嘴9设置在所述第二机械臂223靠近所述充电装置电极40的位置；所述吹气嘴9用于在所述待充电电极30充电前，清理吹飞所述待充电电极30上的异物。
请一并参阅图4至图7，在其他实施例中，所述伸缩机构22还包括生物检测器，所述生物检测器设置在所述固定件221靠近所述充电装置电极40的一侧，所述生物监测器用于在所述预设车辆50充电时，采集所述预设车辆50附近的生物活动强度信息，并将生物活动信息发送给所述控制装置4。所述控制装置4，用于接收所述生物活动强度信息，并将所述生物活动强度信息与预设生物活动强度信息进行比较，当所述生物活动强度信息达到了预设生物活动强度信息时，控制所述充电装置电极40停止给所述预设车辆50充电。
请一并参阅图4至图7，在其他实施例中，所述视觉传感器151还可以设置在所述支撑组件20远离所述充电弓体1的一端，用于采 集待充电电极30的位置。视觉传感器151的设置位置可以是在伸缩机构22上，也可以固定设置在所述充电装置附近的墙体或者天花板上，只要能够清晰采集待充电电极30的位置即可，在本实施例中，不对视觉传感器151的设置位置做具体的限定。可选地，所述视觉传感器151可以设置在所述支撑组件20远离所述充电弓体1的一端。所述视觉传感器151与所述控制装置4电性连接，所述控制装置4根据所述视觉传感器151采集的待充电电极30的位置，控制所述弓头部2运动，以使所述充电装置电极40与所述待充电电极30对准。
请参阅图8，本申请还提供了一种充电方法，包括：
在步骤S101中，通过充电移动机构10来采集图像信息。所述充电移动机构10，包括：二维移动组件12，其用于连接充电装置电极40，并允许带动所述充电装置电极40沿所述调整平面移动。所述调整平面与所述充电装置的伸展方向之间设有一夹角。检测组件15，其安装在所述二维移动组件12上，用于采集所述充电装置电极40及待充电电极30的原始位置数据。主控制器17，其与所述二维移动组件12和所述检测组件15分别电连接，且依据所述检测组件15采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件12移动。
在步骤S102中，对采集的图像信息进行处理，得到所述待充电电极30与所述充电装置电极40在所述图像信息中的位置坐标信息。
在步骤S103中，根据位置坐标信息控制所述充电装置电极40向所述待充电电极30移动，以使所述充电装置电极40与所述待充电电极30对准。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于 本领域的技术人员来说，在不冲突的情况下，上述的实施例中的特征可以相互组合，本申请也可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。并且，应将实施例看作是示范性的，而且是非限制性的，本申请的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本申请内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。

Claims (20)

  1. 一种充电移动机构，包括：
    二维移动组件，其用于连接充电装置电极，并允许带动所述充电装置电极沿所述调整平面移动；其中所述调整平面与所述充电装置的伸展方向之间设有一夹角；
    检测组件，其安装在所述二维移动组件上，用于采集所述充电装置电极及待充电电极的原始位置数据；
    主控制器，其与所述二维移动组件和所述检测组件分别电连接，且依据所述检测组件采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件移动。
  2. 根据权利要求1所述的充电移动机构，其中所述二维移动组件包括相互连接的第一滑动件和第二滑动件，其中所述第一滑动件允许带动所述第二滑动件沿第一方向所在直线移动，所述第二滑动件与所述充电装置电极连接，并允许带动所述充电装置电极沿第二方向所在直线移动。
  3. 根据权利要求2所述的充电移动机构，其中所述第一方向和所述第二方向位于所述调整平面内，且所述第一方向与所述第二方向呈夹角设置。
  4. 根据权利要求2所述的充电移动机构，其中所述第一滑动件和第二滑动件为直线移动机构。
  5. 根据权利要求2所述的充电移动机构，其中所述第一滑动件和第二滑动件分别与主控制器连接。
  6. 根据权利要求1所述的充电移动机构，其中所述检测组件包括视觉传感器，所述视觉传感器用于检测所述充电装置电极及所述车载电极的位置图像并依此生成所述位置调整信息。
  7. 根据权利要求6所述的充电移动机构，其中所述视觉传感器还用于采集预设位置所在区域的图像变化信息。
  8. 根据权利要求6所述的充电移动机构，其中所述视觉传感器还用于采集预设位置所在区域的车辆图像。
  9. 根据权利要求6所述的充电移动机构，其中所述视觉传感器包括发射部和接收部，所述发射部用于向所述充电装置电极发射检测光波，所述接收部与所述主控制器电连接，用于接收经所述充电装置电极反射后的所述检测光波。
  10. 一种充电装置，包括：
    充电弓体，其一端固定设置在地面或墙体上；
    弓头部，其与所述充电弓体的另一端固定连接；所述弓头部包括支撑组件、充电装置电极及充电移动机构；
    所述充电移动机构包括：
    二维移动组件，其用于连接充电装置电极，并允许带动所述充电装置电极沿所述调整平面移动；其中所述调整平面与所述充电装置的伸展方向之间设有一夹角；
    检测组件，其安装在所述二维移动组件上，用于采集所述充电装置电极及待充电电极的原始位置数据；
    主控制器，其与所述二维移动组件和所述检测组件分别电连接，且依据所述检测组件采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件移动。
  11. 根据权利要求10所述的充电装置，其中所述支撑组件包括连接件，其中所述连接件的一端固定连接于所述充电弓体。
  12. 根据权利要求11所述的充电装置，其中所述支撑组件还包括支撑件，其中所述支撑件的一端固定连接于所述连接件远离所述充电弓体的另一端；其中所述支撑件的另一端沿平行于地面的水平面延伸。
  13. 根据权利要求12所述的充电装置，其中所述充电移动机构滑动安装在所述支撑件靠近地面的一侧。
  14. 根据权利要求10所述的充电装置，其中所述装置头部还包括伸缩机构，其中所述伸缩机构的一端连接于所述二维移动组件，其中所述伸缩机构的另一端连接于所述充电装置电极；其中所述二维移动组件带动所述伸缩机构沿调整平面移动；其中所述伸缩机构驱动所述充电装置电极在所述伸缩机构的伸展方向上运动。
  15. 根据权利要求14所述的充电装置，其中所述伸缩机构的伸展方向所在的平面与所述调整平面之间有一夹角。
  16. 根据权利要求14所述的充电装置，其中所述伸缩机构包括固定件、第一机械臂和第二机械臂；其中所述固定件的一端滑动连接于所述第二滑动件远离所述第一滑动件的一端；其中所述第一机械臂的一端转动连接于所述固定件的另一端；所述第二机械臂的一端转动连接于所述第一机械臂远离所述固定件的另一端；所述第二机械臂的另一 端连接于所述充电装置电极。
  17. 根据权利要求16中所述的充电装置，其中所述充电装置电极上设置有温度传感器，所述温度传感器设置在所述充电装置电极靠近所述第二机械臂的一侧。
  18. 根据权利要求16中所述的充电装置，其中所述固定件上设置有压力平衡器，所述压力平衡器设置在所述固定件靠近所述第一机械臂的位置。
  19. 根据权利要求16中所述的充电装置，其中所述伸缩机构上设置有吹气嘴，所述吹气嘴设置在所述第二机械臂靠近所述充电装置电极的位置。
  20. 一种充电方法，所述方法包括：
    通过充电移动机构来采集图像信息；
    所述充电移动机构，其包括：
    二维移动组件，其用于连接充电装置电极，并允许带动所述充电装置电极沿所述调整平面移动；其中所述调整平面与所述充电装置的伸展方向之间设有一夹角；
    检测组件，其安装在所述二维移动组件上，用于采集所述充电装置电极及待充电电极的原始位置数据；
    主控制器，其与所述二维移动组件和所述检测组件分别电连接，且依据所述检测组件采集的原始位置数据生成位置调整信息，依据所述位置调整信息控制所述二维移动组件移动。
    对采集的图像信息进行处理，得到所述待充电电极与所述充电装置电极在所述图像信息中的位置坐标信息；
    根据位置坐标信息控制所述充电装置电极向所述待充电电极移动，以使所述充电装置电极与所述待充电电极对准。
PCT/CN2019/091686 2018-08-15 2019-06-18 一种充电移动机构及其应用的充电装置、充电方法 WO2020034744A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201810930614.8 2018-08-15
CN201810930614.8A CN109050309A (zh) 2018-08-15 2018-08-15 一种充电弓及充电方法
CN201810994271.1 2018-08-28
CN201810994271.1A CN109080489A (zh) 2018-08-28 2018-08-28 充电移动机构及充电装置

Publications (1)

Publication Number Publication Date
WO2020034744A1 true WO2020034744A1 (zh) 2020-02-20

Family

ID=69525087

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/091686 WO2020034744A1 (zh) 2018-08-15 2019-06-18 一种充电移动机构及其应用的充电装置、充电方法

Country Status (1)

Country Link
WO (1) WO2020034744A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120233062A1 (en) * 2011-03-11 2012-09-13 Kevin Terrill Cornish Method and process for an electric vehicle charging system to automatically engage the charging apparatus of an electric vehicle
US20140239890A1 (en) * 2013-02-27 2014-08-28 Satyajit Patwardhan Hands free conductive charging system for Electric Vehicles
CN107031450A (zh) * 2017-05-31 2017-08-11 福州工大联合智能科技有限公司 一种电动汽车自动充电装置及其控制方法
CN107994370A (zh) * 2017-11-22 2018-05-04 齐洪元 智能接触盘装置和控制方法
CN108146256A (zh) * 2016-12-06 2018-06-12 比亚迪股份有限公司 电动汽车及其无线充电自动对位装置和方法
CN108215903A (zh) * 2017-12-28 2018-06-29 王天忆 一种新能源辅助充电机械手
CN109050309A (zh) * 2018-08-15 2018-12-21 江苏万帮德和新能源科技股份有限公司 一种充电弓及充电方法
CN109080489A (zh) * 2018-08-28 2018-12-25 江苏万帮德和新能源科技股份有限公司 充电移动机构及充电装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120233062A1 (en) * 2011-03-11 2012-09-13 Kevin Terrill Cornish Method and process for an electric vehicle charging system to automatically engage the charging apparatus of an electric vehicle
US20140239890A1 (en) * 2013-02-27 2014-08-28 Satyajit Patwardhan Hands free conductive charging system for Electric Vehicles
CN108146256A (zh) * 2016-12-06 2018-06-12 比亚迪股份有限公司 电动汽车及其无线充电自动对位装置和方法
CN107031450A (zh) * 2017-05-31 2017-08-11 福州工大联合智能科技有限公司 一种电动汽车自动充电装置及其控制方法
CN107994370A (zh) * 2017-11-22 2018-05-04 齐洪元 智能接触盘装置和控制方法
CN108215903A (zh) * 2017-12-28 2018-06-29 王天忆 一种新能源辅助充电机械手
CN109050309A (zh) * 2018-08-15 2018-12-21 江苏万帮德和新能源科技股份有限公司 一种充电弓及充电方法
CN109080489A (zh) * 2018-08-28 2018-12-25 江苏万帮德和新能源科技股份有限公司 充电移动机构及充电装置

Similar Documents

Publication Publication Date Title
US9520731B2 (en) Control method for cleaning robots
KR102395276B1 (ko) 운전자 지원 시스템 검사 장치 및 그 제어 방법
CN104732478B (zh) 用于车辆的平视显示器的检验装置和方法
US20160170412A1 (en) Autonomous mobile device and method for controlling same
US20190001831A1 (en) Method for implementing power supply procedures from at least one power supply unit to a plurality of transportation vehicles to be supplied with power
CN106671811A (zh) 一种用于电动汽车无线充电的精确定位装置及其定位方法
US20220018935A1 (en) Target alignment for vehicle sensor calibration
CN108830673B (zh) 一种电动汽车电源共享系统及共享方法
CN107830832A (zh) 工件轮廓扫描系统及方法
KR100948947B1 (ko) 이동체의 위치 추정 장치 및 그 방법
JP2012222975A (ja) 給電装置搭載車両
CN110952821A (zh) 一种智能辅助功能的社区立体停车系统
CN109050309A (zh) 一种充电弓及充电方法
US11125859B2 (en) Vehicle inspection device
KR20150056343A (ko) 차량용 스마트 크루즈 컨트롤의 검사 장치
WO2020034744A1 (zh) 一种充电移动机构及其应用的充电装置、充电方法
CN102812326A (zh) 用于控制测量系统的方法和用于实施所述方法的测量系统
CN109895642B (zh) 一种电动汽车无线充电定位系统及方法
CN105667505A (zh) 电动汽车的自动停车系统和自动停车方法
CN210011608U (zh) 无线充电装置及系统
CN112945264A (zh) 一种具备行程记录功能的便携式智能测量小车
CN109080489A (zh) 充电移动机构及充电装置
CN218398132U (zh) 一种变电站室内多功能操作机器人
CN110942617A (zh) 红外接收性能测试装置
CN115655102A (zh) 一种搭载尺寸测量系统的自主机器人及工件测量方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19849655

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19849655

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 19849655

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 15/09/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 19849655

Country of ref document: EP

Kind code of ref document: A1