WO2021092726A1 - Self-propelled vehicle and self-propelled vehicle system - Google Patents

Self-propelled vehicle and self-propelled vehicle system Download PDF

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Publication number
WO2021092726A1
WO2021092726A1 PCT/CN2019/117158 CN2019117158W WO2021092726A1 WO 2021092726 A1 WO2021092726 A1 WO 2021092726A1 CN 2019117158 W CN2019117158 W CN 2019117158W WO 2021092726 A1 WO2021092726 A1 WO 2021092726A1
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WO
WIPO (PCT)
Prior art keywords
charging
charging station
self
processing device
propelled vehicle
Prior art date
Application number
PCT/CN2019/117158
Other languages
French (fr)
Chinese (zh)
Inventor
叶家杰
阎柏均
Original Assignee
威刚科技股份有限公司
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
Application filed by 威刚科技股份有限公司 filed Critical 威刚科技股份有限公司
Priority to PCT/CN2019/117158 priority Critical patent/WO2021092726A1/en
Publication of WO2021092726A1 publication Critical patent/WO2021092726A1/en

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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
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
    • 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 invention relates to a self-propelled vehicle and a self-propelled vehicle system, in particular to a self-propelled vehicle and a self-propelled vehicle system capable of wireless charging.
  • AGVs automated guided vehicles
  • the unmanned guided vehicle When the power of the unmanned guided vehicle is low, the unmanned guided vehicle will move to the charging station according to the marking unit on the ground (such as a magnetic strip). After the unmanned guided vehicle is moved to the charging station, it can be roughly divided into several ways to charge. One is to manually plug the relevant power cord into the unmanned vehicle, and the other is to manually recharge the vehicle. The rechargeable battery in the unmanned transport vehicle is swapped, and the third is to use mechanical equipment to automatically swap the rechargeable battery in the unmanned transport vehicle. Either way, there is a time-consuming problem.
  • the invention discloses a self-propelled vehicle and a self-propelled vehicle system, which are mainly used to improve the time-consuming problem of the charging or battery replacement of the existing unmanned transport vehicle.
  • a self-propelled vehicle which includes: a vehicle body; a driving device arranged on the vehicle body; the driving device includes a plurality of wheels; and a navigation device arranged on the vehicle body for navigation
  • the device can detect the surrounding environment of the car body in real time to correspondingly generate environmental information in real time;
  • a processing device is fixedly arranged on the car body, and the processing device is electrically connected to the driving device and the navigation device; the processing device can control the drive according to the environmental information
  • the device operates to make the self-propelled vehicle move to a nearby charging station;
  • a wireless charging device includes: a plurality of wireless charging coils, which are respectively fixedly arranged on different sides of the vehicle body; a switching module, which is electrically connected Each wireless charging coil; a battery device, which is electrically connected to the switching module, and the processing device is electrically connected to the battery device; a positioning device, which is arranged on the car body, and the positioning device is used to detect the relative position of the car body and the
  • the wireless charging device includes two wireless charging coils, and the two wireless charging coils are arranged on two opposite sides of the car body;
  • the navigation device includes at least a plurality of ultrasonic detectors, at least a road condition image extractor and a lidar, A plurality of ultrasonic detectors are arranged on the car body, each ultrasonic detector is used to emit ultrasonic waves around the car body, and each ultrasonic detector is also used to receive reflected ultrasonic waves, and can generate an ultrasonic wave accordingly Detection information;
  • the road condition image extractor is used to extract the image of the front of the car body to correspondingly generate the road condition image extraction information;
  • the laser radar can scan the surroundings of the car body in real time, and generate a laser scan information;
  • the environmental information includes at least ultrasonic detection information, road condition image extractor information, and laser scanning information;
  • the processing device includes a storage unit that stores at least one map information. The processing device can control the navigation device and the driving device according to the map information to make The
  • the positioning device includes a reader, the reader is fixedly arranged on the vehicle body, and the reader is used to read a tag unit arranged at the charging station; when the self-propelled vehicle moves to the charging station, the processing device will control the reading The picker reads the tag unit set at the charging station, and generates positioning information accordingly; after the processing device receives the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will Walk the car for wireless charging.
  • the processing device will control the reading The picker reads the tag unit set at the charging station, and generates positioning information accordingly; after the processing device receives the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will Walk the car for wireless charging.
  • the reader is an image extraction unit
  • the side of the vehicle body facing the ground has a perforation
  • the image extraction unit can pass through the perforation to photograph the tag unit set on the ground of the charging station.
  • the processing device includes a battery management module, which is electrically connected to the battery device, and the battery management module can generate a power information corresponding to the power of the battery device; the processing device can transmit a charging stop message to the power information according to the power information. Charging station so that the charging station no longer wirelessly charges the self-propelled vehicle.
  • a self-propelled vehicle system which includes: a plurality of charging stations, each charging station includes: a charging station body; a charging station processing device, which is arranged in the charging station body; a charging station The wireless charging module is arranged in the charging station body, the charging station wireless charging module is electrically connected to the charging station processing device, and the charging station wireless charging module is connected to a power supply; a charging station wireless charging coil is arranged in the charging station body for charging The wireless charging coil of the station is electrically connected to the wireless charging module of the charging station; at least one self-propelled vehicle includes: a vehicle body; a driving device arranged on the vehicle body; the driving device includes a plurality of wheels; and a navigation device arranged on The car body, the navigation device can detect the surrounding environment of the car body to generate environmental information correspondingly; a processing device, which is fixedly arranged on the car body, and the processing device is electrically connected to the driving device and the navigation device; the processing device can control according to
  • the wireless charging device includes two wireless charging coils, and the two wireless charging coils are arranged on two opposite sides of the car body;
  • the navigation device includes at least a plurality of ultrasonic detectors, at least a road condition image extractor and a lidar, A plurality of ultrasonic detectors are arranged on the car body, each ultrasonic detector is used to emit ultrasonic waves around the car body, and each ultrasonic detector is also used to receive reflected ultrasonic waves, and can generate an ultrasonic wave accordingly Detection information;
  • the road condition image extractor is used to extract the image of the front of the car body to correspondingly generate the road condition image extraction information;
  • the laser radar can scan the surroundings of the car body in real time, and generate a laser scan information;
  • the environmental information includes at least ultrasonic detection information, road condition image extractor information, and laser scanning information;
  • the processing device includes a storage unit that stores at least one map information. The processing device can control the navigation device and the driving device according to the map information to make The
  • the positioning device includes a reader, the reader is fixedly arranged on the vehicle body, and the reader is used to read a tag unit arranged at the charging station; when the self-propelled vehicle moves to the charging station, the processing device will control the reading The picker reads the tag unit set at the charging station and generates a positioning information accordingly; after the processing device receives the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will The self-propelled car is charged wirelessly.
  • the processing device will control the reading The picker reads the tag unit set at the charging station and generates a positioning information accordingly; after the processing device receives the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will The self-propelled car is charged wirelessly.
  • the reader is an image extraction unit
  • the side of the vehicle body facing the ground has a perforation
  • the image extraction unit can pass through the perforation to photograph the tag unit set on the ground of the charging station.
  • the processing device includes a battery management module, which is electrically connected to the battery device, and the battery management module can generate a power information corresponding to the power of the battery device; the processing device can transmit a charging stop message to the power information according to the power information. Charging station so that the charging station no longer wirelessly charges the self-propelled vehicle.
  • the self-propelled vehicle and self-propelled vehicle system of the present invention are equipped with multiple wireless charging coils, and are designed with a navigation device, switching module, positioning device, etc., so that the self-propelled vehicle can operate at low power. In this case, you can move to a nearby charging station for wireless charging. Since the self-propelled vehicle is equipped with wireless charging coils on different sides, and the self-propelled vehicle is equipped with a positioning device, when the self-propelled vehicle moves to the charging station, the wireless charging coil of the self-propelled vehicle can quickly be connected to the wireless charging coil of the charging station. Set up face-to-face, and the self-propelled car can be quickly charged by the charging station.
  • Fig. 1 is a block diagram of the self-propelled vehicle system of the present invention.
  • Figures 2 to 4 are three-dimensional schematic diagrams of the self-propelled vehicle of the present invention.
  • the self-propelled vehicle system 100 includes a plurality of charging stations 10 and at least one self-propelled vehicle 20.
  • Each charging station 10 includes: a charging station body 11, a charging station processing device 12, a charging station wireless charging module 13 and a charging station wireless charging coil 14.
  • the charging station body 11 is fixedly arranged in the factory building.
  • the charging station body 11 is the main structure of the charging station 10. The appearance, size, etc. of the charging station body 11 can be changed according to requirements and are not limited here.
  • the charging station processing device 12 is arranged in the charging station body 11.
  • the charging station processing device 12 includes, for example, a circuit board and a processor.
  • the charging station processing device 12 is mainly used to receive and send signals; in practical applications, the charging station processes The device 12 may receive and send signals in a wireless or wired manner. In different applications, the charging station processing device 12 can be connected to a remote server, and the charging station processing device 12 can receive signals transmitted by the remote server, and the charging station processing device 12 can also transmit signals to the remote server.
  • the charging station wireless charging module 13 is arranged in the charging station body 11.
  • the charging station wireless charging module 13 is mainly used to electrically connect the charging station wireless charging coil 14 with the charging station processing device 12, and the charging station wireless charging module 13 is used to connect One power supply P.
  • the charging station processing device 12 can control the charging station wireless charging module 13 so that the power supply P can wirelessly charge the adjacent self-propelled vehicle 20 through the charging station wireless charging coil 14.
  • the charging station processing device 12 and the charging station wireless charging module 13 may also be integrated into a control circuit module.
  • the wireless charging coil 14 of the charging station is arranged in the charging station body 11. Regarding the form, size, appearance and installation location of the wireless charging coil 14 of the charging station, it can be changed according to requirements, and is not limited here.
  • the number of charging stations 10 included in the self-propelled vehicle system 100 can be increased or decreased according to demand, and is not limited here.
  • the self-propelled vehicle system 100 may also include a central controller (not shown, for example, a server), which is used to connect all the charging stations. 10.
  • the central controller can control the operation of each charging station 10.
  • FIGS. 2 and 3 are three-dimensional schematic diagrams of the self-propelled vehicle of the present invention
  • FIG. 4 is a block diagram of the self-propelled vehicle of the present invention.
  • the self-propelled vehicle 20 includes a vehicle body 21, a driving device 22, a navigation device 23, a processing device 24, a wireless charging device 25, a battery device 26 and a positioning device 27.
  • the car body 21 is used to set the driving device 22, the navigation device 23, the wireless charging device 25, the battery device 26, and the positioning device 27.
  • the appearance and size of the car body 21 can be changed according to requirements and are not limited to those shown in the figure.
  • the driving device 22 is disposed on the vehicle body 21, and the driving device 22 includes a driving module 221 and a plurality of wheels 222.
  • the plurality of wheels 222 are pivotally connected to the vehicle body 21, and the driving module 221 is connected with the wheels 222.
  • the processing device 24 is electrically connected to the driving device 22, and the processing device 24 can control the driving module 221 to drive a plurality of the wheels 222 to move, so as to move the self-propelled vehicle 20 forward or backward. In practical applications, the processing device 24 may also control the driving module 221 to make the self-propelled vehicle 20 turn or rotate.
  • the number of wheels 222 is not limited as shown in the figure; in practical applications, the driving module 221 may include components such as motors, gears, etc., so as to synchronize at least a part of the wheels 222 to rotate in the same direction.
  • the navigation device 23 is disposed in the vehicle body 21, and the navigation device 23 can detect the surrounding environment of the vehicle body 21 to correspondingly generate an environmental information 23A.
  • the processing device 24 is fixed to the vehicle body 21, and the processing device 24 is electrically connected to the driving device 22 and the navigation device 23.
  • the processing device 24 can control the operation of the driving device 22 according to the environmental information 23A to move the self-propelled vehicle 20 to the charging station 10.
  • the navigation device 23 referred to here may be, for example, a related guiding member (such as geomagnetism) used to detect the ground of a factory building, or the navigation device 23 may be used to detect 360 degrees around the self-propelled vehicle 20.
  • the environmental conditions of the country are not restricted here.
  • the navigation device 23 may at least include a plurality of ultrasonic detectors 231, a road condition image extractor 232, and a lidar 233.
  • a plurality of ultrasonic detectors 231 are arranged on the car body 21, and each ultrasonic detector 231 is used to emit ultrasonic waves to the periphery of the car body 21, and each ultrasonic detector 231 is also used to receive the reflected ultrasonic waves and can According to this, an ultrasonic detection information 2311 is generated.
  • the road condition image extractor 232 is used to extract an image in front of the vehicle body 21 to correspondingly generate road condition image extraction information 2321.
  • the laser radar 233 can scan and detect the surroundings of the vehicle body 21 in 360 degrees in real time, and generate a laser scanning information 2331 accordingly.
  • the environmental information 23A correspondingly includes the ultrasonic detection information 2311, the road condition image extraction information 2321, and the laser Scan information 2331.
  • each self-propelled vehicle 20 can also be wirelessly connected to a remote server, and relevant personnel can transmit related information through electronic devices (for example, various smart phones, smart flat plates, etc.) and the remote server.
  • the control signal is sent to the self-propelled vehicle 20, and the self-propelled vehicle 20 moves to a specific position in the factory.
  • the processing device 24 may also include a storage unit 241, and the storage unit 241 stores at least one map information 2411.
  • the processing device 24 can control the navigation device 23 and the driving device 22 according to the map information 2411 to move the self-propelled vehicle 20 to the charging station 10; that is to say, when the relevant person transmits the control signal to the self-propelled vehicle 20 through the remote server,
  • the processing device 24 of the self-propelled vehicle 20 will be able to control the self-propelled vehicle 20 to move to a specific position in the factory by itself according to the control signal and map information 2411, in conjunction with the real-time environmental information 23A generated by the navigation device 23.
  • the self-propelled vehicle 20 can basically detect the environment and plan the route by itself. And move to a specific location by itself; that is, the relevant personnel do not need to lay the components used to guide the self-propelled vehicle 20 to walk on the ground of the factory, and the self-propelled vehicle 20 can avoid obstacles on the ground by itself according to the navigation device 23 And walk to the designated location in the factory.
  • the number and location of ultrasonic detectors 231, road condition image extractors 232, and lidar 233 included in the navigation device 23 can be changed according to requirements, and the navigation device 23 is not limited to using ultrasonic detection.
  • the detector 231, the road condition image extractor 232, and the lidar 233 are used to detect the environment around the self-propelled vehicle 20.
  • the navigation device 23 may include any detector for assisting the processing device 24 to determine the environment around the self-propelled vehicle 20.
  • the wireless charging device 25 includes: two wireless charging coils 251 and a switching module 252. Two wireless charging coils 251 are arranged on the vehicle body 21, and the two wireless charging coils 251 are arranged on two different sides of the vehicle body 21. For example, the two wireless charging coils 251 may be arranged on the vehicle body 21. Opposite sides. In practical applications, it may be determined on which sides of the vehicle body 21 the multiple wireless charging coils 251 are installed according to the installation position of the charging station 10 in the factory.
  • the switching module 252 is disposed on the vehicle body 21, and the switching module 252 is electrically connected to the two wireless charging coils 251.
  • the battery device 26 is provided in the vehicle body 21, and the battery device 26 is a rechargeable battery.
  • the battery device 26 is used to provide the power required by all the electronic components of the self-propelled vehicle 20.
  • the battery device 26 is electrically connected to the switching module 252, and the battery device 26 is electrically connected to the processing device 24.
  • the processing device 24 can control the operation of the switching module 252 to electrically connect the battery device 26 with one of the wireless charging coils 251, so that the electric energy generated by the wireless charging coil 251 can be stored in the battery device 26.
  • multiple wireless charging coils 251 can be connected to the same circuit board, the switching module 252 is a related circuit provided on the circuit board, and the processing device 24 is a microcomputer provided on the circuit board. processor.
  • the positioning device 27 is disposed on the vehicle body 21, and the positioning device 27 is used to detect the relative position of the vehicle body 21 and the charging station 10 to correspondingly generate a positioning information 27A.
  • the positioning device 27 may, for example, include a reader 271 that can read a tag unit 15 (for example, a two-dimensional barcode) installed on the ground of the charging station 10.
  • the processing device 24 will control the reader 271 to read the tag unit 15 provided in the charging station 10, and generate the positioning information 27A accordingly.
  • the processing device 24 After the processing device 24 receives the positioning information 27A, the processing device 24 transmits a charging signal 24A to the charging station 10, and the charging station 10 receives the charging signal 24A to wirelessly charge the self-propelled vehicle 20.
  • the reader 271 may be, for example, an image extraction unit.
  • the vehicle body 21 has a perforation 211 on the side facing the ground.
  • the image extraction unit can pass through the perforation 211 to photograph tags set on the ground of the charging station 10.
  • the processing device 24 When the processing device 24 determines that the power of the battery device 26 is lower than a predetermined value, the processing device 24 will control the navigation device 23 and the driving device 22 to move the self-propelled vehicle 20 to one of the adjacent charging stations 10 by itself.
  • the processing device 24 may also include a battery management module 242.
  • the battery management module 242 is electrically connected to the battery device 26.
  • the battery management module 242 can correspondingly generate a power information 2421 based on the power of the battery device 26, and the processing device 24 can determine whether the power of the battery device 26 is based on the power information 2421 Below the predetermined value.
  • the processing device 24 When the self-propelled vehicle 20 moves to one of the nearby charging stations 10, the processing device 24 will control the positioning device 27 to act, and the processing device 24 will determine whether one of the wireless charging coils 251 has been wirelessly charged with the charging station based on the positioning information 27A
  • the coils 14 are arranged facing each other. More specifically, when the processing device 24 controls the navigation device 23 to move to the adjacent charging station 10 according to the map information 2411, the processing device 24 will control the image extraction unit (positioning device 27) of the positioning device 27 to operate on the ground.
  • Image extraction if the processing device 24 determines that the two-dimensional barcode (label unit 15) does not appear in the image extracted by the image extraction unit (positioning device 27), the processing device 24 will control the driving device 22 to operate until the image extraction unit ( The positioning device 27) extracts the two-dimensional barcode.
  • the processing device 24 determines that the positioning device 27 has correctly extracted the two-dimensional barcode (tag unit 15) installed on the ground of the charging station 10, the processing device 24 will transmit the charging signal 24A to the charging station 10, and the charging station 10 will receive After the charging signal 24A is reached, the self-propelled vehicle 20 will be wirelessly charged through the wireless charging coil 14 and the wireless charging coil 251 of the charging station.
  • the processing device 24 may first control the switching module 252 to act, so that one of the wireless charging coils 251 of the self-propelled vehicle 20 is electrically connected to the battery device 26, thereby, the processing device
  • the processing device When 24 sends a charging signal 24A to the charging station 10, the wireless charging coil 251 facing the charging station 10 will cooperate with the charging station wireless charging coil 14 of the charging station 10 accordingly to charge the battery device 26.
  • the processing device 24 can also determine which wireless charging coil 251 on the vehicle body 21 is wirelessly communicating with the charging station by repeatedly controlling the switching module 252 after sending the charging signal 24A to the charging station 10.
  • the charging coil 14 interacts, thereby electrically connecting the battery device 26 with the wireless charging coil 251 that is interacting with the wireless charging coil 14 of the charging station.
  • the processing device 24 When the processing device 24 determines that the power of the battery device 26 has reached the predetermined value based on the power information 2421, the processing device 24 will transmit a stop charging information 24B to the charging station 10 so that the charging station 10 will no longer perform wireless communication with the self-propelled vehicle 20. Recharge.
  • the navigation device 23 of the self-propelled vehicle 20 is mainly used to assist the processing device 24 to move the self-propelled vehicle 20 to a position adjacent to the charging station 10, and the positioning device 27 is used to assist the processing device 24.
  • the wireless charging coil 251 of the self-propelled vehicle 20 and the charging station wireless charging coil 14 of the charging station 10 are arranged to face each other. Furthermore, in the process of using the wireless charging coil 251 to cooperate with the charging station 10 to perform wireless charging, if the wireless charging coil 251 and the charging station wireless charging coil 14 are not arranged facing each other, it may happen that charging is not possible or This is the problem of low charging efficiency. Therefore, the self-propelled vehicle 20 of the present invention can be arranged to face the wireless charging coil 14 of the charging station through the positioning device 27, so that the charging station 10 is highly efficient. The self-propelled vehicle 20 is wirelessly charged.
  • the self-propelled vehicle 20 may also include a movable platform device 28.
  • the movable stage device 28 includes a driving module 281 and a stage 282.
  • the driving module 281 is installed in the car body 21, the driving module 281 is electrically connected to the processing device 24, the carrier 282 is connected to the driving module 281, and the processing device 24 can control the driving module 281 to move the carrier 282 away from or close to the car body 21 In the direction of the move.
  • the driving module 281 may, for example, include a motor and a component for connecting the motor and the carrier 282 to each other, and the processing device 24 can control the action of the motor so that the carrier 282 can move up and down relative to the vehicle body 21.
  • the connection method of the driving module 281 and the carrier 282 there is no limitation here.
  • the self-propelled vehicle and self-propelled vehicle system of the present invention are equipped with multiple wireless charging coils, and are designed with a navigation device, switching module, positioning device, etc., so that the self-propelled vehicle can operate at low power. In this case, you can move to a nearby charging station for wireless charging. Since the self-propelled vehicle is equipped with wireless charging coils on different sides, and the self-propelled vehicle is equipped with a positioning device, the self-propelled vehicle can quickly set the wireless charging coil and the wireless charging coil of the charging station facing each other, so that the self-propelled vehicle The car can be quickly charged by the charging station.

Abstract

A self-propelled vehicle and a self-propelled vehicle system (100). The self-propelled vehicle system (100) comprises a self-propelled vehicle (20); the self-propelled vehicle (20) comprises: a vehicle body (21), a driving device (22), a navigation device (23), a processing device (24), a wireless charging device (25), a battery device (26) and a positioning device (27); the navigation device (23) can detect the surrounding environment (21) of the vehicle body in real time, and generate environment information (23A); when the self-propelled vehicle (20) is in a low power state, the processing device (24) controls the driving device (22) according to the environment information (23A), and the self-propelled vehicle (20) moves to an adjacent charging station (10); and when the self-propelled vehicle (20) moves to the charging station (10), the processing device (24) controls the positioning device (27) to determine the relative position between the self-propelled vehicle (20) and the charging station (10), so as to control the driving device (22), so that a wireless charging coil (251) of the wireless charging device (25) is arranged opposite a wireless charging coil (14) of the charging station, and accordingly the self-propelled vehicle (20) can be wirelessly charged by the charging station (10).

Description

自走车及自走车系统Self-propelled vehicle and self-propelled vehicle system 技术领域Technical field
本发明涉及一种自走车及自走车系统，尤其涉及一种能无线充电的自走车及自走车系统。The invention relates to a self-propelled vehicle and a self-propelled vehicle system, in particular to a self-propelled vehicle and a self-propelled vehicle system capable of wireless charging.
背景技术Background technique
一般常见应用于厂房中的无人搬运车(Automation Guider Vehicle,AGV)配置有充电电池。无人搬运车在低电量的时候，无人搬运车会依据地面的标示单元(例如磁条)，移动至自行移动至充电站。无人搬运车移动至充电站后，大致可分为以几种方式进行充电，其一为利用人工的方式，将相关的电源线插设于无人搬运车，其二为以人工的方式将无人搬运车内的充电电池进行抽换，其三为利用机械设备，自动地将无人搬运车内的充电电池进行抽换。上述无论何种方式，皆存在有费时的问题。Generally, automated guided vehicles (AGVs) commonly used in factories are equipped with rechargeable batteries. When the power of the unmanned guided vehicle is low, the unmanned guided vehicle will move to the charging station according to the marking unit on the ground (such as a magnetic strip). After the unmanned guided vehicle is moved to the charging station, it can be roughly divided into several ways to charge. One is to manually plug the relevant power cord into the unmanned vehicle, and the other is to manually recharge the vehicle. The rechargeable battery in the unmanned transport vehicle is swapped, and the third is to use mechanical equipment to automatically swap the rechargeable battery in the unmanned transport vehicle. Either way, there is a time-consuming problem.
发明内容Summary of the invention
本发明公开一种自走车及自走车系统，主要用以改善现有的无人搬运车的充电或是电池更换的方式费时的问题。The invention discloses a self-propelled vehicle and a self-propelled vehicle system, which are mainly used to improve the time-consuming problem of the charging or battery replacement of the existing unmanned transport vehicle.
本发明公开的其中一个实施例是一种自走车，其包含：一车本体；一驱动装置，其设置于车本体，驱动装置包含多个轮子；一导航装置，其设置于车本体，导航装置能实时检测车本体的周围环境，以实时地对应产生一环境信息；一处理装置，其固定设置于车本体，处理装置电性连接驱动装置及导航装置；处理装置能依据环境信息，控制驱动装置动作，而使自走车自行移动至邻近的一充电站；一无线充电装置，其包含：多个无线充电线圈，其分别固定设置于车本体的不同侧面；一切换模块，其电性连接各个无线充电线圈；一电池装置，其电性连接切换模块，处理装置电性连接电池装置；一定位装置，其设置于车本体，定位装置用以检测车本体与充电站的相对位置，以对应产生一定位信息；其中，处理装置判断电池装置的电量低于一预定值时，处理装置将控制导航装置及驱动装置，以使自走车移动至邻近的充电站；当自走车移动至邻近的充电站时，处理装置将控制定位装置动作，而处理装置将依据定位信息，判断其中一个无线充电线圈是否已与充电站的一充电站 无线充电线圈相面对地设置；当处理装置依据定位信息判断其中一个无线充电线圈与充电站无线充电线圈相面对地设置时，处理装置将传递一充电信号至充电站；充电站接收充电信号后，将开始通过充电站无线充电线圈及无线充电线圈对无线充电装置进行充电。One of the embodiments disclosed in the present invention is a self-propelled vehicle, which includes: a vehicle body; a driving device arranged on the vehicle body; the driving device includes a plurality of wheels; and a navigation device arranged on the vehicle body for navigation The device can detect the surrounding environment of the car body in real time to correspondingly generate environmental information in real time; a processing device is fixedly arranged on the car body, and the processing device is electrically connected to the driving device and the navigation device; the processing device can control the drive according to the environmental information The device operates to make the self-propelled vehicle move to a nearby charging station; a wireless charging device includes: a plurality of wireless charging coils, which are respectively fixedly arranged on different sides of the vehicle body; a switching module, which is electrically connected Each wireless charging coil; a battery device, which is electrically connected to the switching module, and the processing device is electrically connected to the battery device; a positioning device, which is arranged on the car body, and the positioning device is used to detect the relative position of the car body and the charging station to correspond Generate a positioning information; wherein, when the processing device determines that the power of the battery device is lower than a predetermined value, the processing device will control the navigation device and the driving device to move the self-propelled vehicle to a nearby charging station; when the self-propelled vehicle moves to a nearby charging station The processing device will control the action of the positioning device, and the processing device will determine whether one of the wireless charging coils has been set facing a charging station wireless charging coil of the charging station based on the positioning information; when the processing device is based on the positioning When the information determines that one of the wireless charging coils is set facing the wireless charging coil of the charging station, the processing device will transmit a charging signal to the charging station; after the charging station receives the charging signal, it will start to pass through the wireless charging coil and the wireless charging coil of the charging station Charge the wireless charging device.
优选地，无线充电装置包含两个无线充电线圈，两个无线充电线圈设置于车本体彼此相反的两侧面；导航装置至少包含多个超音波检测器、至少一路况图像提取器及一激光雷达，多个超音波检测器设置于车本体，各个超音波检测器用以向车本体的周围发射超音波，且各个超音波检测器还用以接收被反射的超音波，并能据以产生一超音波检测信息；路况图像提取器用以提取车本体的前方的图像，以对应产生一路况图像提取信息；激光雷达能实时对车本体的周围进行360度的扫描检测，并据以产生一激光扫描信息；环境信息至少包含超音波检测信息、路况图像提取器信息及激光扫描信息；处理装置包含一储存单元，储存单元储存至少一地图信息，处理装置能依据地图信息，控制导航装置及驱动装置，以使自走车移动至充电站。Preferably, the wireless charging device includes two wireless charging coils, and the two wireless charging coils are arranged on two opposite sides of the car body; the navigation device includes at least a plurality of ultrasonic detectors, at least a road condition image extractor and a lidar, A plurality of ultrasonic detectors are arranged on the car body, each ultrasonic detector is used to emit ultrasonic waves around the car body, and each ultrasonic detector is also used to receive reflected ultrasonic waves, and can generate an ultrasonic wave accordingly Detection information; the road condition image extractor is used to extract the image of the front of the car body to correspondingly generate the road condition image extraction information; the laser radar can scan the surroundings of the car body in real time, and generate a laser scan information; The environmental information includes at least ultrasonic detection information, road condition image extractor information, and laser scanning information; the processing device includes a storage unit that stores at least one map information. The processing device can control the navigation device and the driving device according to the map information to make The self-propelled car moves to the charging station.
优选地，定位装置包含一读取器，读取器固定设置于车本体，读取器用以读取设置于充电站的一标签单元；当自走车移动至充电站时，处理装置将控制读取器，读取设置于充电站的标签单元，并据以产生定位信息；处理装置接收定位信息后，处理装置将传递充电信号至充电站，而充电站接收充电信号后，充电站将对自走车进行无线充电。Preferably, the positioning device includes a reader, the reader is fixedly arranged on the vehicle body, and the reader is used to read a tag unit arranged at the charging station; when the self-propelled vehicle moves to the charging station, the processing device will control the reading The picker reads the tag unit set at the charging station, and generates positioning information accordingly; after the processing device receives the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will Walk the car for wireless charging.
优选地，读取器为一图像提取单元，车本体面向地面的一侧具有一穿孔，图像提取单元能通过穿孔，拍摄设置于充电站的地面的标签单元。Preferably, the reader is an image extraction unit, the side of the vehicle body facing the ground has a perforation, and the image extraction unit can pass through the perforation to photograph the tag unit set on the ground of the charging station.
优选地，处理装置包含一电池管理模块，电池管理模块电性连接电池装置，电池管理模块能依据电池装置的电量，而对应产生一电量信息；处理装置能依据电量信息，传送一停止充电信息至充电站，以使充电站不再对自走车进行无线充电。Preferably, the processing device includes a battery management module, which is electrically connected to the battery device, and the battery management module can generate a power information corresponding to the power of the battery device; the processing device can transmit a charging stop message to the power information according to the power information. Charging station so that the charging station no longer wirelessly charges the self-propelled vehicle.
本发明公开的其中一个实施例是一种自走车系统，其包含：多个充电站，各个充电站包含：一充电站本体；一充电站处理装置，其设置于充电站本体；一充电站无线充电模块，其设置于充电站本体，充电站无线充电模块电性连接充电站处理装置，且充电站无线充电模块连接一供电源；一充电站无线充电线圈，其设置于充电站本体，充电站无线充电线圈电性连接充电站无线充电模块；至少一自走车，其包含：一车本体；一驱动装置，其设置于车本体，驱动装置包含多个轮子；一导航装置，其设置于车本体，导航装置能检测车本体的周围环境，以对应产生一环境信息；一处理装置，其固定设置于车本体，处理装置电性连接驱动装置及导航装置；处理装置能依据环境信息，控制驱动装置动作，而使自走车 移动至一充电站；一无线充电装置，其包含：多个无线充电线圈，其分别固定设置于车本体的不同侧面；一切换模块，其电性连接各个无线充电线圈；一电池装置，其电性连接切换模块，处理装置电性连接电池装置；一定位装置，其设置于车本体，定位装置用以检测车本体与充电站的相对位置，以对应产生一定位信息；其中，处理装置判断电池装置的电量低于一预定值时，处理装置将控制导航装置及驱动装置，以使自走车移动至邻近的其中一个充电站；当自走车移动至邻近的其中一个充电站时，处理装置将控制定位装置动作，而处理装置将依据定位信息，判断其中一个无线充电线圈是否已与充电站无线充电线圈相面对地设置；当处理装置依据定位信息判断其中一个无线充电线圈与充电站无线充电线圈相面对地设置时，处理装置将传递一充电信号至充电站，充电站接收充电信号后，将开始通过充电站无线充电线圈及无线充电线圈对无线充电装置进行充电。One of the embodiments disclosed in the present invention is a self-propelled vehicle system, which includes: a plurality of charging stations, each charging station includes: a charging station body; a charging station processing device, which is arranged in the charging station body; a charging station The wireless charging module is arranged in the charging station body, the charging station wireless charging module is electrically connected to the charging station processing device, and the charging station wireless charging module is connected to a power supply; a charging station wireless charging coil is arranged in the charging station body for charging The wireless charging coil of the station is electrically connected to the wireless charging module of the charging station; at least one self-propelled vehicle includes: a vehicle body; a driving device arranged on the vehicle body; the driving device includes a plurality of wheels; and a navigation device arranged on The car body, the navigation device can detect the surrounding environment of the car body to generate environmental information correspondingly; a processing device, which is fixedly arranged on the car body, and the processing device is electrically connected to the driving device and the navigation device; the processing device can control according to the environmental information The driving device moves to move the self-propelled car to a charging station; a wireless charging device, which includes: a plurality of wireless charging coils, which are fixedly arranged on different sides of the car body; a switching module, which is electrically connected to each wireless charging station; Charging coil; a battery device, which is electrically connected to the switching module, and the processing device is electrically connected to the battery device; a positioning device, which is arranged on the car body, the positioning device is used to detect the relative position of the car body and the charging station to generate a corresponding Positioning information; where the processing device determines that the power of the battery device is lower than a predetermined value, the processing device will control the navigation device and the driving device to move the self-propelled vehicle to one of the adjacent charging stations; when the self-propelled vehicle moves to the neighboring At one of the charging stations, the processing device will control the action of the positioning device, and the processing device will determine whether one of the wireless charging coils has been set facing the wireless charging coil of the charging station based on the positioning information; when the processing device determines based on the positioning information When one of the wireless charging coils is set facing the wireless charging coil of the charging station, the processing device will transmit a charging signal to the charging station. After the charging station receives the charging signal, it will start to communicate with the wireless charging coil and the wireless charging coil of the charging station. The charging device performs charging.
优选地，无线充电装置包含两个无线充电线圈，两个无线充电线圈设置于车本体彼此相反的两侧面；导航装置至少包含多个超音波检测器、至少一路况图像提取器及一激光雷达，多个超音波检测器设置于车本体，各个超音波检测器用以向车本体的周围发射超音波，且各个超音波检测器还用以接收被反射的超音波，并能据以产生一超音波检测信息；路况图像提取器用以提取车本体的前方的图像，以对应产生一路况图像提取信息；激光雷达能实时对车本体的周围进行360度的扫描检测，并据以产生一激光扫描信息；环境信息至少包含超音波检测信息、路况图像提取器信息及激光扫描信息；处理装置包含一储存单元，储存单元储存至少一地图信息，处理装置能依据地图信息，控制导航装置及驱动装置，以使自走车移动至邻近的其中一个充电站。Preferably, the wireless charging device includes two wireless charging coils, and the two wireless charging coils are arranged on two opposite sides of the car body; the navigation device includes at least a plurality of ultrasonic detectors, at least a road condition image extractor and a lidar, A plurality of ultrasonic detectors are arranged on the car body, each ultrasonic detector is used to emit ultrasonic waves around the car body, and each ultrasonic detector is also used to receive reflected ultrasonic waves, and can generate an ultrasonic wave accordingly Detection information; the road condition image extractor is used to extract the image of the front of the car body to correspondingly generate the road condition image extraction information; the laser radar can scan the surroundings of the car body in real time, and generate a laser scan information; The environmental information includes at least ultrasonic detection information, road condition image extractor information, and laser scanning information; the processing device includes a storage unit that stores at least one map information. The processing device can control the navigation device and the driving device according to the map information to make The self-propelled vehicle moves to one of the nearby charging stations.
优选地，定位装置包含一读取器，读取器固定设置于车本体，读取器用以读取设置于充电站的一标签单元；当自走车移动至充电站时，处理装置将控制读取器，读取设置于充电站的标签单元，并据以产生一定位信息；处理装置接收定位信息后，处理装置将传递充电信号至充电站，而充电站接收充电信号后，充电站将对自走车进行无线充电。Preferably, the positioning device includes a reader, the reader is fixedly arranged on the vehicle body, and the reader is used to read a tag unit arranged at the charging station; when the self-propelled vehicle moves to the charging station, the processing device will control the reading The picker reads the tag unit set at the charging station and generates a positioning information accordingly; after the processing device receives the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will The self-propelled car is charged wirelessly.
优选地，读取器为一图像提取单元，车本体面向地面的一侧具有一穿孔，图像提取单元能通过穿孔，拍摄设置于充电站的地面的标签单元。Preferably, the reader is an image extraction unit, the side of the vehicle body facing the ground has a perforation, and the image extraction unit can pass through the perforation to photograph the tag unit set on the ground of the charging station.
优选地，处理装置包含一电池管理模块，电池管理模块电性连接电池装置，电池管理模块能依据电池装置的电量，而对应产生一电量信息；处理装置能依据电量信息，传送一停止充电信息至充电站，以使充电站不再对自走车进行无线充电。Preferably, the processing device includes a battery management module, which is electrically connected to the battery device, and the battery management module can generate a power information corresponding to the power of the battery device; the processing device can transmit a charging stop message to the power information according to the power information. Charging station so that the charging station no longer wirelessly charges the self-propelled vehicle.
综上所述，本发明的自走车及自走车系统，通过使自走车设置多个无线充电线圈，并 搭配导航装置、切换模块、定位装置等设计，让自走车在低电量的情况下，可以自行移动至邻近的充电站进行无线充电。由于自走车不同侧面设置有无线充电线圈，且自走车设置有定位装置，因此，自走车移动至充电站时，自走车的无线充电线圈将可以快速地与充电站无线充电线圈相面对地设置，而自走车能快速地被充电站充电。In summary, the self-propelled vehicle and self-propelled vehicle system of the present invention are equipped with multiple wireless charging coils, and are designed with a navigation device, switching module, positioning device, etc., so that the self-propelled vehicle can operate at low power. In this case, you can move to a nearby charging station for wireless charging. Since the self-propelled vehicle is equipped with wireless charging coils on different sides, and the self-propelled vehicle is equipped with a positioning device, when the self-propelled vehicle moves to the charging station, the wireless charging coil of the self-propelled vehicle can quickly be connected to the wireless charging coil of the charging station. Set up face-to-face, and the self-propelled car can be quickly charged by the charging station.
为能更进一步了解本发明的特征及技术内容，请参阅以下有关本发明的详细说明与附图，但是此等说明与附图仅用来说明本发明，而非对本发明的保护范围作任何的限制。In order to further understand the features and technical content of the present invention, please refer to the following detailed descriptions and drawings about the present invention, but these descriptions and drawings are only used to illustrate the present invention, and do not make any claims about the protection scope of the present invention. limit.
附图说明Description of the drawings
图1为本发明的自走车系统的方块示意图。Fig. 1 is a block diagram of the self-propelled vehicle system of the present invention.
图2～图4为本发明的自走车的立体示意图。Figures 2 to 4 are three-dimensional schematic diagrams of the self-propelled vehicle of the present invention.
具体实施方式Detailed ways
于以下说明中，如有指出请参阅特定附图或是如特定附图所示，其仅是用以强调于后续说明中，所述及的相关内容大部分出现于该特定附图中，但不限制该后续说明中仅可参考所述特定附图。In the following description, if it is pointed out that please refer to a specific drawing or as shown in a specific drawing, it is only used to emphasize in the subsequent description, and most of the related content appears in the specific drawing, but It is not limited that only the specific drawings can be referred to in this subsequent description.
请参阅图1，其显示为本发明的自走车系统的方块示意图。如图所述，自走车系统100包含：多个充电站10及至少一自走车20。各个充电站10包含：一充电站本体11、一充电站处理装置12、一充电站无线充电模块13及一充电站无线充电线圈14。充电站本体11固定设置于厂房中，充电站本体11为充电站10的主体结构，充电站本体11的外型、尺寸等皆可依据需求变化，于此不加以限制。充电站处理装置12设置于充电站本体11，充电站处理装置12例如是包含有电路板及处理器等，充电站处理装置12主要是用来接收、发送信号；在实际应用中，充电站处理装置12可以是以无线或是有线的方式接收、发送信号。在不同的应用中，充电站处理装置12可以是与一远程服务器连接，而充电站处理装置12能接收远程服务器所传递的信号，且充电站处理装置12也可以是传递信号至远程服务器。Please refer to FIG. 1, which shows a block diagram of the self-propelled vehicle system of the present invention. As shown in the figure, the self-propelled vehicle system 100 includes a plurality of charging stations 10 and at least one self-propelled vehicle 20. Each charging station 10 includes: a charging station body 11, a charging station processing device 12, a charging station wireless charging module 13 and a charging station wireless charging coil 14. The charging station body 11 is fixedly arranged in the factory building. The charging station body 11 is the main structure of the charging station 10. The appearance, size, etc. of the charging station body 11 can be changed according to requirements and are not limited here. The charging station processing device 12 is arranged in the charging station body 11. The charging station processing device 12 includes, for example, a circuit board and a processor. The charging station processing device 12 is mainly used to receive and send signals; in practical applications, the charging station processes The device 12 may receive and send signals in a wireless or wired manner. In different applications, the charging station processing device 12 can be connected to a remote server, and the charging station processing device 12 can receive signals transmitted by the remote server, and the charging station processing device 12 can also transmit signals to the remote server.
充电站无线充电模块13设置于充电站本体11，充电站无线充电模块13主要是用来使充电站无线充电线圈14与充电站处理装置12电性连接，且充电站无线充电模块13用来连接一供电源P。充电站处理装置12能控制充电站无线充电模块13，以使供电源P能通过充电站无线充电线圈14，对邻近的自走车20进行无线充电作业。在实际应用中，充 电站处理装置12及充电站无线充电模块13也可以是整合为一控制电路模块。充电站无线充电线圈14设置于充电站本体11。关于充电站无线充电线圈14的形式、尺寸、外型及其设置位置等，皆可依据需求变化，于此不加以限制。The charging station wireless charging module 13 is arranged in the charging station body 11. The charging station wireless charging module 13 is mainly used to electrically connect the charging station wireless charging coil 14 with the charging station processing device 12, and the charging station wireless charging module 13 is used to connect One power supply P. The charging station processing device 12 can control the charging station wireless charging module 13 so that the power supply P can wirelessly charge the adjacent self-propelled vehicle 20 through the charging station wireless charging coil 14. In practical applications, the charging station processing device 12 and the charging station wireless charging module 13 may also be integrated into a control circuit module. The wireless charging coil 14 of the charging station is arranged in the charging station body 11. Regarding the form, size, appearance and installation location of the wireless charging coil 14 of the charging station, it can be changed according to requirements, and is not limited here.
在实际应用中，自走车系统100所包含的充电站10的数量，可以是依据需求增减，于此不加以限制。在自走车系统100包含有多个充电站10的实施例中，自走车系统100还可以是包含有一中央控制器(图未示，例如是服务器)，中央控制器用以连接所有的充电站10，而中央控制器能控制各个充电站10的运作。In practical applications, the number of charging stations 10 included in the self-propelled vehicle system 100 can be increased or decreased according to demand, and is not limited here. In the embodiment where the self-propelled vehicle system 100 includes multiple charging stations 10, the self-propelled vehicle system 100 may also include a central controller (not shown, for example, a server), which is used to connect all the charging stations. 10. The central controller can control the operation of each charging station 10.
请一并参阅图2至图4，图2及图3显示为本发明的自走车的立体示意图，图4显示为本发明自走车的方块示意图。自走车20包含：一车本体21、一驱动装置22、一导航装置23、一处理装置24、一无线充电装置25、一电池装置26及一定位装置27。车本体21用来设置驱动装置22、导航装置23、无线充电装置25、电池装置26及定位装置27，车本体21的外型、尺寸等可依据需求变化，不以图中所示为限。Please refer to FIGS. 2 to 4 together. FIGS. 2 and 3 are three-dimensional schematic diagrams of the self-propelled vehicle of the present invention, and FIG. 4 is a block diagram of the self-propelled vehicle of the present invention. The self-propelled vehicle 20 includes a vehicle body 21, a driving device 22, a navigation device 23, a processing device 24, a wireless charging device 25, a battery device 26 and a positioning device 27. The car body 21 is used to set the driving device 22, the navigation device 23, the wireless charging device 25, the battery device 26, and the positioning device 27. The appearance and size of the car body 21 can be changed according to requirements and are not limited to those shown in the figure.
驱动装置22设置于车本体21，驱动装置22包含驱动模块221及多个轮子222，多个轮子222枢接于车本体21，驱动模块221与轮子222相连接。处理装置24电性连接驱动装置22，处理装置24能控制驱动模块221，据以驱动多个所述轮子222动作，从而使所述自走车20向前或后移动。在实际应用中，处理装置24也可以是通过控制驱动模块221，而使自走车20转弯或是旋转。关于轮子222的数量不以图中所示为限；在实际应用中，驱动模块221例如可以是包含有马达、齿轮等构件，以用来使至少一部分的轮子222同步向同一个方向旋转。The driving device 22 is disposed on the vehicle body 21, and the driving device 22 includes a driving module 221 and a plurality of wheels 222. The plurality of wheels 222 are pivotally connected to the vehicle body 21, and the driving module 221 is connected with the wheels 222. The processing device 24 is electrically connected to the driving device 22, and the processing device 24 can control the driving module 221 to drive a plurality of the wheels 222 to move, so as to move the self-propelled vehicle 20 forward or backward. In practical applications, the processing device 24 may also control the driving module 221 to make the self-propelled vehicle 20 turn or rotate. The number of wheels 222 is not limited as shown in the figure; in practical applications, the driving module 221 may include components such as motors, gears, etc., so as to synchronize at least a part of the wheels 222 to rotate in the same direction.
导航装置23设置于车本体21，导航装置23能检测车本体21的周围环境，以对应产生一环境信息23A。处理装置24固定设置于车本体21，处理装置24电性连接驱动装置22及导航装置23。处理装置24能依据环境信息23A，控制驱动装置22动作，而使自走车20移动至充电站10。特别说明的是，于此所指的导航装置23例如可以是用来检测厂房的地面的相关导引构件(例如地磁)，或者，导航装置23可以是用来检测自走车20的周围360度的环境状况，于此不加以限制。The navigation device 23 is disposed in the vehicle body 21, and the navigation device 23 can detect the surrounding environment of the vehicle body 21 to correspondingly generate an environmental information 23A. The processing device 24 is fixed to the vehicle body 21, and the processing device 24 is electrically connected to the driving device 22 and the navigation device 23. The processing device 24 can control the operation of the driving device 22 according to the environmental information 23A to move the self-propelled vehicle 20 to the charging station 10. In particular, the navigation device 23 referred to here may be, for example, a related guiding member (such as geomagnetism) used to detect the ground of a factory building, or the navigation device 23 may be used to detect 360 degrees around the self-propelled vehicle 20. The environmental conditions of the country are not restricted here.
具体来说，导航装置23可以是至少包含多个超音波检测器231、一路况图像提取器232及一激光雷达233。多个超音波检测器231设置于车本体21，各个超音波检测器231用以向车本体21的周围发射超音波，且各个超音波检测器231还用以接收被反射的超音波，并能据以产生一超音波检测信息2311。路况图像提取器232用以提取车本体21的前 方的图像，以对应产生一路况图像提取信息2321。激光雷达233能实时对车本体21的周围进行360度的扫描检测，并据以产生一激光扫描信息2331。在导航装置23包含超音波检测器231、路况图像提取器232及激光雷达233的实施例中，环境信息23A则对应包含所述超音波检测信息2311、所述路况图像提取信息2321及所述激光扫描信息2331。Specifically, the navigation device 23 may at least include a plurality of ultrasonic detectors 231, a road condition image extractor 232, and a lidar 233. A plurality of ultrasonic detectors 231 are arranged on the car body 21, and each ultrasonic detector 231 is used to emit ultrasonic waves to the periphery of the car body 21, and each ultrasonic detector 231 is also used to receive the reflected ultrasonic waves and can According to this, an ultrasonic detection information 2311 is generated. The road condition image extractor 232 is used to extract an image in front of the vehicle body 21 to correspondingly generate road condition image extraction information 2321. The laser radar 233 can scan and detect the surroundings of the vehicle body 21 in 360 degrees in real time, and generate a laser scanning information 2331 accordingly. In an embodiment where the navigation device 23 includes an ultrasonic detector 231, a road condition image extractor 232, and a lidar 233, the environmental information 23A correspondingly includes the ultrasonic detection information 2311, the road condition image extraction information 2321, and the laser Scan information 2331.
依上所述，处理装置24接收环境信息23A后，将据以控制驱动装置22，而使轮子222动作，从而使自走车20自行于厂房中行走。在实际应用中，各个自走车20还可以是能无线连接至远程服务器，而相关人员可以是通过电子装置(例如是各式智能型手机、智能型平版等)及所述远程服务器，传递相关的控制信号至自走车20，而使自走车20自行移动至厂房中特定的位置。As described above, after the processing device 24 receives the environmental information 23A, it will control the driving device 22 accordingly to move the wheels 222, so that the self-propelled vehicle 20 can walk in the workshop by itself. In practical applications, each self-propelled vehicle 20 can also be wirelessly connected to a remote server, and relevant personnel can transmit related information through electronic devices (for example, various smart phones, smart flat plates, etc.) and the remote server. The control signal is sent to the self-propelled vehicle 20, and the self-propelled vehicle 20 moves to a specific position in the factory.
在实际应用中，处理装置24还可以是包含一储存单元241，储存单元241储存至少一地图信息2411。处理装置24能依据地图信息2411，控制导航装置23及驱动装置22，以使自走车20移动至充电站10；也就是说，当相关人员通过远程服务器传递控制信号至自走车20时，自走车20的处理装置24，将可以是依据控制信号及地图信息2411，配合导航装置23实时产生的环境信息23A，而控制自走车20自行移动至厂房中的特定位置。In practical applications, the processing device 24 may also include a storage unit 241, and the storage unit 241 stores at least one map information 2411. The processing device 24 can control the navigation device 23 and the driving device 22 according to the map information 2411 to move the self-propelled vehicle 20 to the charging station 10; that is to say, when the relevant person transmits the control signal to the self-propelled vehicle 20 through the remote server, The processing device 24 of the self-propelled vehicle 20 will be able to control the self-propelled vehicle 20 to move to a specific position in the factory by itself according to the control signal and map information 2411, in conjunction with the real-time environmental information 23A generated by the navigation device 23.
更白话来说，在导航装置23包含多个超音波检测器231、路况图像提取器232及激光雷达233的实施例中，自走车20基本上可以是做到自行检测环境及自行规划路径，而自行移动至特定位置；也就是说，相关人员无需于厂房的地面铺设用来导引自走车20行走的构件，而自走车20即可以依据导航装置23，自行避开地面上的障碍物，并自行行走至厂房中的指定位置。In more vernacular terms, in an embodiment where the navigation device 23 includes a plurality of ultrasonic detectors 231, a road condition image extractor 232, and a lidar 233, the self-propelled vehicle 20 can basically detect the environment and plan the route by itself. And move to a specific location by itself; that is, the relevant personnel do not need to lay the components used to guide the self-propelled vehicle 20 to walk on the ground of the factory, and the self-propelled vehicle 20 can avoid obstacles on the ground by itself according to the navigation device 23 And walk to the designated location in the factory.
在实际应用中，导航装置23所包含的超音波检测器231、路况图像提取器232及激光雷达233的数量及其设置位置，皆可依据需求变化，且导航装置23不局限于利用超音波检测器231、路况图像提取器232及激光雷达233，来检测自走车20周围的环境，导航装置23可以包含任何用来辅助处理装置24判断自走车20周围环境的检测器。In practical applications, the number and location of ultrasonic detectors 231, road condition image extractors 232, and lidar 233 included in the navigation device 23 can be changed according to requirements, and the navigation device 23 is not limited to using ultrasonic detection. The detector 231, the road condition image extractor 232, and the lidar 233 are used to detect the environment around the self-propelled vehicle 20. The navigation device 23 may include any detector for assisting the processing device 24 to determine the environment around the self-propelled vehicle 20.
无线充电装置25包含：两个无线充电线圈251及切换模块252。两个无线充电线圈251设置于车本体21，且两个无线充电线圈251设置于车本体21的两个不相同的侧面，举例来说，两个无线充电线圈251可以是设置于车本体21彼此相反的两侧面。在实际应用中，可以是依据厂房中的充电站10的设置位置，决定多个无线充电线圈251设置于车本体21的哪一些侧面。The wireless charging device 25 includes: two wireless charging coils 251 and a switching module 252. Two wireless charging coils 251 are arranged on the vehicle body 21, and the two wireless charging coils 251 are arranged on two different sides of the vehicle body 21. For example, the two wireless charging coils 251 may be arranged on the vehicle body 21. Opposite sides. In practical applications, it may be determined on which sides of the vehicle body 21 the multiple wireless charging coils 251 are installed according to the installation position of the charging station 10 in the factory.
切换模块252设置于车本体21，切换模块252电性连接两个无线充电线圈251。电池 装置26设置于车本体21，电池装置26为可充电式电池，电池装置26用以提供自走车20所有电子零件所需的电力。电池装置26电性连接切换模块252，且电池装置26电性连接处理装置24。处理装置24能控制切换模块252动作，以使电池装置26与其中一个无线充电线圈251电性连接，而使该无线充电线圈251所对应产生的电能能储存至电池装置26中。在实际应用中，多个无线充电线圈251可以是连接至相同的电路板，而所述切换模块252则是设置于电路板上的相关电路，所述处理装置24则是设置于电路板的微处理器。The switching module 252 is disposed on the vehicle body 21, and the switching module 252 is electrically connected to the two wireless charging coils 251. The battery device 26 is provided in the vehicle body 21, and the battery device 26 is a rechargeable battery. The battery device 26 is used to provide the power required by all the electronic components of the self-propelled vehicle 20. The battery device 26 is electrically connected to the switching module 252, and the battery device 26 is electrically connected to the processing device 24. The processing device 24 can control the operation of the switching module 252 to electrically connect the battery device 26 with one of the wireless charging coils 251, so that the electric energy generated by the wireless charging coil 251 can be stored in the battery device 26. In practical applications, multiple wireless charging coils 251 can be connected to the same circuit board, the switching module 252 is a related circuit provided on the circuit board, and the processing device 24 is a microcomputer provided on the circuit board. processor.
定位装置27设置于车本体21，定位装置27用以检测车本体21与充电站10的相对位置，以对应产生一定位信息27A。在实际应用中，定位装置27例如可以是包含有一读取器271，读取器271能读取设置于充电站10的地面的一标签单元15(例如是二维条形码)。当自走车20移动至充电站10时，处理装置24将控制读取器271读取设置于充电站10的标签单元15，并据以产生所述定位信息27A。处理装置24接收定位信息27A后，处理装置24将传递充电信号24A至充电站10，而充电站10接收充电信号24A将对自走车20进行无线充电。在实际应用中，所述读取器271例如可以是一图像提取单元，车本体21面向地面的一侧具有一穿孔211，图像提取单元能通过穿孔211，拍摄设置于充电站10的地面的标签单元15。The positioning device 27 is disposed on the vehicle body 21, and the positioning device 27 is used to detect the relative position of the vehicle body 21 and the charging station 10 to correspondingly generate a positioning information 27A. In practical applications, the positioning device 27 may, for example, include a reader 271 that can read a tag unit 15 (for example, a two-dimensional barcode) installed on the ground of the charging station 10. When the self-propelled vehicle 20 moves to the charging station 10, the processing device 24 will control the reader 271 to read the tag unit 15 provided in the charging station 10, and generate the positioning information 27A accordingly. After the processing device 24 receives the positioning information 27A, the processing device 24 transmits a charging signal 24A to the charging station 10, and the charging station 10 receives the charging signal 24A to wirelessly charge the self-propelled vehicle 20. In practical applications, the reader 271 may be, for example, an image extraction unit. The vehicle body 21 has a perforation 211 on the side facing the ground. The image extraction unit can pass through the perforation 211 to photograph tags set on the ground of the charging station 10. Unit 15.
当处理装置24判断电池装置26的电量低于一预定值时，处理装置24将控制导航装置23及驱动装置22动作，以使自走车20自行移动至邻近的其中一个充电站10。在实际应用中，处理装置24还可以是包含有一电池管理模块242。电池管理模块242电性连接电池装置26，电池管理模块242能依据电池装置26的电量，而对应产生一电量信息2421，而处理装置24则能依据电量信息2421，来判断电池装置26的电量是否低于所述预定值。When the processing device 24 determines that the power of the battery device 26 is lower than a predetermined value, the processing device 24 will control the navigation device 23 and the driving device 22 to move the self-propelled vehicle 20 to one of the adjacent charging stations 10 by itself. In practical applications, the processing device 24 may also include a battery management module 242. The battery management module 242 is electrically connected to the battery device 26. The battery management module 242 can correspondingly generate a power information 2421 based on the power of the battery device 26, and the processing device 24 can determine whether the power of the battery device 26 is based on the power information 2421 Below the predetermined value.
当自走车20移动至邻近的其中一个充电站10时，处理装置24将控制定位装置27动作，而处理装置24将依据定位信息27A，判断其中一个无线充电线圈251是否已与充电站无线充电线圈14相面对地设置。更进一步来说，当处理装置24依据地图信息2411，控制导航装置23移动至邻近的充电站10后，处理装置24将控制定位装置27的图像提取单元(定位装置27)动作，以对地面进行图像提取，若处理装置24判断图像提取单元(定位装置27)所提取的图像中，并未出现二维条形码(标签单元15)时，处理装置24将控制驱动装置22动作，直到图像提取单元(定位装置27)提取到二维条形码为止。When the self-propelled vehicle 20 moves to one of the nearby charging stations 10, the processing device 24 will control the positioning device 27 to act, and the processing device 24 will determine whether one of the wireless charging coils 251 has been wirelessly charged with the charging station based on the positioning information 27A The coils 14 are arranged facing each other. More specifically, when the processing device 24 controls the navigation device 23 to move to the adjacent charging station 10 according to the map information 2411, the processing device 24 will control the image extraction unit (positioning device 27) of the positioning device 27 to operate on the ground. Image extraction, if the processing device 24 determines that the two-dimensional barcode (label unit 15) does not appear in the image extracted by the image extraction unit (positioning device 27), the processing device 24 will control the driving device 22 to operate until the image extraction unit ( The positioning device 27) extracts the two-dimensional barcode.
当处理装置24判断定位装置27，已经正确地提取到设置于充电站10的地面的二维 条形码(标签单元15)时，处理装置24将传递充电信号24A至充电站10，而充电站10接收到充电信号24A后，将开始通过充电站无线充电线圈14及无线充电线圈251对自走车20进行无线充电。When the processing device 24 determines that the positioning device 27 has correctly extracted the two-dimensional barcode (tag unit 15) installed on the ground of the charging station 10, the processing device 24 will transmit the charging signal 24A to the charging station 10, and the charging station 10 will receive After the charging signal 24A is reached, the self-propelled vehicle 20 will be wirelessly charged through the wireless charging coil 14 and the wireless charging coil 251 of the charging station.
在实际应用中，处理装置24在发出充电信号24A前，可以是先控制切换模块252动作，以使自走车20的其中一个无线充电线圈251与电池装置26电性连接，借此，处理装置24发出充电信号24A至充电站10时，面对于充电站10的无线充电线圈251将据以与充电站10的充电站无线充电线圈14相互配合，而对电池装置26进行充电。In practical applications, before the processing device 24 sends the charging signal 24A, it may first control the switching module 252 to act, so that one of the wireless charging coils 251 of the self-propelled vehicle 20 is electrically connected to the battery device 26, thereby, the processing device When 24 sends a charging signal 24A to the charging station 10, the wireless charging coil 251 facing the charging station 10 will cooperate with the charging station wireless charging coil 14 of the charging station 10 accordingly to charge the battery device 26.
在不同的实施例中，处理装置24也可以是在发出充电信号24A至充电站10后，通过反复地控制切换模块252，来判断车本体21上的哪一个无线充电线圈251正在与充电站无线充电线圈14相互作用，借此，使电池装置26与正在与充电站无线充电线圈14相互作用的无线充电线圈251电性连接。In different embodiments, the processing device 24 can also determine which wireless charging coil 251 on the vehicle body 21 is wirelessly communicating with the charging station by repeatedly controlling the switching module 252 after sending the charging signal 24A to the charging station 10. The charging coil 14 interacts, thereby electrically connecting the battery device 26 with the wireless charging coil 251 that is interacting with the wireless charging coil 14 of the charging station.
当处理装置24依据电量信息2421，判断电池装置26的电量已到达预定值时，处理装置24将传送一停止充电信息24B至充电站10，以使充电站10不再对自走车20进行无线充电。When the processing device 24 determines that the power of the battery device 26 has reached the predetermined value based on the power information 2421, the processing device 24 will transmit a stop charging information 24B to the charging station 10 so that the charging station 10 will no longer perform wireless communication with the self-propelled vehicle 20. Recharge.
值得一提的是，自走车20的导航装置23主要是用来辅助处理装置24，使自走车20移动至邻近于充电站10的位置，而定位装置27则是用来辅助处理装置24，使自走车20的无线充电线圈251与充电站10的充电站无线充电线圈14相面对地设置。更进一步来说，利用无线充电线圈251与充电站10相互配合，以进行无线充电的过程中，若是无线充电线圈251与充电站无线充电线圈14没有相面对地设置，则可能发生无法充电或是充电效率低的问题，因此，本发明的自走车20通过定位装置27的设置，将可使无线充电线圈251与充电站无线充电线圈14相面对地设置，从而使充电站10高效率地对自走车20进行无线充电作业。It is worth mentioning that the navigation device 23 of the self-propelled vehicle 20 is mainly used to assist the processing device 24 to move the self-propelled vehicle 20 to a position adjacent to the charging station 10, and the positioning device 27 is used to assist the processing device 24. , The wireless charging coil 251 of the self-propelled vehicle 20 and the charging station wireless charging coil 14 of the charging station 10 are arranged to face each other. Furthermore, in the process of using the wireless charging coil 251 to cooperate with the charging station 10 to perform wireless charging, if the wireless charging coil 251 and the charging station wireless charging coil 14 are not arranged facing each other, it may happen that charging is not possible or This is the problem of low charging efficiency. Therefore, the self-propelled vehicle 20 of the present invention can be arranged to face the wireless charging coil 14 of the charging station through the positioning device 27, so that the charging station 10 is highly efficient. The self-propelled vehicle 20 is wirelessly charged.
请复参图2，值得一提的是，在实际应用中，自走车20还可以包含一活动载台装置28。活动载台装置28包含一驱动模块281及一载台282。驱动模块281设置于车本体21，驱动模块281电性连接处理装置24，载台282与驱动模块281相连接，处理装置24能控制驱动模块281，以使载台282向远离或靠近车本体21的方向移动。驱动模块281例如可以是包含有马达及用来使马达与载台282相互连接的构件，而处理装置24能控制马达动作，以使载台282相对于车本体21升降。关于驱动模块281与载台282的连接方式，于此不加以限制。Please refer to FIG. 2 again. It is worth mentioning that in practical applications, the self-propelled vehicle 20 may also include a movable platform device 28. The movable stage device 28 includes a driving module 281 and a stage 282. The driving module 281 is installed in the car body 21, the driving module 281 is electrically connected to the processing device 24, the carrier 282 is connected to the driving module 281, and the processing device 24 can control the driving module 281 to move the carrier 282 away from or close to the car body 21 In the direction of the move. The driving module 281 may, for example, include a motor and a component for connecting the motor and the carrier 282 to each other, and the processing device 24 can control the action of the motor so that the carrier 282 can move up and down relative to the vehicle body 21. Regarding the connection method of the driving module 281 and the carrier 282, there is no limitation here.
综上所述，本发明的自走车及自走车系统，通过使自走车设置多个无线充电线圈，并搭配导航装置、切换模块、定位装置等设计，让自走车在低电量的情况下，可以自行移动至邻近的充电站进行无线充电。由于自走车不同侧面设置有无线充电线圈，且自走车设置有定位装置，因此，自走车可以快速地使无线充电线圈与充电站无线充电线圈两者相面对地设置，从而使自走车能快速地被充电站充电。In summary, the self-propelled vehicle and self-propelled vehicle system of the present invention are equipped with multiple wireless charging coils, and are designed with a navigation device, switching module, positioning device, etc., so that the self-propelled vehicle can operate at low power. In this case, you can move to a nearby charging station for wireless charging. Since the self-propelled vehicle is equipped with wireless charging coils on different sides, and the self-propelled vehicle is equipped with a positioning device, the self-propelled vehicle can quickly set the wireless charging coil and the wireless charging coil of the charging station facing each other, so that the self-propelled vehicle The car can be quickly charged by the charging station.
以上所述仅为本发明的较佳可行实施例，非因此局限本发明的专利范围，故凡运用本发明说明书及附图内容所做的等效技术变化，均包含于本发明的保护范围内。The above descriptions are only the preferred and feasible embodiments of the present invention, which do not limit the scope of the present invention. Therefore, all equivalent technical changes made by using the contents of the description and drawings of the present invention are included in the protection scope of the present invention. .

Claims (10)

  1. 一种自走车，其特征在于，所述自走车包含：A self-propelled vehicle, characterized in that, the self-propelled vehicle comprises:
    一车本体；A car body;
    一驱动装置，其设置于所述车本体，所述驱动装置包含多个轮子；A driving device arranged on the vehicle body, the driving device including a plurality of wheels;
    一导航装置，其设置于所述车本体，所述导航装置能实时检测所述车本体的周围环境，以实时地对应产生一环境信息；A navigation device, which is arranged in the vehicle body, and the navigation device can detect the surrounding environment of the vehicle body in real time to correspondingly generate environmental information in real time;
    一处理装置，其固定设置于所述车本体，所述处理装置电性连接所述驱动装置及所述导航装置；所述处理装置能依据所述环境信息，控制所述驱动装置动作，而使所述自走车自行移动至邻近的一充电站；A processing device, which is fixedly arranged on the vehicle body, the processing device is electrically connected to the driving device and the navigation device; the processing device can control the operation of the driving device according to the environmental information, so that The self-propelled vehicle moves to a nearby charging station by itself;
    一无线充电装置，其包含：A wireless charging device, which includes:
    多个无线充电线圈，其分别固定设置于所述车本体的不同侧面；及A plurality of wireless charging coils, which are respectively fixedly arranged on different sides of the vehicle body; and
    一切换模块，其电性连接各个所述无线充电线圈；A switching module, which is electrically connected to each of the wireless charging coils;
    一电池装置，其电性连接所述切换模块，所述处理装置电性连接所述电池装置；以及A battery device electrically connected to the switching module, and the processing device is electrically connected to the battery device; and
    一定位装置，其设置于所述车本体，所述定位装置用以检测所述车本体与所述充电站的相对位置，以对应产生一定位信息；A positioning device arranged on the vehicle body, the positioning device being used to detect the relative position of the vehicle body and the charging station to correspondingly generate a piece of positioning information;
    其中，所述处理装置判断所述电池装置的电量低于一预定值时，所述处理装置将控制所述导航装置及所述驱动装置，以使所述自走车移动至邻近的所述充电站；当所述自走车移动至邻近的所述充电站时，所述处理装置将控制所述定位装置动作，而所述处理装置将依据所述定位信息，判断其中一个所述无线充电线圈是否已与所述充电站的一充电站无线充电线圈相面对地设置；当所述处理装置依据所述定位信息判断其中一个所述无线充电线圈与所述充电站无线充电线圈相面对地设置时，所述处理装置将传递一充电信号至所述充电站；所述充电站接收所述充电信号后，将开始通过所述充电站无线充电线圈及所述无线充电线圈对所述无线充电装置进行充电。Wherein, when the processing device determines that the power of the battery device is lower than a predetermined value, the processing device will control the navigation device and the driving device to move the self-propelled vehicle to the adjacent charging device. Station; when the self-propelled vehicle moves to the adjacent charging station, the processing device will control the positioning device action, and the processing device will determine one of the wireless charging coils based on the positioning information Whether the wireless charging coils of a charging station of the charging station have been arranged facing each other; when the processing device determines that one of the wireless charging coils faces the wireless charging coil of the charging station according to the positioning information When set up, the processing device will transmit a charging signal to the charging station; after the charging station receives the charging signal, it will start to charge the wireless charging through the charging station wireless charging coil and the wireless charging coil The device is charging.
  2. 依据权利要求1所述的自走车，其特征在于，所述无线充电装置包含两个所述无线充电线圈，两个所述无线充电线圈设置于所述车本体彼此相反的两侧面；所述导航装置至少包含多个超音波检测器、至少一路况图像提取器及一激光雷达，多个所述超音波检测器设置于所述车本体，各个所述超音波检测器用以向所述车本体的周围发射超音波，且各个所述超音波检测器还用以接收被反射的超音波，并能据以产生一超音波检测信息；所述路况图像提取器用以提取所述车本体的前方的图像，以对应产生一路况图像提取信息；所述 激光雷达能实时对所述车本体的周围进行360度的扫描检测，并据以产生一激光扫描信息；所述环境信息至少包含所述超音波检测信息、所述路况图像提取器信息及所述激光扫描信息；所述处理装置包含一储存单元，所述储存单元储存至少一地图信息，所述处理装置能依据所述地图信息，控制所述导航装置及所述驱动装置，以使所述自走车移动至所述充电站。4. The self-propelled vehicle according to claim 1, wherein the wireless charging device comprises two wireless charging coils, and the two wireless charging coils are arranged on opposite sides of the vehicle body; The navigation device includes at least a plurality of ultrasonic detectors, at least a road condition image extractor, and a lidar. The plurality of ultrasonic detectors are arranged on the car body, and each of the ultrasonic detectors is used to direct the car body to the car body. Ultrasonic waves are emitted around the vehicle, and each of the ultrasonic detectors is also used to receive the reflected ultrasonic waves, and can generate an ultrasonic detection information accordingly; the road condition image extractor is used to extract the front of the car body Image, to extract information corresponding to the road condition image; the lidar can scan 360 degrees around the car body in real time, and generate a laser scan information accordingly; the environment information includes at least the ultrasound Detection information, the road condition image extractor information, and the laser scanning information; the processing device includes a storage unit, the storage unit stores at least one map information, and the processing device can control the The navigation device and the driving device are used to move the self-propelled vehicle to the charging station.
  3. 依据权利要求1所述的自走车，其特征在于，所述定位装置包含一读取器，所述读取器固定设置于所述车本体，所述读取器用以读取设置于所述充电站的一标签单元；当所述自走车移动至所述充电站时，所述处理装置将控制所述读取器，读取设置于所述充电站的所述标签单元，并据以产生所述定位信息；所述处理装置接收所述定位信息后，所述处理装置将传递所述充电信号至所述充电站，而所述充电站接收所述充电信号后，所述充电站将对所述自走车进行无线充电。4. The self-propelled vehicle according to claim 1, wherein the positioning device comprises a reader, the reader is fixedly arranged on the vehicle body, and the reader is used for reading A tag unit of a charging station; when the self-propelled vehicle moves to the charging station, the processing device will control the reader to read the tag unit set at the charging station, and then Generate the positioning information; after the processing device receives the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will Wirelessly charging the self-propelled vehicle.
  4. 依据权利要求3所述的自走车，其特征在于，所述读取器为一图像提取单元，所述车本体面向地面的一侧具有一穿孔，所述图像提取单元能通过所述穿孔，拍摄设置于所述充电站的地面的所述标签单元。The self-propelled vehicle according to claim 3, wherein the reader is an image extraction unit, the side of the vehicle body facing the ground has a perforation, and the image extraction unit can pass through the perforation, To photograph the tag unit installed on the ground of the charging station.
  5. 依据权利要求1所述的自走车，其特征在于，所述处理装置包含一电池管理模块，所述电池管理模块电性连接所述电池装置，所述电池管理模块能依据所述电池装置的电量，而对应产生一电量信息；所述处理装置能依据所述电量信息，传送一停止充电信息至所述充电站，以使所述充电站不再对所述自走车进行无线充电。The self-propelled vehicle according to claim 1, wherein the processing device comprises a battery management module, the battery management module is electrically connected to the battery device, and the battery management module can be based on the performance of the battery device The power level information is generated correspondingly; the processing device can transmit a charging stop message to the charging station according to the power level information, so that the charging station no longer wirelessly charges the self-propelled vehicle.
  6. 一种自走车系统，其特征在于，所述自走车系统包含：A self-propelled vehicle system, characterized in that, the self-propelled vehicle system comprises:
    多个充电站，各个所述充电站包含：A plurality of charging stations, each of the charging stations includes:
    一充电站本体；A charging station body;
    一充电站处理装置，其设置于所述充电站本体；A charging station processing device installed in the charging station body;
    一充电站无线充电模块，其设置于所述充电站本体，所述充电站无线充电模块电性连接所述充电站处理装置，且所述充电站无线充电模块连接一供电源；及A charging station wireless charging module, which is arranged on the charging station body, the charging station wireless charging module is electrically connected to the charging station processing device, and the charging station wireless charging module is connected to a power supply; and
    一充电站无线充电线圈，其设置于所述充电站本体，所述充电站无线充电线圈电性连接所述充电站无线充电模块；A charging station wireless charging coil, which is arranged on the charging station body, and the charging station wireless charging coil is electrically connected to the charging station wireless charging module;
    至少一自走车，其包含：At least one self-propelled vehicle, which contains:
    一车本体；A car body;
    一驱动装置，其设置于所述车本体，所述驱动装置包含多个轮子；A driving device arranged on the vehicle body, the driving device including a plurality of wheels;
    一导航装置，其设置于所述车本体，所述导航装置能检测所述车本体的周围环境，以对应产生一环境信息；A navigation device, which is installed in the vehicle body, and the navigation device can detect the surrounding environment of the vehicle body to generate environmental information correspondingly;
    一处理装置，其固定设置于所述车本体，所述处理装置电性连接所述驱动装置及所述导航装置；所述处理装置能依据所述环境信息，控制所述驱动装置动作，而使所述自走车移动至一充电站；A processing device, which is fixedly arranged on the vehicle body, the processing device is electrically connected to the driving device and the navigation device; the processing device can control the operation of the driving device according to the environmental information, so that The self-propelled vehicle moves to a charging station;
    一无线充电装置，其包含：A wireless charging device, which includes:
    多个无线充电线圈，其分别固定设置于所述车本体的不同侧面；及A plurality of wireless charging coils, which are respectively fixedly arranged on different sides of the vehicle body; and
    一切换模块，其电性连接各个所述无线充电线圈；A switching module, which is electrically connected to each of the wireless charging coils;
    一电池装置，其电性连接所述切换模块，所述处理装置电性连接所述电池装置；以及A battery device electrically connected to the switching module, and the processing device is electrically connected to the battery device; and
    一定位装置，其设置于所述车本体，所述定位装置用以检测所述车本体与所述充电站的相对位置，以对应产生一定位信息；A positioning device arranged on the vehicle body, the positioning device being used to detect the relative position of the vehicle body and the charging station to correspondingly generate a piece of positioning information;
    其中，所述处理装置判断所述电池装置的电量低于一预定值时，所述处理装置将控制所述导航装置及所述驱动装置，以使所述自走车移动至邻近的其中一个所述充电站；当所述自走车移动至邻近的其中一个所述充电站时，所述处理装置将控制所述定位装置动作，而所述处理装置将依据所述定位信息，判断其中一个所述无线充电线圈是否已与所述充电站无线充电线圈相面对地设置；当所述处理装置依据所述定位信息判断其中一个所述无线充电线圈与所述充电站无线充电线圈相面对地设置时，所述处理装置将传递一充电信号至所述充电站，所述充电站接收所述充电信号后，将开始通过所述充电站无线充电线圈及所述无线充电线圈对所述无线充电装置进行充电。Wherein, when the processing device determines that the power of the battery device is lower than a predetermined value, the processing device will control the navigation device and the driving device to move the self-propelled vehicle to one of the neighboring locations. The charging station; when the self-propelled vehicle moves to one of the adjacent charging stations, the processing device will control the action of the positioning device, and the processing device will determine one of the charging stations based on the positioning information Whether the wireless charging coil has been set facing the wireless charging coil of the charging station; when the processing device determines that one of the wireless charging coils faces the wireless charging coil of the charging station according to the positioning information When set up, the processing device will transmit a charging signal to the charging station, and after the charging station receives the charging signal, it will start to charge the wireless charging coil through the charging station wireless charging coil and the wireless charging coil The device is charging.
  7. 依据权利要求6所述的自走车系统，其特征在于，所述无线充电装置包含两个所述无线充电线圈，两个所述无线充电线圈设置于所述车本体彼此相反的两侧面；所述导航装置至少包含多个超音波检测器、至少一路况图像提取器及一激光雷达，多个所述超音波检测器设置于所述车本体，各个所述超音波检测器用以向所述车本体的周围发射超音波，且各个所述超音波检测器还用以接收被反射的超音波，并能据以产生一超音波检测信息；所述路况图像提取器用以提取所述车本体的前方的图像，以对应产生一路况图像提取信息；所述激光雷达能实时对所述车本体的周围进行360度的扫描检测，并据以产生一激光扫描信息；所述环境信息至少包含所述超音波检测信息、所述路况图像提取器信息及所述激光扫描信息；所述处理装置包含一储存单元，所述储存单元储存至少一地图信息，所述处理 装置能依据所述地图信息，控制所述导航装置及所述驱动装置，以使所述自走车移动至邻近的其中一个所述充电站。The self-propelled vehicle system according to claim 6, wherein the wireless charging device comprises two wireless charging coils, and the two wireless charging coils are arranged on opposite sides of the vehicle body; The navigation device at least includes a plurality of ultrasonic detectors, at least a road condition image extractor, and a lidar. The plurality of ultrasonic detectors are arranged on the vehicle body, and each of the ultrasonic detectors is used to direct the vehicle to the vehicle. Ultrasonic waves are emitted around the body, and each of the ultrasonic detectors is also used to receive the reflected ultrasonic waves, and can generate an ultrasonic detection information accordingly; the road condition image extractor is used to extract the front of the car body The image of the vehicle is generated to extract information corresponding to the road conditions; the lidar can scan 360 degrees around the car body in real time, and generate a laser scan information accordingly; the environment information at least contains the super Sound wave detection information, the road condition image extractor information, and the laser scanning information; the processing device includes a storage unit, the storage unit stores at least one map information, and the processing device can control the The navigation device and the driving device are used to move the self-propelled vehicle to one of the adjacent charging stations.
  8. 依据权利要求6所述的自走车系统，其特征在于，所述定位装置包含一读取器，所述读取器固定设置于所述车本体，所述读取器用以读取设置于所述充电站的一标签单元；当所述自走车移动至所述充电站时，所述处理装置将控制所述读取器，读取设置于所述充电站的所述标签单元，并据以产生一定位信息；所述处理装置接收所述定位信息后，所述处理装置将传递所述充电信号至所述充电站，而所述充电站接收所述充电信号后，所述充电站将对所述自走车进行无线充电。The self-propelled vehicle system according to claim 6, wherein the positioning device comprises a reader, the reader is fixedly arranged on the vehicle body, and the reader is used for reading A tag unit of the charging station; when the self-propelled vehicle moves to the charging station, the processing device will control the reader to read the tag unit set at the charging station, and then To generate a positioning information; after the processing device receives the positioning information, the processing device will transmit the charging signal to the charging station, and after the charging station receives the charging signal, the charging station will Wirelessly charging the self-propelled vehicle.
  9. 依据权利要求8所述的自走车系统，其特征在于，所述读取器为一图像提取单元，所述车本体面向地面的一侧具有一穿孔，所述图像提取单元能通过所述穿孔，拍摄设置于所述充电站的地面的所述标签单元。The self-propelled vehicle system according to claim 8, wherein the reader is an image extraction unit, the side of the vehicle body facing the ground has a perforation, and the image extraction unit can pass through the perforation , To photograph the tag unit installed on the ground of the charging station.
  10. 依据权利要求6所述的自走车系统，其特征在于，所述处理装置包含一电池管理模块，所述电池管理模块电性连接所述电池装置，所述电池管理模块能依据所述电池装置的电量，而对应产生一电量信息；所述处理装置能依据所述电量信息，传送一停止充电信息至所述充电站，以使所述充电站不再对所述自走车进行无线充电。The self-propelled vehicle system according to claim 6, wherein the processing device comprises a battery management module, the battery management module is electrically connected to the battery device, and the battery management module can be based on the battery device According to the power information, the processing device can transmit a charging stop message to the charging station, so that the charging station no longer wirelessly charges the self-propelled vehicle.
PCT/CN2019/117158 2019-11-11 2019-11-11 Self-propelled vehicle and self-propelled vehicle system WO2021092726A1 (en)

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