WO2021092726A1 - Véhicule automoteur et système de véhicule automoteur - Google Patents

Véhicule automoteur et système de véhicule automoteur Download PDF

Info

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
Authority
WO
WIPO (PCT)
Prior art keywords
charging
charging station
self
processing device
propelled vehicle
Prior art date
Application number
PCT/CN2019/117158
Other languages
English (en)
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/fr
Publication of WO2021092726A1 publication Critical patent/WO2021092726A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un véhicule automoteur et un système de véhicule automoteur (100). Le système de véhicule automoteur (100) comprend un véhicule automoteur (20) qui comprend : une carrosserie de véhicule (21), un dispositif de conduite (22), un dispositif de navigation (23), un dispositif de traitement (24), un dispositif de charge sans fil (25), un dispositif de batterie (26) et un dispositif de positionnement (27). Le dispositif de navigation (23) peut détecter l'environnement ambiant (21) de la carrosserie de véhicule en temps réel, et générer des informations d'environnement (23A). Lorsque le véhicule automoteur (20) se trouve dans un état de faible puissance, le dispositif de traitement (24) commande le dispositif de conduite (22) en fonction des informations d'environnement (23A) et le véhicule automoteur (20) se déplace vers une station de charge (10) voisine. Lorsque le véhicule automoteur (20) se déplace vers la station de charge (10), le dispositif de traitement (24) commande le dispositif de positionnement (27) en vue de déterminer la position relative entre le véhicule automoteur (20) et la station de charge (10), de manière à commander le dispositif de conduite (22) de telle sorte qu'une bobine de charge sans fil (251) du dispositif de charge sans fil (25) soit disposée à l'opposé d'une bobine de charge sans fil (14) de la station de charge et, en conséquence, le véhicule automoteur (20) peut être chargé sans fil par la station de charge (10).
PCT/CN2019/117158 2019-11-11 2019-11-11 Véhicule automoteur et système de véhicule automoteur WO2021092726A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/117158 WO2021092726A1 (fr) 2019-11-11 2019-11-11 Véhicule automoteur et système de véhicule automoteur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/117158 WO2021092726A1 (fr) 2019-11-11 2019-11-11 Véhicule automoteur et système de véhicule automoteur

Publications (1)

Publication Number Publication Date
WO2021092726A1 true WO2021092726A1 (fr) 2021-05-20

Family

ID=75911566

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/117158 WO2021092726A1 (fr) 2019-11-11 2019-11-11 Véhicule automoteur et système de véhicule automoteur

Country Status (1)

Country Link
WO (1) WO2021092726A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107082095A (zh) * 2017-06-16 2017-08-22 罗轶 巡防租车机器人
CN107379994A (zh) * 2017-08-01 2017-11-24 安徽福的信息技术服务有限公司 一种无人搬运车供电管理方法
EP3103673B1 (fr) * 2014-01-30 2018-03-14 Nissan Motor Co., Ltd Dispositif d'assistance au stationnement et méthode d'assistance au stationnement
CN109546757A (zh) * 2018-11-28 2019-03-29 重庆欧锐特科技有限公司 一种无线充电小车系统
CN110091734A (zh) * 2019-04-12 2019-08-06 菏泽学院 一种智能无线充电小车系统及其充电方法
CN209460641U (zh) * 2018-12-07 2019-10-01 上海工程技术大学 一种基于uwb的自动跟随搬运主从小车

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3103673B1 (fr) * 2014-01-30 2018-03-14 Nissan Motor Co., Ltd Dispositif d'assistance au stationnement et méthode d'assistance au stationnement
CN107082095A (zh) * 2017-06-16 2017-08-22 罗轶 巡防租车机器人
CN107379994A (zh) * 2017-08-01 2017-11-24 安徽福的信息技术服务有限公司 一种无人搬运车供电管理方法
CN109546757A (zh) * 2018-11-28 2019-03-29 重庆欧锐特科技有限公司 一种无线充电小车系统
CN209460641U (zh) * 2018-12-07 2019-10-01 上海工程技术大学 一种基于uwb的自动跟随搬运主从小车
CN110091734A (zh) * 2019-04-12 2019-08-06 菏泽学院 一种智能无线充电小车系统及其充电方法

Similar Documents

Publication Publication Date Title
US20210078424A1 (en) Automated electric vehicle charging system and method
CN206489449U (zh) 一种带有自动充电桩的物流搬运agv
EP3044548B1 (fr) Systèmes, procédés, et appareil associés au guidage et à l'alignement pour un véhicule électrique et une station de charge
US20220258632A1 (en) Robotic charging system and method
KR20180039977A (ko) 공항용 보조 로봇 및 그의 동작 방법
EP3527336A1 (fr) Robot d'aéroport et système de robot d'aéroport le comprenant
CN113825668A (zh) 自主无线电动交通工具充电系统
CN103605365A (zh) 变电站设备污秽巡检、判定及清洗的全自动作业方法
WO2019032451A1 (fr) Procédé et dispositif de charge de véhicule aérien
Guidi et al. Dynamic wireless charging of autonomous vehicles: Small-scale demonstration of inductive power transfer as an enabling technology for self-sufficient energy supply
CN113534810A (zh) 一种物流机器人及物流机器人系统
WO2021092726A1 (fr) Véhicule automoteur et système de véhicule automoteur
TWI717095B (zh) 自走車及自走車系統
CN111356605B (zh) 用于在机动车充电站中运行泊车机器人的方法、系统和计算机程序
KR20210072175A (ko) 배터리 구동형 교통수단의 지붕 충전 감시 장치
US11766947B2 (en) DC fast charger wireless-charging adapter
US11813947B1 (en) Dense vehicle charging station
CN112776665A (zh) 自走车及自走车系统
CN114825673A (zh) 用于对移动机器人中的电池充电的系统和方法
CN220252451U (zh) 一种室内外自主定位导航agv装置
CN221162343U (zh) 自动引导系统
US20230202325A1 (en) Microscopic alignment method for wireless charging of electric vehicle and apparatus and system therefor
CN114374241B (zh) 一种用于智能巡检机器人的自动充电方法和无线充电屋
US20240047997A1 (en) Power supply mat, noncontact power supply system, and moving body
CN220534229U (zh) 光伏发电场调度机器人

Legal Events

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

Ref document number: 19952935

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19952935

Country of ref document: EP

Kind code of ref document: A1