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CN107020966B - Uninterrupted charging system for electric vehicle - Google Patents

Uninterrupted charging system for electric vehicle Download PDF

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Publication number
CN107020966B
CN107020966B CN201710123833.0A CN201710123833A CN107020966B CN 107020966 B CN107020966 B CN 107020966B CN 201710123833 A CN201710123833 A CN 201710123833A CN 107020966 B CN107020966 B CN 107020966B
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charging
robot
electric vehicle
module
processing unit
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CN107020966A (en
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郑荣茂
杨金艳
黎旺星
徐月华
刘桂雄
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Guangdong Mechanical and Electrical College
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Guangdong Mechanical and Electrical College
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    • 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
    • B60L53/60—Monitoring or controlling charging stations
    • 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
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • 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
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/66—Data transfer between charging stations and vehicles
    • B60L53/665—Methods related to measuring, billing or payment
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
    • H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
    • H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • 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
    • 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
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (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

本发明公开了一种电动车不间断充电系统，包括服务中心、电动车、移动充电机器人和救援车，其中所述电动车具有智能充电接口；所述移动充电机器人包括机器人便捷挂钩、充电公头、电力输出模块、机器人动力电池组、机器人计费模块、导航模块、机器人数据处理单元、超声探头、视频探头、驱动模块、行走机构和机器人无线通讯模块；所述救援车具有用于回收电动车和移动充电机器人的机械装置。本发明是为电动车提供一种不间断的充电系统，可以在保持车辆运动的情况下同时对其进行充电，从而大大提高电动车辆的续航能力。

Figure 201710123833

The invention discloses an electric vehicle uninterrupted charging system, which includes a service center, an electric vehicle, a mobile charging robot and a rescue vehicle, wherein the electric vehicle has an intelligent charging interface; the mobile charging robot includes a robot convenient hook, a charging male , power output module, robot power battery pack, robot billing module, navigation module, robot data processing unit, ultrasonic probe, video probe, drive module, walking mechanism and robot wireless communication module; and the mechanics of mobile charging robots. The invention provides an uninterrupted charging system for the electric vehicle, which can charge the vehicle at the same time while keeping the vehicle in motion, thereby greatly improving the battery life of the electric vehicle.

Figure 201710123833

Description

一种电动车不间断充电系统An electric vehicle uninterrupted charging system

技术领域technical field

本发明涉及电动车和机器人技术领域，尤其涉及一种电动车不间断充电系统。The invention relates to the technical field of electric vehicles and robots, in particular to an uninterrupted charging system for electric vehicles.

背景技术Background technique

随着国家大力提倡发展绿色能源车，纯电动车渐渐进入千家万户。然而，目前纯电动车还存在诸多问题，首先一般都比同档次燃油车价格贵；其次纯电动车一次充电续航里程较短普遍只有200Km～400Km；另外还存在目前CBD充电站因场地成本等多种因素制约建设有限特别是在非CBD区域充电站更是一站难寻；纯电动车还存在充电时间长、车辆充电时一般处于静止状态不适合长途旅行等问题。As the country vigorously advocates the development of green energy vehicles, pure electric vehicles have gradually entered thousands of households. However, there are still many problems with pure electric vehicles at present. First, they are generally more expensive than fuel vehicles of the same grade; These factors restrict the construction of limited construction, especially in non-CBD areas, where charging stations are hard to find; pure electric vehicles also have problems such as long charging time, and vehicles are generally in a static state during charging, which is not suitable for long-distance travel.

通过检索发现，目前国内电动车充电方面的专利主要集中在电缆设计、充电电站设计、充电桩和充电过程和策略等方面，侧重解决了电动车的某个问题，而没有提出整体的解决方案。Through searching, it is found that current domestic patents on electric vehicle charging mainly focus on cable design, charging station design, charging pile, charging process and strategy, etc., focusing on solving a certain problem of electric vehicles, without proposing an overall solution.

发明内容Contents of the invention

为克服现有技术的不足，本发明提出一种电动车不间断充电系统，包括服务中心、电动车、移动充电机器人和救援车，其中In order to overcome the deficiencies of the prior art, the present invention proposes an uninterrupted charging system for electric vehicles, including a service center, electric vehicles, mobile charging robots and rescue vehicles, wherein

所述电动车具有智能充电接口，所述智能充电接口包括充电母头、充电调理模块、电动车计费模块、电动车数据处理单元、电动车便捷挂钩、定位模块和电动车无线通讯信模块，其中，所述充电母头用于电动车和移动充电机器人建立电气连接；所述充电调理模块连接所述充电母头和电动车动力电池组，用于充电管理；所述电动车计费模块连接所述充电调理模块和电动车数据处理单元，用于计算充电费用；所述电动车数据处理单元用于处理信息和数据，实现智能的逻辑控制；所述电动车便捷挂钩用于建立电动车和移动充电机器人之间的安全可断开的物理连接；所述电量监测模块连接电动车动力电池组和电动车数据处理单元，用于监测电动车动力电池组的电量情况；所述定位模块连接所述电动车数据处理单元，用于接收卫星导航数据；所述电动车无线通讯模块连接所述电动车数据处理单元，用于无线连接服务中心；The electric vehicle has an intelligent charging interface, and the intelligent charging interface includes a charging female head, a charging conditioning module, an electric vehicle billing module, an electric vehicle data processing unit, an electric vehicle convenient hook, a positioning module and an electric vehicle wireless communication module, Wherein, the charging female head is used to establish an electrical connection between the electric vehicle and the mobile charging robot; the charging conditioning module is connected to the charging female head and the electric vehicle power battery pack for charging management; the electric vehicle billing module is connected to The charging conditioning module and the electric vehicle data processing unit are used to calculate the charging fee; the electric vehicle data processing unit is used to process information and data to realize intelligent logic control; the electric vehicle convenient hook is used to establish the electric vehicle and A safe and disconnectable physical connection between mobile charging robots; the power monitoring module is connected to the electric vehicle power battery pack and the electric vehicle data processing unit for monitoring the power condition of the electric vehicle power battery pack; the positioning module is connected to the The electric vehicle data processing unit is used to receive satellite navigation data; the electric vehicle wireless communication module is connected to the electric vehicle data processing unit for wireless connection to the service center;

所述移动充电机器人包括机器人便捷挂钩、充电公头、电力输出模块、机器人动力电池组、机器人计费模块、导航模块、机器人数据处理单元、超声探头、视频探头、驱动模块、行走机构和机器人无线通讯模块，所述机器人便捷挂钩用于移动充电机器人与电动车建立安全可断开的物理连接；所述充电公头上设有所述机器人便捷挂钩，连接所述机器人电力输出模块，用于移动充电机器人与电动车建立电气连接；所述电力输出模块连接所述机器人动力电池组和机器人计费模块，用于充电管理；所述机器人动力电池组连接所述驱动模块，用于提供移动充电机器人自身电力供应及作为充电来源；所述机器人计费模块连接数据处理单元，用于计算充电费用；所述机器人数据处理单元用于处理信息和数据，实现智能的逻辑功能控制；所述导航模块连接所述机器人数据处理单元，用于接收卫星导航数据；所述超声探头连接所述机器人数据处理单元，用于探测外部障碍物距离；所述视频探头连接所述机器人数据处理单元，用于采集自动驾驶环境图像；所述驱动模块连接所述机器人数据处理单元，用于驱动大功率无刷电机；所述行走机构连接所述驱动模块，用于机器人的自主运动；所述机器人无线通讯模块连接所述机器人数据处理单元，用于与服务中心进行数据通讯；The mobile charging robot includes a convenient hook for the robot, a charging male head, a power output module, a robot power battery pack, a robot billing module, a navigation module, a robot data processing unit, an ultrasonic probe, a video probe, a drive module, a walking mechanism and a wireless robot. The communication module, the convenient hook of the robot is used to establish a safe and disconnectable physical connection between the mobile charging robot and the electric vehicle; The charging robot establishes an electrical connection with the electric vehicle; the power output module is connected to the robot power battery pack and the robot billing module for charging management; the robot power battery pack is connected to the drive module for providing a mobile charging robot Its own power supply and as a charging source; the robot billing module is connected to a data processing unit for calculating charging costs; the robot data processing unit is used to process information and data to realize intelligent logic function control; the navigation module is connected to The robot data processing unit is used to receive satellite navigation data; the ultrasonic probe is connected to the robot data processing unit for detecting the distance of external obstacles; the video probe is connected to the robot data processing unit for collecting automatic An image of the driving environment; the drive module is connected to the robot data processing unit for driving a high-power brushless motor; the running mechanism is connected to the drive module for autonomous movement of the robot; the robot wireless communication module is connected to The robot data processing unit is used for data communication with the service center;

所述救援车具有用于回收电动车和移动充电机器人的机械装置。The rescue vehicle has mechanisms for recovering electric vehicles and mobile charging robots.

进一步地，所述电动车的智能充电接口的充电母头和移动充电机器人的充电公头均具有短路保护装置。Further, the charging female of the intelligent charging interface of the electric vehicle and the charging male of the mobile charging robot both have short-circuit protection devices.

进一步地，所述电动车计费模块和移动充电机器人充电模块均包括冲入电量收费模块和/或充电时长计费模块，所述冲入电量收费模块按照冲入电量进行计费，所述充电时长计费模块根据充电的时间进行计费。Further, the charging module for the electric vehicle and the charging module for the mobile charging robot both include a charge-in charging module and/or a charging module for charging time, and the charge-in charging module performs charging according to the charge-in, and the charging The duration billing module bills according to the charging time.

进一步地，所述电动车的定位模块和移动充电机器人的导航模块均可可接收GPS、GLONASS或BDS的卫星信号进行坐标定位或导航。Furthermore, both the positioning module of the electric vehicle and the navigation module of the mobile charging robot can receive GPS, GLONASS or BDS satellite signals for coordinate positioning or navigation.

进一步地，所述电动车的充电母头包括壳体、电流正极插口、电流负极插口、数据线正极插口和数据线负极插口，其中所述电流正极插口、电流负极插口、数据线正极插口和数据线负极插口凹陷于所述壳体内，所述数据线正极插口和数据线负极插口位于所述电流正极插口和电流负极插口之间；所述移动充电机器人的充电公头包括电流正极插头、电流负极插头、数据线正极插头和数据线负极插头，所述电流正极插头、电流负极插头、数据线正极插头和数据线负极插头向外凸出，所述充电母头和充电公头相互匹配。Further, the charging female head of the electric vehicle includes a housing, a current positive socket, a current negative socket, a data line positive socket and a data line negative socket, wherein the current positive socket, the current negative socket, the data line positive socket and the data line The line negative socket is recessed in the housing, the data line positive socket and the data line negative socket are located between the current positive socket and the current negative socket; the charging male head of the mobile charging robot includes a current positive plug, a current negative Plug, data line positive plug and data line negative plug, the current positive plug, current negative plug, data line positive plug and data line negative plug protrude outward, and the charging female plug and the charging male plug match each other.

进一步地，所述电动车便捷挂钩包括设于电动车上的便捷挂钩固定环，所述充电母头位于所述便捷挂钩固定环之间且凸出于所述便捷挂钩固定环；所述机器人便捷挂钩具有便捷挂钩锁，所述便捷挂钩锁通过螺钉固定在移动充电机器人上，所述便捷挂钩锁中间设有电磁锁，所述充电公头凸出于所述电磁锁，所述电磁锁和充电公头之间设有弹性连接区。Further, the convenient hook of the electric vehicle includes a convenient hook fixing ring arranged on the electric vehicle, and the charging female head is located between the fixing rings of the convenient hook and protrudes from the fixing ring of the convenient hook; the convenient hook of the robot The hook has a convenient hook lock, and the convenient hook lock is fixed on the mobile charging robot by screws. An electromagnetic lock is arranged in the middle of the convenient hook lock, and the charging male head protrudes from the electromagnetic lock. The electromagnetic lock and the charging An elastic connection area is provided between the male heads.

本发明的有益效果在于，与现有技术相比，本发明是基于电动汽车、机器人、计算机应用系统、无线通讯及网络等技术，为电动车提供一种不间断的充电系统，传统充电技术需要电动车在特定场所充电进行，如在充电站、充电桩等，其次传统充电技术充电过程需要电动车较长时间停止运动。而本发明在保持车辆运动的情况下同时对其进行充电，从而大大提高车辆的续航能力；本发明让电动车在电力不足时可主动发出充电请求，服务中心将安排最合适的“移动充电机器人”或智能服务站为电动车提供充电服务；本发明还可在电动车发生故障时主动发送故障请求，服务中心将调度救援车对电动车提供救援服务。The beneficial effects of the present invention are that, compared with the prior art, the present invention provides an uninterrupted charging system for electric vehicles based on technologies such as electric vehicles, robots, computer application systems, wireless communications and networks, which traditional charging technologies require Electric vehicles are charged in specific places, such as charging stations, charging piles, etc. Secondly, the charging process of traditional charging technology requires electric vehicles to stop moving for a long time. However, the present invention charges the vehicle at the same time while keeping the vehicle moving, thereby greatly improving the battery life of the vehicle; the present invention allows the electric vehicle to actively send a charging request when the power is insufficient, and the service center will arrange the most suitable "mobile charging robot". ” or an intelligent service station to provide charging services for electric vehicles; the present invention can also actively send a fault request when an electric vehicle fails, and the service center will dispatch a rescue vehicle to provide rescue services for the electric vehicle.

附图说明Description of drawings

图1是本发明一种电动车不间断充电系统结构图；Fig. 1 is a structural diagram of an electric vehicle uninterrupted charging system of the present invention;

图2是本发明中智能充电接口的结构框图；Fig. 2 is a structural block diagram of an intelligent charging interface in the present invention;

图3是本发明中移动充电机器人的结构框图；Fig. 3 is the structural block diagram of mobile charging robot in the present invention;

图4是图2中的智能充电接口的充电母头的结构示意图；Fig. 4 is a schematic structural diagram of a charging female head of the smart charging interface in Fig. 2;

图5是图3中移动充电机器人的充电公头的结构示意图；Fig. 5 is a schematic structural view of the charging male head of the mobile charging robot in Fig. 3;

图6是本发明中电动车便捷挂钩和机器人便捷挂钩的结构示意图。Fig. 6 is a structural schematic diagram of a convenient hook for an electric vehicle and a convenient hook for a robot in the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

请参见图1、图2和图3，本发明一种电动车不间断充电系统，包括服务中心102、电动车101、移动充电机器人103和救援车104，其中Please refer to Fig. 1, Fig. 2 and Fig. 3, an electric vehicle uninterrupted charging system of the present invention includes a service center 102, an electric vehicle 101, a mobile charging robot 103 and a rescue vehicle 104, wherein

所述电动车101具有智能充电接口，所述智能充电接口包括充电母头、充电调理模块、电动车计费模块、电动车数据处理单元、电动车便捷挂钩、定位模块和电动车无线通讯信模块，其中，所述充电母头用于电动车和移动充电机器人建立电气连接；所述充电调理模块连接所述充电母头和电动车动力电池组，用于充电管理；所述电动车计费模块连接所述充电调理模块和电动车数据处理单元，用于计算充电费用；所述电动车数据处理单元用于处理信息和数据，实现智能的逻辑控制；所述电动车便捷挂钩用于建立电动车和移动充电机器人之间的安全可断开的物理连接；所述电量监测模块连接电动车动力电池组和电动车数据处理单元，用于监测电动车动力电池组的电量情况；所述定位模块连接所述电动车数据处理单元，用于接收卫星导航数据；所述电动车无线通讯模块连接所述电动车数据处理单元，用于无线连接服务中心；The electric vehicle 101 has an intelligent charging interface, and the intelligent charging interface includes a charging female head, a charging conditioning module, an electric vehicle billing module, an electric vehicle data processing unit, an electric vehicle convenient hook, a positioning module and an electric vehicle wireless communication module , wherein, the charging female head is used to establish an electrical connection between the electric vehicle and the mobile charging robot; the charging conditioning module connects the charging female head and the electric vehicle power battery pack for charging management; the electric vehicle billing module Connect the charging conditioning module and the electric vehicle data processing unit to calculate the charging fee; the electric vehicle data processing unit is used to process information and data to realize intelligent logic control; the electric vehicle convenient hook is used to establish an electric vehicle A safe disconnectable physical connection with the mobile charging robot; the power monitoring module is connected to the electric vehicle power battery pack and the electric vehicle data processing unit for monitoring the power condition of the electric vehicle power battery pack; the positioning module is connected to The electric vehicle data processing unit is used to receive satellite navigation data; the electric vehicle wireless communication module is connected to the electric vehicle data processing unit for wireless connection to the service center;

所述移动充电机器人103包括机器人便捷挂钩、充电公头、电力输出模块、机器人动力电池组、机器人计费模块、导航模块、机器人数据处理单元、超声探头、视频探头、驱动模块、行走机构和机器人无线通讯模块，所述机器人便捷挂钩用于移动充电机器人与电动车建立安全可断开的物理连接；所述充电公头上设有所述机器人便捷挂钩，连接所述机器人电力输出模块，用于移动充电机器人与电动车建立电气连接；所述电力输出模块连接所述机器人动力电池组和机器人计费模块，用于充电管理；所述机器人动力电池组连接所述驱动模块，用于提供移动充电机器人自身电力供应及作为充电来源；所述机器人计费模块连接数据处理单元，用于计算充电费用；所述机器人数据处理单元用于处理信息和数据，实现智能的逻辑功能控制；所述导航模块连接所述机器人数据处理单元，用于接收卫星导航数据；所述超声探头连接所述机器人数据处理单元，用于探测外部障碍物距离；所述视频探头连接所述机器人数据处理单元，用于采集自动驾驶环境图像；所述驱动模块连接所述机器人数据处理单元，用于驱动大功率无刷电机；所述行走机构连接所述驱动模块，用于机器人的自主运动；所述机器人无线通讯模块连接所述机器人数据处理单元，用于与服务中心进行数据通讯；The mobile charging robot 103 includes a robot convenient hook, a charging male head, a power output module, a robot power battery pack, a robot billing module, a navigation module, a robot data processing unit, an ultrasonic probe, a video probe, a drive module, a walking mechanism and a robot The wireless communication module, the robot’s convenient hook is used to establish a safe and disconnectable physical connection between the mobile charging robot and the electric vehicle; the charging male head is provided with the robot’s convenient hook, connected to the robot power output module, for The mobile charging robot establishes an electrical connection with the electric vehicle; the power output module is connected to the robot power battery pack and the robot billing module for charging management; the robot power battery pack is connected to the drive module for providing mobile charging The robot's own power supply and as a charging source; the robot billing module is connected to a data processing unit for calculating charging costs; the robot data processing unit is used for processing information and data to realize intelligent logic function control; the navigation module The robot data processing unit is connected to receive satellite navigation data; the ultrasonic probe is connected to the robot data processing unit to detect the distance of external obstacles; the video probe is connected to the robot data processing unit to collect The image of the automatic driving environment; the drive module is connected to the robot data processing unit for driving a high-power brushless motor; the walking mechanism is connected to the drive module for autonomous movement of the robot; the robot wireless communication module is connected to The robot data processing unit is used for data communication with the service center;

所述救援车104具有用于回收电动车和移动充电机器人的机械装置。The rescue vehicle 104 has mechanical devices for recovering electric vehicles and mobile charging robots.

请参见图4和图5，移动充电机器人上的充电公头包括电流正极插头301、电流负极插头302、数据线正极插头303和数据线负极插头304，所述电流正极插头301、电流负极插头302、数据线正极插头303和数据线负极插头304向外凸出，与电动车上的充电母头的电流正极插口201、电流负极插口202、数据线正极插口203和数据线负极插口204形状相对应。电动车上的充电母头包括壳体205、电流正极插口201、电流负极插口202、数据线正极插口203和数据线负极插口204，其中所述电流正极插口201、电流负极插口202、数据线正极插口203和数据线负极插口204凹陷于所述壳体205内，所述数据线正极插口203和数据线负极插口204位于所述电流正极插口201和电流负极插口202之间。Please refer to Fig. 4 and Fig. 5, the charging male head on the mobile charging robot includes current positive pole plug 301, current negative pole plug 302, data line positive pole plug 303 and data line negative pole plug 304, and described current positive pole plug 301, current negative pole plug 302 , The data line positive plug 303 and the data line negative plug 304 protrude outwards, corresponding to the current positive socket 201, the current negative socket 202, the data line positive socket 203 and the data line negative socket 204 of the charging female on the electric vehicle . The charging female head on the electric vehicle includes a housing 205, a positive current socket 201, a negative current socket 202, a positive data line socket 203 and a negative data line socket 204, wherein the positive current socket 201, the negative current socket 202, the positive data line The socket 203 and the data line negative socket 204 are recessed in the housing 205 , and the data line positive socket 203 and the data line negative socket 204 are located between the current positive socket 201 and the current negative socket 202 .

请参见图,6，设于电动车上的电动车便捷挂钩包括便捷挂钩固定环403，所述充电母头404位于所述便捷挂钩固定环403之间且凸出于所述电动车便捷挂钩固定环403，所述便捷挂钩固定环403通过螺钉406固定在电动车上。移动充电机器人上的机器人便捷挂钩包括便捷挂钩锁401，所述便捷挂钩锁401通过螺钉406固定在移动充电机器人上，用于连接电动车上的便捷挂钩环403，所述便捷挂钩锁401中间设有电磁锁405，所述充电公头403凸出于所述电磁锁405，所述电磁锁405和充电公头403之间设有弹性连接区407，以防止硬性连接破环充电公头403。Please refer to Fig. 6, the electric vehicle convenient hook set on the electric vehicle includes a convenient hook fixing ring 403, and the charging female head 404 is located between the convenient hook fixing rings 403 and protrudes from the electric vehicle convenient hook for fixing ring 403, and the convenient hook fixing ring 403 is fixed on the electric vehicle through screws 406. The convenient hook of the robot on the mobile charging robot includes a convenient hook lock 401, and the convenient hook lock 401 is fixed on the mobile charging robot by a screw 406, and is used to connect the convenient hook ring 403 on the electric vehicle. There is an electromagnetic lock 405, the charging male head 403 protrudes from the electromagnetic lock 405, and an elastic connection area 407 is provided between the electromagnetic lock 405 and the charging male head 403 to prevent the hard connection from damaging the charging male head 403.

其中，所述机器人便捷挂钩和电动车便捷挂钩用于建立电动车与移动充电机器人安全的物理连接，向机器人数据处理模块和电动车数据处理模块反馈接口状态并可编程控制松开挂钩。所述充电接口除具有直流充电和有线数据传输功能，还具有短路保护装置等。所述充机器人电力输出模块实现对动力电池组电力输出的智能管理。所述电动车计费模块和机器人计费模块可采用多种方式进行计费，如按充入电量、充电时长或两者综合等方式，并可向机器人数据处理模块和电动车传输计量数据。所述机器人数据处理模块由高性能嵌入式系统构成，主要用于处理各类信息和数据并实现智能的逻辑功能控制。所述导航模块和定位模块可接收GPS、GLONASS或BDS(北斗)等卫星信号进行坐标定位。所述超声探头可探测外部障碍物距离。所述视频探头可采集自动驾驶环境图像。所述驱动模块驱动大功率无刷电机。所述行走机构实现机器人的自主运动。所述机器人无线通讯模块可建立与后台的服务中心与移动充电机器人的无线通讯链路。Wherein, the convenient hook of the robot and the convenient hook of the electric vehicle are used to establish a safe physical connection between the electric vehicle and the mobile charging robot, feed back the interface status to the robot data processing module and the electric vehicle data processing module, and release the hook by programming control. In addition to the functions of DC charging and wired data transmission, the charging interface also has a short circuit protection device and the like. The power output module of the charging robot realizes the intelligent management of the power output of the power battery pack. The electric vehicle billing module and the robot billing module can be billed in a variety of ways, such as charging power, charging time or a combination of the two, and can transmit metering data to the robot data processing module and the electric vehicle. The robot data processing module is composed of a high-performance embedded system, which is mainly used to process various information and data and realize intelligent logic function control. The navigation module and the positioning module can receive satellite signals such as GPS, GLONASS or BDS (Beidou) for coordinate positioning. The ultrasonic probe can detect the distance of external obstacles. The video probe can collect images of the autonomous driving environment. The drive module drives a high-power brushless motor. The walking mechanism realizes the autonomous movement of the robot. The robot wireless communication module can establish a wireless communication link with the background service center and the mobile charging robot.

本发明的典型的工作方式是这样的：The typical working mode of the present invention is like this:

步骤1、前期准备在传统电动车尾部加装车用智能充电接口，完成电气连接；Step 1. In the early stage, prepare to install a smart charging interface for the vehicle at the rear of the traditional electric vehicle to complete the electrical connection;

步骤2、电动车运行过程中实时监控车辆电池电量情况，当电量达到警戒线(其中Pe为电池当前电压，当Pe≤20％*充满后的电压)下时，通过智能充电接口的无线数传功能向服务中心发送充电请求；Step 2. During the operation of the electric vehicle, monitor the battery power of the vehicle in real time. When the power reaches the warning line (where Pe is the current voltage of the battery, when Pe≤20%*the voltage after full charging), wireless data transmission through the smart charging interface The function sends a charging request to the service center;

步骤3、服务中心收到充电请求后，将调度任务发送至最合适的移动充电机器人或智能服务站；Step 3. After receiving the charging request, the service center sends the scheduling task to the most suitable mobile charging robot or intelligent service station;

步骤4、移动充电机器人接到调度指令后接受导航信息并自动行驶向发出充电请求的电动车；Step 4. After receiving the dispatching instruction, the mobile charging robot accepts the navigation information and automatically drives to the electric vehicle that sent the charging request;

步骤5、当移动充电机器人与电动车汇合后，智能移动充电机器人与电动车通过智能充电接口进行电气接驳；Step 5. When the mobile charging robot and the electric vehicle converge, the intelligent mobile charging robot and the electric vehicle are electrically connected through the intelligent charging interface;

步骤6、移动充电机器人伴随电动车行驶并通过智能充电接口对电动车充电，实时记录耗电量；Step 6. The mobile charging robot travels with the electric vehicle and charges the electric vehicle through the intelligent charging interface, and records the power consumption in real time;

步骤7、当电动车充满电后充电结束，移动充电机器人脱离智能充电接口与电动车分离；Step 7. When the electric vehicle is fully charged, the charging ends, and the mobile charging robot separates from the intelligent charging interface and separates from the electric vehicle;

步骤8、移动充电机器人进入服务等待状态，驶向最近的安全停车区或智能服务站；Step 8. The mobile charging robot enters the service waiting state and drives to the nearest safe parking area or intelligent service station;

步骤9、等待状态：等待指令当接收到新的充电调度指令后转至步骤4；Step 9. Waiting state: waiting for the command to go to step 4 after receiving a new charging scheduling command;

步骤10、当移动充电机器人电量低至警戒线时，自动驶向最近的充电站或智能服务站，否则继续步骤9；Step 10. When the power of the mobile charging robot is low to the warning line, it will automatically drive to the nearest charging station or intelligent service station, otherwise continue to step 9;

步骤11、a)充电桩：移动充电机器人与智能充电接口对接进行充电；b)智能服务站：通过机械装置直接更换动力电池组；Step 11, a) charging pile: the mobile charging robot docks with the intelligent charging interface for charging; b) intelligent service station: directly replace the power battery pack through a mechanical device;

步骤12、移动充电机器人充满电后，离开充电(或换电池)区驶入安全等待区，进入步骤9。Step 12. After the mobile charging robot is fully charged, leave the charging (or battery replacement) area and drive into the safe waiting area, then go to step 9.

以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。The above description is a preferred embodiment of the present invention, and it should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered Be the protection scope of the present invention.

Claims (4)

1. The uninterrupted charging system for the electric vehicle is characterized by comprising a service center, the electric vehicle, a mobile charging robot and a rescue vehicle, wherein the service center is connected with the electric vehicle through the mobile charging robot
The electric vehicle is provided with an intelligent charging interface, the intelligent charging interface comprises a charging female head, a charging conditioning module, an electric vehicle charging module, an electric vehicle data processing unit, an electric vehicle convenient hook, a positioning module, an electric vehicle wireless communication module and an electric quantity monitoring module, wherein the charging female head is used for establishing electrical connection between the electric vehicle and a mobile charging robot; the charging conditioning module is connected with the charging mother head and the electric vehicle power battery pack and is used for charging management; the charging module of the electric vehicle is connected with the charging conditioning module and the electric vehicle data processing unit and is used for calculating charging cost; the electric vehicle data processing unit is used for processing information and data and realizing intelligent logic control; the convenient hook of the electric vehicle is used for establishing safe and disconnectable physical connection between the electric vehicle and the mobile charging robot; the electric quantity monitoring module is connected with the electric vehicle power battery pack and the electric vehicle data processing unit and is used for monitoring the electric quantity condition of the electric vehicle power battery pack; the positioning module is connected with the electric vehicle data processing unit and is used for receiving satellite navigation data; the electric vehicle wireless communication module is connected with the electric vehicle data processing unit and is used for being connected with a service center in a wireless mode;
the mobile charging robot comprises a robot convenient hook, a charging male head, a power output module, a robot power battery pack, a robot charging module, a navigation module, a robot data processing unit, an ultrasonic probe, a video probe, a driving module, a running mechanism and a robot wireless communication module, wherein the robot convenient hook is used for establishing safe and disconnectable physical connection between the mobile charging robot and an electric vehicle; the charging male head is provided with the robot convenient hook and is connected with the power output module, and the charging male head is used for moving the charging robot to establish electrical connection with the electric vehicle; the power output module is connected with the robot power battery pack and the robot charging module and is used for charging management; the robot power battery pack is connected with the driving module and is used for providing self power supply of the mobile charging robot and taking the mobile charging robot as a charging source; the robot charging module is connected with the data processing unit and is used for calculating charging cost; the robot data processing unit is used for processing information and data and realizing intelligent logic function control; the navigation module is connected with the robot data processing unit and is used for receiving satellite navigation data; the ultrasonic probe is connected with the robot data processing unit and is used for detecting the distance of an external obstacle; the video probe is connected with the robot data processing unit and is used for acquiring an automatic driving environment image; the driving module is connected with the robot data processing unit and is used for driving the high-power brushless motor; the travelling mechanism is connected with the driving module and used for moving the autonomous motion of the charging robot; the robot wireless communication module is connected with the robot data processing unit and is used for carrying out data communication with a service center;
the rescue vehicle is provided with a mechanical device for recycling the electric vehicle and the mobile charging robot;
the charging female head of the electric vehicle comprises a shell, a current positive electrode socket, a current negative electrode socket, a data line positive electrode socket and a data line negative electrode socket, wherein the current positive electrode socket, the current negative electrode socket, the data line positive electrode socket and the data line negative electrode socket are recessed in the shell, and the data line positive electrode socket and the data line negative electrode socket are positioned between the current positive electrode socket and the current negative electrode socket; the charging male head of the mobile charging robot comprises a current positive plug, a current negative plug, a data line positive plug and a data line negative plug, wherein the current positive plug, the current negative plug, the data line positive plug and the data line negative plug are outwards protruded, and the charging female head and the charging male head are mutually matched;
the electric vehicle convenient hook comprises convenient hook fixing rings arranged on the electric vehicle, and the charging female head is arranged between the convenient hook fixing rings and protrudes out of the convenient hook fixing rings; the portable couple of robot has convenient couple lock, convenient couple lock passes through the fix with screw on removing the robot that charges, be equipped with the electromagnetic lock in the middle of the convenient couple lock, charge public head protrusion in the electromagnetic lock, be equipped with the elastic connection district between electromagnetic lock and the public head that charges.
2. The uninterruptible charging system of claim 1, wherein the charging female head of the intelligent charging interface of the electric vehicle and the charging male head of the mobile charging robot are provided with short-circuit protection devices.
3. The uninterruptible electric vehicle charging system of claim 1, wherein the electric vehicle charging module and the mobile charging robot charging module each comprise an charge-by-charge charging module and/or a charging duration charging module, the charge-by-charge charging module charges according to charge-by-charge, and the charging duration charging module charges according to charging time.
4. The uninterruptible power charging system of claim 1, wherein the positioning module of the electric vehicle and the navigation module of the mobile charging robot are each configured to receive satellite signals of GPS, GLONASS or BDS for coordinate positioning or navigation.
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