CN108345303A - A new electric vehicle charging service system based on guide belt and robot - Google Patents

Abstract

The invention discloses a new electric vehicle charging service system based on a guide belt and a robot, including a mobile charging service management center and a robot; the mobile charging service management center is used to receive a charging request from a user and acquire a parking space for the user's electric vehicle Number information, so as to generate a charging service order, and send the charging service order to the robot in the outbound area; the robot, according to the parking space number information, obtains the path plan to reach the guide belt corresponding to the electric vehicle in the parking space, from Depart from the storage area and move to the parking space according to the path plan to provide charging services for the electric vehicles in the parking space; the guide belt is set at the bottom of the electric vehicle or/and on the ground of the sidewalk. The invention solves the problem of difficulty in charging the electric vehicle, and can intelligently, timely and conveniently charge the electric vehicle.

Description

A new electric vehicle charging service system based on guide belt and robot

technical field

The invention relates to a charging service system, in particular to a new electric vehicle charging service system based on a guide belt and a robot.

Background technique

In response to the national environmental energy strategy, electric vehicles are becoming more and more popular in the market. Due to factors such as site and cost, there are currently few dedicated charging service stations for electric vehicles, and after a complete charging service for electric vehicles, the general mileage can only reach two to three hundred kilometers, which is compared with ordinary cars. , Electric vehicles use electricity faster, so it is more important to charge them in time, so it is urgent to solve the practical problems that electric vehicles are difficult to charge, and it is difficult to charge conveniently and timely.

Contents of the invention

In order to solve the above problems, the object of the present invention is to provide a new electric vehicle charging service system based on guide belts and robots, so that electric vehicles can be charged conveniently and timely.

In order to solve the above problems, the technical solution adopted in the present invention is:

A new electric vehicle charging service system based on guide belt and robot, including mobile charging service management center and robot;

The mobile charging service management center is used to receive the user's charging request and obtain the parking space number information of the user's electric vehicle, thereby generating a charging service order, and sending the charging service order to the robot in the outbound area;

The robot, according to the parking space number information, obtains the path plan to reach the guide belt corresponding to the electric vehicle in the parking space, starts from the outbound area and moves to the side of the parking space according to the path plan, and is used to guide the electric vehicles in the parking space. Cars provide charging services;

The guide belt is arranged on the bottom of the electric vehicle or/and on the ground of the sidewalk.

Further, the present invention also includes an Internet remote control center, which is used to assist the robot to move according to the path plan.

Further, the Internet remote control center is also used to query the UWB positioning data, and the guide belt is provided with scale numbers corresponding to the UWB positioning data.

Further, the robot, according to the parking space number information, obtains the path plan to reach the guide belt corresponding to the parking space, including: the robot obtains the guide belt number where the electric vehicle is located and on the guide belt according to the parking space number information. The specific location of the electric vehicle to accurately locate the electric vehicle, so as to select the route plan to reach the electric vehicle.

Further, the robot starts from the outbound area and moves according to the path plan, including: when no obstacles are encountered, the robot performs automatic tracking movement based on the guide belt; The automatic obstacle avoidance movement; if the automatic obstacle avoidance movement fails, the Internet remote control center controls the robot to avoid obstacles. After avoiding obstacles, the robot performs auxiliary movement based on path beacons to correct its position.

Further, if the automatic obstacle avoidance movement fails, the Internet remote control center controls the robot to avoid obstacles, including: if the automatic obstacle avoidance movement fails, the robot uses its own cloud camera or digital camera to capture the current scene image, and compare the current scene image with the robot The ID number of the robot is uploaded to the Internet remote control center through the communication network, and the Internet remote control center controls the robot to bypass obstacles and move to the guide belt again according to the uploaded data information.

Further, the Internet remote control center is used to assist the robot to move according to the path plan, including: when the robot encounters automatic obstacle avoidance movement failure, advances to the intersection, breaks away from the guide belt, confirms the parking space number and confirms the location of the power supply facility , the Internet remote control center receives the help information sent by the robot, controls the robot to return to the path set in the path plan according to the help information, and continues to move according to the path plan.

Further, the Internet remote control center is also used to control the robot that has completed the charging business to replenish power, including: the Internet remote control center controls the robot to search and identify the guide belt or perform ultrasonic positioning, and controls the power station to detect the position of the robot in real time to ensure that the robot moves When the robot is in place, after the robot moves to the power supply station, the standard card position power supply or wireless power supply is performed on the robot.

Preferably, the automatic tracking movement is an automatic tracking movement based on an infrared sensor, an automatic tracking movement based on a digital camera and image processing of a guide belt, or an automatic tracking movement based on a photoelectric sensor.

Preferably, the path beacon is a digital beacon image, a wireless RFID beacon, a one-dimensional barcode or a magnetic strip.

The beneficial effects of the present invention are: a new type of electric vehicle charging service system based on guide belts and robots provided by the present invention uses the mobile charging service management center to receive the user's charging request in real time and learn the parking space number information of the electric vehicle , and then convey the service instruction to the robot, so that the robot moves to the electric vehicle according to the path plan along the guide belt corresponding to the parking space number information, so as to charge it. Find electric cars. Therefore, the present invention solves the problem of difficulty in charging the electric vehicle, and can intelligently, timely and conveniently charge the electric vehicle.

Description of drawings

The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to describe the implementation of the present invention in detail.

Fig. 1 is a work flowchart of the present invention.

Fig. 2 is a schematic structural view of the standard card position of the present invention;

Fig. 3 is the structural representation of parking space of the present invention;

Fig. 4 is a structural schematic diagram 1 of the supplementary power station of the present invention;

Fig. 5 is a structural schematic diagram II of the supplementary power station of the present invention;

Fig. 6 is the schematic diagram of the outbound area of the present invention;

Fig. 7 is the schematic diagram of storage area of the present invention;

Fig. 8 is the structural representation of the robot of the present invention;

Fig. 9 is a schematic structural view of the robot of the present invention at the bottom of an electric vehicle in a parking space;

Fig. 10 is a schematic diagram of the fast charging service matching between the robot and the bottom of the electric vehicle according to the present invention.

Detailed ways

Referring to Fig. 1, a novel robot 3 charging service system controlled by Internet remote control and guide belt 1 according to the present invention includes a mobile charging service management center and robot 3;

The mobile charging service management center is used to receive the user's charging request and obtain the parking space number information of the user's electric vehicle 2, thereby generating a charging service order, and sending the charging service order to the robot 3 in the outbound area;

Robot 3, according to the parking space number information, obtains the path plan to reach the guide belt 1 corresponding to the electric vehicle 2 in the parking space, starts from the exit area and moves to the side of the parking space according to the path plan, and is used to move to the parking space. Electric vehicles in 2 provide charging services;

The guide belt 1 is arranged on the bottom of the electric vehicle 2 or/and on the ground of the sidewalk 4 .

Specifically, the parking spaces can be located in parking lots, roadsides, residential quarters, or highway rest stops; use the mobile charging service management center to receive the user's charging request in real time, and know the parking space number information of the electric vehicle 2, and then provide The robot 3 conveys the service instruction, so that the robot 3 moves to the side of the electric vehicle 2 according to the path plan corresponding to the parking space number information along the guide belt 1, so as to charge it. The path based on the guide belt 1 is clearer and more convenient for the robot. 3 Find EVs 2 as early as possible. Therefore, the present invention solves the problem of difficult charging of the electric vehicle 2, and can intelligently, timely and conveniently charge the electric vehicle 2; meanwhile, it avoids the cumbersome management of the charging station and realizes the low cost of the charging service; the charging facility is built by the robot 3 , It also avoids the large-scale transformation of the large power grid and saves the construction funds of the power grid.

Various preferred embodiments are provided herein.

Embodiment one

Referring to Fig. 8, the robot 3 includes a motor, a cloud camera, an obstacle avoidance sensor, a digital camera, an ultrasonic ranging module, a reminder module, a scale digital recognition module based on the guide belt 1, a beacon recognition module, a power supply contact area and a lithium battery. Battery packs, etc., and a main control module for overall control is installed inside it, and the main control module is connected to the above-mentioned modules or structures; the general size specifications of the robot 3 are: 0.5 meters long, 0.5 meters wide, and the size is close to an ordinary robot. The refrigerator has charging service ports for slow charging and fast charging, and also has an operation panel with fine-tuning of the position, and the user can fine-tune its position to make it more convenient to charge the electric vehicle 2.

Among them, the Internet remote control center is used to assist the robot 3 to move according to the path plan, and to control the robot 3 that has completed the charging service to replenish power; the Internet remote control center is used to solve various problems encountered by the robot 3 in this process , and after the robot 3 completes the charging service, it is controlled to replenish power, which ensures the smooth progress of the entire process.

Wherein, with reference to Fig. 3, the guide belt 1 is arranged on the ground of the sidewalk 4, and the Internet remote control center is also used to query the UWB positioning data, and the guide belt 1 is provided with scale numbers corresponding to the UWB positioning data.

In this embodiment, a subsystem of the Internet remote control center is a UWB ultra-wideband positioning system based on a positioning calculation algorithm, which includes a host server for positioning calculations, the Internet, UWB positioning base stations with known coordinates, and UWB positioning tags; The digital setting is to guide the robot 3 to move along the guide belt 1, and the guide belt 1 is set in black and white; UWB, also known as ultra-wideband, is a carrier-free communication technology that uses non-sine waves from nanoseconds to microseconds Narrow pulses are used to transmit data, so the UWB positioning data has the characteristics of efficient transmission, and it is recorded in the Internet remote control center, so that it can be queried, which is conducive to correcting the distance between the robot 3 and the guide belt 1 . The UWB network has the characteristics of high efficiency and high speed, and is a commonly used known technology in practice.

Wherein, the robot 3 obtains the path plan to reach the guide belt 1 corresponding to the parking space according to the parking space number information, including: the robot 3 obtains the guide belt 1 number and the number of the guide belt 1 where the electric vehicle 2 is located according to the parking space number information. The specific position on the guide belt 1 is used to accurately locate the electric vehicle 2, and under the control of the Internet remote control center, the route plan to reach the electric vehicle 2 is selected.

Wherein, referring to Fig. 1 and Fig. 6, the robot 3 starts from the outbound area and moves according to the path plan, including: in the outbound waiting area, first conducts beacon ranging, and turns according to the ranging results during this process , coupled with the coordination between checkpoints, and finally leave the warehouse; after leaving the warehouse, when no obstacles are encountered, robot 3 performs automatic tracking movement based on guide belt 1; when encountering obstacles, robot 3 performs automatic tracking based on The automatic obstacle avoidance movement of the guide belt 1; if the automatic obstacle avoidance movement fails, the Internet remote control center controls the robot 3 to avoid obstacles. After avoiding obstacles, the robot 3 performs auxiliary movement based on the path beacon to correct the position.

Specifically, in this embodiment, the automatic obstacle avoidance movement adopts the rectangular path obstacle avoidance mode: firstly judge whether the roadblock is an active roadblock, if so, drive the reminder module to whistle, otherwise enter the next step; Carry out roadblock distance measurement from the module, the robot 3 backs up a certain distance based on the roadblock distance measurement data, until it is 0.5 meters away from the roadblock, then turns right 90 degrees, moves 0.5 meters to the right, and records the distance to the right; detects whether there is a roadblock ahead again, if If yes, continue to move to the right for 0.1 meters, record the distance to the right, otherwise turn left 90 degrees, and move forward 1 meter; detect whether there is a roadblock ahead again, if there is, continue to move to the right for 0.5 meters, otherwise turn left 90 degrees, combine For the data of the distance to the right line recorded before, return to the guide belt 1 on the left line, or query the scale number of the nearby guide belt 1 and the corresponding absolute positioning data according to the current absolute position, so as to search the guide belt 1 and return to the guide belt 1. Leader 1.

Preferably, in this embodiment, the path beacon is a digital beacon image, a wireless RFID beacon, a one-dimensional barcode or a magnetic strip, that is, the robot 3 can recognize the above-mentioned beacon, and find the location of the guide belt 1 by identifying the beacon. correct position for corrective movement.

Wherein, the automatic tracking movement is the automatic tracking movement based on the infrared sensor, the automatic tracking movement based on the digital camera and the image processing of the guide belt 1 or the automatic tracking movement based on the photoelectric sensor.

Specifically, the automatic tracking movement based on the infrared sensor can use the ST188 chip. The robot 3 continuously emits infrared light to the ground during the process of traveling. Since the black and white colors in the guide belt 1 have different reflection coefficients for the infrared light, That is, white reflects infrared light, and black absorbs infrared light, so the ST188 chip detects and processes the black track of the guide belt 1 to realize tracking movement.

Automatic tracking movement based on digital camera and image processing of the guide belt 1, wherein the digital camera adopts stm32 chip, the digital camera takes pictures of the guide belt 1, extracts one or more lines from it, and calculates its deviation from the center line You can also use two digital cameras to take images of the guide belt 1 before and after, so as to calculate its offset from the center line; correct the moving direction of the robot 3 according to the offset, so that the robot 3 basically follows the guide belt 1. Leader 1 moves.

The automatic tracking movement based on the photoelectric sensor first uses two rows of photoelectric sensors to detect the position and direction of movement of the robot 3 to obtain its track information, then controls the motor through PWM, and uses the PID control algorithm to adjust the size and speed of the motor speed. Direction to realize automatic tracking movement.

Among them, if the automatic obstacle avoidance movement fails, the Internet remote control center controls the robot 3 to avoid obstacles, including: if the automatic obstacle avoidance movement fails, the robot 3 uses its own cloud camera or digital camera to take pictures of the current scene, and the current scene image And the ID number of robot 3 utilizes communication network to upload to Internet remote control center, and Internet remote control center controls robot 3 to bypass obstacle and move on the guide belt 1 again according to the data information uploaded.

Specifically, preferably, the communication network is a public WIFI network, UWB network, GPRS multimedia message, WIMAX network, 3G network or 4G network.

Among them, the Internet remote control center is used to assist the robot 3 to move according to the path plan, including: when the robot 3 encounters automatic obstacle avoidance movement failure, advances to the intersection, breaks away from the guide belt 1, confirms the number of the parking space and confirms the location of the power supply facility When the situation occurs, the Internet remote control center receives the help information sent by the robot 3, controls the robot 3 to return to the path set in the path scheme according to the help information, and continues to move according to the path scheme. Therefore, the Internet remote control center can well cooperate with the movement of the robot 3, thereby playing a good auxiliary role.

Wherein, referring to FIG. 1, the Internet remote control center controls the robot 3 that has completed the charging service to replenish power, including: the Internet remote control center controls the robot 3 to search and identify the guide belt 1 or perform ultrasonic positioning, and controls the power station to detect the location of the robot 3 in real time. Position to ensure that the robot 3 moves in place. After the robot 3 moves to the power supply station, the standard card position 5 power replenishment or wireless power replenishment is performed on the robot 3.

Specifically, referring to Fig. 2, Fig. 4 and Fig. 5, the charging method of the standard card position 5 is contact charging, which is opposite to the charging method of wireless charging; area, power replenishment checkpoint area and power replenishment area, the robot 3 enters these three areas in turn; in the power replenishment area, there are several standard card positions 5 for providing power replenishment, and the standard card positions 5 have contact pieces Type of power supply interface; the robot 3 can find the standard card position 5 by searching the guide belt 1 or ultrasonic positioning, and then move based on the guide belt 1 to enter the standard card position 5. The standard card position 5 has a magnet 6 plus dry reed switch 7, which is used to detect the position of the robot 3 to ensure that the robot 3 moves in place; each robot 3 has a contact-type power supply facility at the standard card position 5, on the contrary, refer to Figure 5, multiple robots 3 take turns to share the wireless power supply facilities in the power supply area; in addition, the standard slot 5 also has a reverse discharge grid-connected interface, which allows the robot 3 to realize the function of a small energy storage power station, and at the same time As an energy storage extension of the micro-grid, it absorbs the surplus electric energy of the micro-grid.

In addition, referring to Figure 7, after the power supply is completed, the robot 3 returns to the storage waiting area, and further returns to the original storage through auxiliary operations such as beacon ranging, checkpoint coordination, and ranging turning, that is, the storage is realized.

Embodiment two

Compared with Embodiment 1, the robot 3 directly locates the guide belt 1 at the bottom of the electric vehicle 2 and obtains its relevant information, and realizes arriving at the parking space by moving the guide belt 1 at the bottom of the electric vehicle 2, and only needs to pass through quickly. Charging the service port just can realize charging for electric vehicle 2. The moving mode, obstacle avoidance process and power supply process are the same as those in the first embodiment, and will not be repeated here, but the guide belt 1 referred to has changed from the guide belt 1 on the ground to the guide belt 1 arranged at the bottom of the electric vehicle 2 .

9 and 10, in order to adapt to the space at the bottom of the electric vehicle 2, the size of the robot 3 in this case, that is, the length, width and height can be 0.6m, 0.6m and 0.1m, respectively, or 0.4m, 1.5m and 0.1m, or 0.3m, 1.5m and 0.1m, can be equipped with 8kwh, 13kwh or 10kwh lithium battery respectively, with side slopes and rigid casing, can resist wheel crushing, can be based on electric The information on the guide belt 1 at the bottom of the car 2 is moved to the electric car 2, and the fast charging interface at the bottom of the electric car 2 is automatically searched, so as to provide the electric car 2 with a contact-type fast charging service in turns; among them, the first type of length and width Gaobi's robot 3 has the best charging effect. Since the capacity of a general electric vehicle 2 is 32kwh, only 4 robots 3 need to take turns to fast charge to complete the charging.

Among them, referring to Fig. 10, the robot 3 generally uses the fine positioning cursor image based on the location of the fast charging interface to achieve accurate positioning of the fast charging interface, specifically including:

First, the robot 3 performs image recognition on the fine positioning cursor image set at the bottom of the electric vehicle 2, and calculates the position deviation of the fast charging interface. The fast charging interface can be designed as a strip-shaped contact group 8, which allows a small amount of positional deviation in one direction, such as the Y direction, and is strictly aligned in the other direction without positional deviation, such as the X direction; the robot 3 A liftable contact rod 9 is arranged inside, and the contact rod 9 has an elastic contact piece 10 for connecting the contact group 8 .

Then, the contact group 8 automatically rises and falls, so that the elastic contact piece 10 of the robot 3 is in good contact with the contact group 8, wherein the elastic contact piece 10 is located in the robot 3 and can be extended or retracted by the robot 3 itself. control.

In addition, before fast charging is realized, the robot 3 can carry out handshake communication with the electric vehicle 2 to ensure that the connection with the contact group 8 is correct. Preferably, in this embodiment, the contact group 8 includes 5 contacts, specifically , the robot 3 generates 5 PWM signals of different frequencies, which are respectively transmitted to the 5 contacts at the bottom of the electric vehicle 2 through 5 elastic contacts 10, and the frequency is measured respectively, and finally the response signal after the frequency measurement is simulated ; When the handshake communication between the robot 3 and the electric vehicle 2 is successfully completed, it can enter the fast charging process.

Embodiment three

Compared with Embodiment 1 and Embodiment 2, the robot 3 can move based on the guide belt 1 on the ground and the guide belt 1 at the bottom of the electric vehicle 2 at the same time, for example, the guide belt 1 on the ground can be used as a For the reference of the parking space, the guide belt 1 at the bottom of the electric vehicle 2 can be used as a reference for returning to the power supply station, and the robot 3 can be remotely controlled through the Internet remote control center; The same as above, will not go into details here, just refer to the guide belt 1 from the ground guide belt 1 to the ground guide belt 1 and the guide belt 1 arranged at the bottom of the electric vehicle 2 .

With reference to Fig. 9, embodiment 1, 2 and 3 can be optionally set and used, and are not limited. For example, because sometimes there are too many obstacles on the sidewalk 4, it may take a lot of time even to move to avoid obstacles. At this time, based on the bottom of the electric vehicle 2 The guide belt 1 is used to move, and there will be fewer obstacles, which can simplify the moving process and improve charging efficiency. Of course, this is only a possible situation. In practice, technicians can choose to use Embodiment 1, Embodiment 2 or The mode of embodiment three is carried out.

The above content has discussed in detail the preferred embodiments and basic principles of the present invention, but the present invention is not limited to the above-mentioned embodiments, and those skilled in the art should understand that there are various other methods without violating the spirit of the present invention. Equivalent modifications and replacements all fall within the scope of the claimed invention.

Claims (10)

1. a kind of novel electric vehicle charging service system based on guiding band and robot, it is characterised in that：Including moving charging Electric service management center and robot；

The mobile charging service management center, for receive user's charge request and obtain user electric vehicle parking stall Number information to generate charging service instruction, and charging service instruction is sent to the robot gone out in reservoir area；

The robot obtains the road for reaching the guiding band in the parking stall corresponding to electric vehicle according to parking stall number information Diameter scheme, from going out reservoir area in and be moved to parking stall according to the route scheme, for the electric vehicle in parking stall Charging service is provided；

The guiding band is arranged on the ground on electric vehicle bottom or/and pavement.

2. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 1, Be characterized in that, further include internet remote control center, the internet remote control center for auxiliary robot by path scheme into Row movement.

3. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 2, It is characterized in that, the internet remote control center is additionally operable to inquiry UWB location datas, and the guiding takes to be provided with and be positioned with UWB The corresponding scale numbering of data.

4. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 1, It is characterized in that, the robot, the guiding reached in the parking stall corresponding to electric vehicle is obtained according to parking stall number information The route scheme of band, including：The robot according to parking stall number information obtain the guiding band residing for electric vehicle number and In the specific location that the guiding takes, to be accurately positioned to electric vehicle, to select to reach the path of the electric vehicle Scheme.

5. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 2, Be characterized in that, the robot, from go out reservoir area in and according to the route scheme move, including：Barrier is being encountered When, robot carries out the automatic tracking movement based on guiding band；When encountering barrier, robot carries out oneself based on guiding band Dynamic avoidance movement；If automatic obstacle-avoiding movement failure, by internet remote control center control robot obstacle avoidance, in obstacle avoidance Later, robot carries out the movement of the auxiliary based on path beacon with correction position.

6. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 5, It is characterized in that, if automatic obstacle-avoiding movement failure, by internet remote control center control robot obstacle avoidance, including：If automatic Avoidance movement failure, robot shoots current scene image using included high in the clouds camera or digital camera, and will work as front court The ID number of scape image and robot is uploaded to internet remote control center using communication network, and internet remote control center is according to upload Data information controls robot cut-through object and is moved to guiding again and takes.

7. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 2, It being characterized in that, the internet remote control center, for auxiliary robot, scheme is moved by path, including：It is met in robot To automatic obstacle-avoiding movement failure, march to crossing, disengaging guiding band, the feelings that parking bit number confirms and the electric facility locations of benefit confirm When condition, internet remote control center receives the help information that machine human hair goes out, and controlling robot according to help information returns to path side On the path set in case, and continues scheme by path and moved.

8. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 2, Be characterized in that, the internet remote control center be additionally operable to control has executed charging business robot mend it is electric, including：It is described Internet remote control center, control robot searches identification guiding band or progress ultrasonic wave positioning, and control are mended power station and are examined in real time The position of robot is surveyed to ensure robot movement in place, after robot is moved to and mends in power station, standard is carried out to robot Electricity or wireless benefit electricity are mended in screens.

9. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 5, It is characterized in that：The automatic tracking movement is mobile for the automatic tracking based on infrared sensor, is based on digital camera and guiding The mobile or automatic tracking movement based on photoelectric sensor of automatic tracking with image procossing.

10. a kind of novel electric vehicle charging service system based on guiding band and robot according to claim 5, It is characterized in that：The path beacon is digital beacon images, wireless RF ID beacons, bar code or magnetic stripe.