Car automatic charging system

Abstract

The present application discloses an automatic charging system for an automobile, including an automatic charging platform and an automobile charging seat; the automatic charging platform includes: an automatic charging system, a platform controller, a charging plug, a cable, a limiting pulley, a positioning module, a traction unit, etc., the platform controller can control the components connected thereto, the automatic charging system runs in the platform controller, the automatic charging platform is positioned by the positioning module, and moves in three-dimensional space by the cable and the traction unit, the automobile charging seat includes: a socket controller, a power receiving socket, an ultrasonic module, a guide groove, a positioning module, etc., the socket controller can control the components connected thereto, the socket controller can communicate with the platform controller to realize the docking of the charging plug with the power receiving socket through the automatic charging system to charge the automobile, and the battery life is delayed by reducing the charging and discharging interval of the battery through automatic charging.

Description

Technical Field

[0001] The present invention relates to an automatic charging platform (such as a system for docking a charging plug with a car charging socket), to an automatic charging platform for moving and controlling a charging plug, and to a positioning technology for the automatic charging platform and the charging plug, and in particular to an automatic charging system for a car. Background Art

[0002] At present, electric vehicles generally have problems with battery life and charging. Although DC fast charging can effectively shorten the charging time, it will greatly shorten the battery life. Therefore, in most cases, users charge through AC slow charging. Moreover, with the construction of cities, more underground garages and other places in communities can be installed with AC charging equipment, which further facilitates user charging. However, because most users charge the battery when it is almost used up, the best charging and discharging range of the battery is 65%-75%, which can achieve the longest service life. However, this will result in the car only being able to use 10% of its actual battery life, and users are required to charge frequently and stop charging in time, which will obviously greatly reduce the user experience. Therefore, in actual situations, all car batteries are not charged properly and cause serious waste of resources. With the popularization of electric vehicles, this problem will become more and more serious. However, automatic charging can automatically complete this task for users.

[0003] As the number of electric vehicles increases, the battery of electric vehicles will become the world's largest energy storage battery. Currently, many countries and companies have begun research in this area, which can greatly relieve the pressure on the power grid and make more efficient use of energy. At the same time, it can also be used as a home energy storage center to provide electricity to families under special circumstances. However, to cooperate with the power grid, a sufficient number of cars must be able to be flexibly dispatched. It is obviously unrealistic to rely on users to do it manually. Therefore, automatic charging can further benefit the development of the energy storage industry.

[0004] The automatic charging platform can control the charging plug and the charging socket to charge the car. The automatic charging platform used to include a charging plug, a robotic arm, an image sensor, the robotic arm is used to control the precise movement of the charging plug, the image sensor is used for positioning, and other related components for achieving control.

[0005] The technologies most directly related to the present invention are:

[0006] CN106114268B discloses an automatic charging connection device for electric vehicles in a parking lot, which mainly completes automatic charging by controlling the charging connector to connect to the charging slot through a slide rail fixed on the ceiling and a rotating arm moving on the slide rail. Its disadvantage is that due to the need for the slide rail and the rotating arm, it has high requirements on the relative distance between the ceiling and the car and the flatness of the ceiling. In fact, the ceiling of the underground parking lot is full of various pipelines and circuits, so this solution is difficult to implement. Moreover, because its connection method is a hard connection, it is necessary to ensure that the car and the charging connector are in a relatively static state, otherwise it will cause equipment damage. However, in actual situations, the car suspension and tires are flexible structures, and the body of the car will shake when passengers get off or get on the car. This is also a defect that all current wired automatic charging methods have.

[0007] CN105896695A discloses a suspended wireless charging system for an electric bus station, comprising a power transmitting device installed on a bus station platform and a power receiving device installed on an electric bus; the power transmitting device comprises a linear motor, a position sensing adjustment system, a height adjustment arm, a transmitting coil, a primary power regulating device, and a signal receiving and processing system; the power receiving device comprises a receiving coil, a secondary power regulating device, a signal transmitting device, an on-board battery pack, etc. The system can perform wireless charging on the bus; its disadvantage is that the wireless charging system has the disadvantages of low efficiency, high heat generation, and large radiation, and has high requirements on the relative position of the transmitting coil and the receiving coil, and has high requirements on the installation position and space.

[0008] Therefore, it is particularly necessary to develop a reliable, practical, low-cost and easy-to-promote automatic charging system, because most cars drive for a relatively short time every day, and most of the time they are in open parking lots, underground parking lots, roadsides, and home garages. A universal and low-cost automatic charging system will greatly enhance the competitiveness of electric vehicles after large-scale promotion, and can interact through a more convenient power grid to improve the energy structure and improve the user experience of electric vehicles. Summary of the invention

[0009] Some embodiments of the present disclosure relate to an automatic charging platform and system for charging a car with a charging socket. In various embodiments, the automatic charging system can improve one or more characteristic structures of the user experience of using the automatic charging platform and the car with the charging socket. For example, some embodiments of the present disclosure relate to a platform for automatic charging, the automatic charging platform includes: a platform controller, the platform controller controls the operation and data collection of each component connected thereto, and the platform controller can communicate with other devices; it also includes a power cord, the power cord is connected to the power supply to power the platform controller, and it also includes a battery, the battery is arranged in the platform controller, the battery can be charged when the power supply is powered, and it can supply power to the automatic charging platform after the power supply is cut off to ensure normal operation; it also includes a traction cable, a section of the cable is fixed on the roof or other places to suspend the automatic charging platform in the air; it also includes a traction unit, the traction unit is connected to the platform controller and the cable to control the retraction and extension of the cable, and the platform controller controls the automatic charging platform to use tension and gravity to move in three directions. The automatic charging platform can move in three-dimensional space, and the cable can be in a relaxed state during the charging process; it also includes a plurality of positioning modules, and the positioning module is connected to the platform controller to realize the positioning of the automatic charging platform; it also includes a charging plug and a car charging module, and the car charging module has all the functions of the existing charging module (the prior art will not be described in detail), and the charging plug is connected to the charging socket to charge the car; it also includes a limiting pulley, and the limiting pulley can automatically rotate with the automatic charging platform, and limit the cable activity space to reduce resistance, and at the same time prevent the cable from being wound around the traction unit when the cable is in a relaxed state. The cable can also be untied; it also includes an automatic charging system running in the platform controller, and the automatic charging system controls the automatic charging platform to dock with the power receiving socket, and the automatic charging platform can also be connected to other auxiliary components.

[0010] Automatic charging platform with rotary motor:

[0011] In some embodiments, a rotating motor is also provided, which can control the rotation of the charging plug. An encoder is arranged inside the rotating motor to obtain the position and angle of the charging plug. The rotating motor is connected to the charging platform through a rotating motor seat. The rotating motor is connected to the platform controller. The platform controller can control the operation of the rotating motor according to the data to achieve the same angle between the charging plug and the power socket.

[0012] Automatic charging platform with linear vibration motor:

[0013] In some embodiments, a linear vibration motor is also provided, which is connected to a platform controller. The platform controller controls the vibrator inside the linear vibration motor to perform reciprocating motion. When the vibrator starts from the starting point, the speed accelerates from 0 to V1. During the acceleration process, a force F1 will be generated in the opposite direction of the movement. When it reaches the end point, it will complete deceleration in a very short time (the speed decelerates from V1 to 0) and generate a force F2 in the same direction of the movement. Because the acceleration time is greater than the deceleration time, according to: V=a*t, F=a*m, because the speed change is the same, it can be concluded that the smaller the time, the greater the acceleration a, and the greater the acceleration a when the mass m remains unchanged. Therefore, F2 is greater than F1 in the opposite direction. Because there is a certain friction force F3 when the charging plug is inserted into and unplugged from the power socket, the linear vibration motor works through the platform controller. When the size of F1 is controlled to be smaller than F3, the size of F2 is ensured to be greater than F3, then the charging plug can be controlled to move relative to the power socket.

[0014] Automatic charging platform with fan:

[0015] In some embodiments, a fan is also provided, which is connected to a platform controller and can generate thrust using air. The platform controller controls the fan to work in conjunction with the cable to adjust the posture of the charging platform so that the charging plug and the power socket are parallel to each other. At the same time, the fan can assist the charging plug in being inserted into or pulled out of the power socket by generating thrust.

[0016] Automatic charging platform with linear motor:

[0017] In some embodiments, a linear motor is also provided, wherein a plurality of the linear motors are mounted on a platform fixing plate and are connected to a platform controller for operation; a rotating motor seat is also provided, wherein the rotating motor seat is connected to the linear motor, and the linear motor can control the angle of the rotating motor seat, thereby controlling the charging plug to be parallel to the power socket.

[0018] Charging socket platform with power receiving socket:

[0019] Some embodiments of the present disclosure relate to a charging socket platform installed on a car, the charging socket platform comprising: a power receiving socket, which can be connected to a charging plug for charging; a socket controller, which can control the operation and data collection of various components connected to it and communicate with an automatic charging platform, the power receiving socket is fixed in the socket controller and connected to it; an ultrasonic module, the socket controller controls one or more connected ultrasonic modules, and the ultrasonic module can cooperate with a positioning module of the automatic charging platform for positioning; and a guide groove, which can guide the charging plug to align with the power receiving socket, and the shape of the guide groove matches the shape of the charging plug or other docking object.

[0020] Charging socket platform and automatic charging platform with ultrasonic module:

[0021] In some embodiments, an ultrasonic module is provided, each of which has an ultrasonic transmitting unit and a receiving unit, which can be used for transmission or reception respectively. The ultrasonic modules installed on the charging platform and the power socket or other locations cooperate with each other, and positioning is performed by utilizing the time difference of received signals or other methods. At the same time, each ultrasonic module can be used as an obstacle avoidance detection unit, which works respectively to avoid collision between the automatic charging platform or the power socket and obstacles, and can detect obstacles between the automatic charging platform and the power socket.

[0022] Charging socket platform and automatic charging platform with induction coil:

[0023] In some embodiments, an induction coil that can be installed inside a charging plug, a power socket, a guide groove, etc. is also provided. The induction coil is connected to and controlled by a platform controller or a socket controller. Using the principle of electromagnetic induction, the platform controller or the socket controller can control each induction coil to generate a magnetic field that changes at a certain frequency, and other induction coils generate changing induced voltages in the changing magnetic field. The platform controller or the socket controller can compare the voltage data with the pre-input data to determine the relative position between the charging plug and the power socket.

[0024] Charging socket platform and automatic charging platform with lifting and retracting rod mechanism:

[0025] In some embodiments, a telescopic rod mechanism is also provided, and the telescopic mechanism includes: a telescopic rod and a linear rack, and the linear rack is fixed inside the telescopic rod; it also includes a reduction motor, and an encoder is arranged inside the reduction motor to know the position, and the reduction motor controls the position of the telescopic rod through the linear rack; the socket controller controls the reduction motor connected to it to work; it also includes a telescopic rod groove, and the telescopic rod groove cooperates with other components to realize the insertion and push-out of the charging plug, so that the charging plug and the power receiving socket cooperate to complete the charging.

[0026] Charging socket platform and automatic charging platform with a latch mechanism:

[0027] In some embodiments, a mechanism with a pin is provided, the pin mechanism comprising: a pin motor of the pin, the pin motor is connected to the platform controller, the pin is arranged on the pin motor and can be used to limit the movement of the telescopic rod groove; it also includes a guide groove and a guide hole, the guide hole can limit the movement of the telescopic rod, when the telescopic rod is inserted into the guide hole, the pin locks the telescopic rod groove to achieve the control of relative displacement between the charging platform and the charging socket platform.

[0028] Automatic charging platform with automatic charging system:

[0029] In some embodiments, a platform controller with an automatic charging system is provided, wherein the automobile automatic charging system runs in the platform controller, and the platform controller and the socket controller communicate at regular intervals, automatically maintain wireless connection when communication is established, and identify the vehicle for identity authentication based on communication between the platform controller and the socket controller. The automatic charging system can communicate with the power grid, and automatically charge the car within a specified time according to the instructions of the power grid, so as to achieve charging of the car while sharing the pressure of the power grid. Similarly, when the power grid issues a request to stop charging, the platform controller controls to stop charging, etc. For families with power generation systems, the power generated by the power generation system can be used to charge the car. For families with independent power supply systems, the platform controller can provide reverse output of electricity for the family after a power outage. Users can use mobile phones or other devices to control the automatic charging platform through the Internet and set charging habits, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a structural diagram of the automatic charging platform A;

[0031] Figure 2 It is the system-level diagram of the automatic charging platform A;

[0032] Figure 3 This is a bottom view of the car charging socket A;

[0033] Figure 4 This is the system-level diagram of the car charging socket A;

[0034] Figure 5 It is a front view of the automatic charging platform A and the car charging socket A;

[0035] Figure 6 A front view of some components and induction coils of the automatic charging platform A and the vehicle charging socket A;

[0036] Figure 7 It is a schematic diagram of the installation of the automatic charging platform A and the car charging socket A;

[0037] Figure 8 A stereoscopic view showing that the automatic charging platform A is successfully docked with a car with a car charging socket A;

[0038] Fig. 9 It is a structural schematic diagram of the automatic charging platform B and the car charging socket A;

[0039] Fig.10 It is the system-level diagram of the automatic charging platform B;

[0040] Fig.11 This is a schematic diagram of the installation of the automatic charging platform B and the car charging socket A;

[0041] Fig.12 It is a structural schematic diagram of the automatic charging platform C and the car charging socket B;

[0042] Fig.13 It is a system-level diagram of the automatic charging platform C and the car charging socket B;

[0043] Fig.14 A is a side sectional view of the automatic charging platform C and the vehicle charging socket B during docking;

[0044] Fig.15 It is a front cross-sectional view of the distribution of the induction coils during the docking process between the automatic charging platform C and the car charging socket B;

[0045] Fig.16 This is a diagram demonstrating the working principle of the induction coil;

[0046] Fig.17 This is a graph of induced voltage and distance when two induction coils move relative to each other. DETAILED DESCRIPTION

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation" and "connection" should be understood in a broad sense, for example, direct connection or indirect connection through an intermediate medium, internal communication between two components, or electrical connection; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In order to better understand the essence and advantages of the present disclosure, reference is made to the following description and drawings. It should be understood, however, that each of the drawings is provided for illustrative purposes only and is not intended to be a definition of limitations on the scope of the present disclosure. Also as a general rule, and unless clearly contrary to the description, if the same reference numeral is used for elements in different figures, the elements are generally the same or at least similar in function or use.

[0049] Some embodiments of the present disclosure relate to an automatic charging platform and system for charging a car with a charging socket. In various embodiments, the automatic charging system can improve one or more feature structures of the user experience of using the automatic charging platform and the car with the charging socket.

[0050] like Figures 1 to 9Some embodiments of the present disclosure are about an automatic charging platform A30, the automatic charging platform A30 comprising: an automatic charging platform A upper cover 14, an automatic charging platform A lower cover 15, and an automatic charging platform A shell 31, wherein the automatic charging platform A shell 31 is connected to the automatic charging platform A upper cover 14 and the automatic charging platform A lower cover 15; further comprising a platform controller 1, wherein the platform controller 1 is fixed on the automatic charging platform A upper cover 14, wherein the platform controller 1 controls the operation and data collection of each component connected thereto, and wherein the platform controller 1 can communicate with other devices; further comprising a power cord 21, wherein one end of the power cord 21 is connected to the platform controller 1 for supplying power thereto The other end of the power cord 21 is connected to the power supply; it also includes a battery 27, which is arranged in the platform controller 1. The battery 27 can supply power to the automatic charging platform A30 to ensure normal operation after the power is cut off; it also includes a cable A22, a cable B23, a cable C24, a cable D25, and a hook 26. The hook 26 is fixed to the roof 33 or other relatively static objects, and is preferentially installed according to parking habits and the location of the charging plug 13. One end of the cable A22, the cable B23, the cable C24, and the cable D25 are respectively connected to the hook 26; it also includes a traction unit A5, a traction unit B6, a traction unit C7, and a traction unit D8 The traction units A5, B6, C7 and D8 are respectively fixed on the lower cover 15 of the automatic charging platform A and connected to the platform controller 1. The platform controller 1 can control the traction units A5, B6, C7 and D8 to work, and then retract and release the cables A22, B23, C24 and D25 connected thereto, and then adjust the automatic charging platform A30 to move. The automatic charging platform A30 is controlled by the platform controller 1 to move in three-dimensional space using tension and gravity. Theoretically, at least three points are required to determine a plane in space, so there are at least three cables, but in space As the lengths of the cables are different, the pulling forces generated by the cables A22, B23, C24 and D25 on the automatic charging platform A30 are also different, which will cause the automatic charging platform A30 to be unable to maintain levelness with the roof 33 in some special cases; it also includes a charging plug 13 and a car charging module 12, the car charging module 12 has all the functions of an existing charging module (not described in detail in the prior art) and is connected to the charging plug 13, the car charging module 12 is connected to the platform controller 1, the power cord 21 supplies power to the car charging module 12 and the charging plug 13, and the charging plug 13 can be connected to the power socket 41 to charge the car.

[0051] The automatic charging platform A30 also includes: an ultrasonic module A9, an ultrasonic module B10, and an ultrasonic module C11. The ultrasonic module A9, the ultrasonic module B10, and the ultrasonic module C11 respectively include a transmitting unit and a receiving unit and are connected to the platform controller 1. Therefore, the ultrasonic module A9, the ultrasonic module B10, and the ultrasonic module C11 can perform independent obstacle avoidance detection to prevent the automatic charging platform A30 from colliding with a car or other objects. At the same time, when one of the ultrasonic modules is used as a transmitting unit, it cooperates with the receiving unit set on other equipment to infer its relative position based on the received time difference and then complete the positioning. Because the automatic charging platform A30 is not level with the roof 33 in some cases, at least three ultrasonic modules are required to realize the positioning of the automatic charging platform A30 to determine a plane and then calculate the spatial position of the charging plug 13 through the platform controller 1 and the data input in advance.

[0052] The automatic charging platform A30 also includes: a rotating motor 2, which is fixed on the lower cover 15 of the automatic charging platform A and connected to the charging module 12. An encoder is arranged inside the rotating motor 2 to obtain the position and angle of the charging plug 13. The rotating motor 2 is connected to the platform controller 1. The platform controller 1 can control the operation of the rotating motor 2 according to the data and then control the rotation of the charging plug 13 to achieve the same angle between the charging plug 13 and the power socket 41. Ideally, the charging plug 13 is perpendicular to the roof 33.

[0053] The automatic charging platform A30 also includes: a linear vibration motor, wherein the linear vibration motor A3 and the linear vibration motor B4 are fixed between the upper cover 14 and the lower cover 15 of the automatic charging platform A and are connected to the platform controller 1. The platform controller 1 controls the internal vibrators of the linear vibration motors A3 and B4 to perform reciprocating motion. When the vibrator starts from the starting point, the speed accelerates from 0 to V1. During the acceleration process, a force F1 is generated in the opposite direction of the movement. When it reaches the end point, it will complete the deceleration in a very short time (the speed decelerates from V1 to 0) and generate a force F 2 is consistent with the movement direction, because the acceleration time is greater than the deceleration time according to: V = a*t, F = a*m. Because the speed change is the same, it can be concluded that the smaller the time, the greater the acceleration a, and the greater the acceleration a when the mass m remains unchanged. Therefore, F2 is greater than F1 in the opposite direction. Because there is a certain friction F3 when the charging plug 13 is inserted into and pulled out of the power socket 41, the linear vibration motor A3 and the linear vibration motor B4 of the platform controller 1 work. When the size of F1 is controlled to be smaller than F3, the size of F2 is ensured to be greater than F3, and the charging plug 13 can be controlled to move relative to the power socket 41.

[0054] The automatic charging platform A30 also includes: fan A16, fan B17, fan C18, and fan D19. The fans A16, fan B17, fan C18, and fan D19 are fixed on the upper cover 14 of the automatic charging platform A and connected to the platform controller 1. The fans A16, fan B17, fan C18, and fan D19 can use air to generate thrust. The platform controller 1 can adjust the posture of the automatic charging platform A30 by controlling the fans A16, fan B17, fan C18, and fan D19 to cooperate with the cables A22, cable B23, cable C24, and cable D25, so that the charging plug 13 and the power socket 41 are parallel to each other. At the same time, the fans A16, fan B17, fan C18, and fan D19 can assist the charging plug 13 in being inserted into or pulled out of the power socket 41 by generating thrust.

[0055] The automatic charging platform A30 also includes: a limiting pulley 20, which can automatically rotate with the automatic charging platform A30, and limit the activity space of the cable A22, cable B23, cable C24, and cable D25 to reduce resistance, and at the same time prevent the cables A22, cable B23, cable C24, and cable D25 from being entangled in the traction unit A5, traction unit B6, traction unit C7, and traction unit D8 when they are in a relaxed state, such as during transportation or when the cables A22, cable B23, cable C24, and cable D25 are in other relaxed conditions.

[0056] like Figures 7 to 9 As shown, the automatic charging platform A30 also includes: an induction coil A28 and an induction coil B29, which are fixed in the charging plug 13 and connected to the platform controller 1 for control. Using the principle of electromagnetic induction, the induction coil A28 and the induction coil B29 can be used as a transmitting source to generate a changing magnetic field with a fixed frequency and a certain intensity. When not used as a transmitting source, the induction coil A28 and the induction coil B29 can generate a corresponding changing voltage through a changing magnetic field. The platform controller 1 can compare the voltage data with the pre-input data to determine the relative position between the charging plug 13 and other induction coils, which can be used as a reference message for decision-making.

[0057] The automatic charging platform A30 also includes: the platform controller 1 can control various devices connected to it and collect corresponding data. The platform controller 1 can also communicate with other devices through wireless communication technology, such as connecting to a mobile phone or a server through the Internet.

[0058] like Figures 3 to 9 Some embodiments of the present disclosure are about a car charging socket A50:

[0059] The car charging socket A50 includes: a socket controller 40, which can control the operation and data collection of each component connected to it and communicate with the automatic charging platform; it also includes a power receiving socket 41, which can be connected to the charging plug 13 for charging, and the power receiving socket 41 is fixed in the socket controller 40 and connected thereto; it also includes an ultrasonic module a42, an ultrasonic module b43, and an ultrasonic module c44, which are fixed in the socket controller 40 and connected thereto, and the ultrasonic modules a42, b43, and c44 all have an independent transmitting unit and receiving unit, and can perform independent obstacle avoidance detection to detect the automatic charging platform A30 and the car charging socket A50. Whether there is an obstacle between the two planes, when one of the ultrasonic modules a42, b43, and c44 is used as a transmitting unit, it cooperates with a receiving unit arranged on other equipment such as the automatic charging platform A30 to infer its relative position based on the received time difference and then complete the positioning. To achieve mutual positioning of the two planes, the automobile charging socket A50 needs to use at least three ultrasonic modules to achieve coordinated positioning with other ultrasonic modules; it also includes a guide groove A45, the guide groove A45 is provided with a certain angle chamfer, the outer opening of the guide groove A45 is larger than the inner opening, the inner opening corresponds to the power receiving socket 41 and is fixed on the power receiving socket 41, when the charging plug 13 is close to the power receiving socket 41, the guide groove A45 can effectively guide the charging plug 13 to align with the power receiving socket 41, thereby improving the success rate of docking.

[0060] like Figure 5 , Figure 6 As shown, the automobile charging socket A50 also includes: an induction coil a46, an induction coil b47, and an induction coil c48. The induction coil a46 and the induction coil b47 are fixed in the power receiving socket 41 and connected to the socket controller 40 for control. The induction coil c48 is fixed in the guide groove A45 and connected to the socket controller 40 for control. The induction coil a46, the induction coil b47, and the induction coil c48 use the principle of electromagnetic induction to be used as a transmitting source to generate a variable magnetic field with a fixed frequency and a certain intensity, or to generate a corresponding variable voltage through the changing magnetic field of other induction coils such as the induction coil A28 and the induction coil B29 set in the charging plug 13. The socket controller 40 compares the voltage data with the pre-input data and then determines the relative distance between the induction coil a46, the induction coil b47, and the induction coil c48 and the power receiving socket 41 as a basis for judging whether the charging plug 13 is inserted into the power receiving socket 40.

[0061] like Figure 7 and Figure 8Some embodiments of the present disclosure relate to a car A32 with a car charging socket A50:

[0062] The car A32 is provided with a car charging socket A50 at the front hood of the car, the socket controller 40 is connected to the car, and the power receiving socket 41 is ideally perpendicular to the car chassis. The car charging socket A50 is installed in this position to take into account manual charging at the same time. After the charging plug 13 is inserted into the power receiving socket 41, the car A32 can be charged.

[0063] like Figures 9 to 11Some embodiments of the present disclosure are about an automatic charging platform B60, the automatic charging platform B60 includes: an automatic charging platform B upper cover 51, an automatic charging platform B lower cover 52, the automatic charging platform B shell 56 connects the automatic charging platform B upper cover 51 and the automatic charging platform B lower cover 52; also includes a platform controller 1, the platform controller 1 is fixed on the automatic charging platform B upper cover 51, the platform controller 1 controls the operation and data collection of each component connected to it, and the platform controller 1 can communicate with other devices; also includes a power cord 21, one end of the power cord 21 is connected to the platform controller 1 for its The power cord 21 is connected to the power supply at the other end; it also includes a battery 27, which is arranged in the platform controller 1. The battery 27 can supply power to the automatic charging platform B60 to ensure normal operation after the power is cut off; it also includes a cable A22, a cable B23, a cable C24, and a hook 26. The hook 26 is fixed to the roof 33 or other relatively stationary objects, and is preferentially installed according to parking habits and the location of the charging plug 13. One end of the cable A22, the cable B23, and the cable C24 are respectively connected to the hook 26; it also includes a traction unit A5, a traction unit B6, and a traction unit C7. The traction units A5, B6 and C7 are respectively fixed on the lower cover 52 of the automatic charging platform B and connected to the platform controller 1. The platform controller 1 can control the traction units A5, B6 and C7 to work, and then retract and release the cables A22, B23 and C24 connected thereto, and then adjust the automatic charging platform B60 to move. The automatic charging platform B60 is controlled by the platform controller 1 to move in three-dimensional space using tension and gravity. Theoretically, at least three points are required to determine a plane in space, so there are at least three cables. However, in space, as the length of the cables increases, the number of cables increases. The pulling forces generated by the different cables A22, cables B23, and cables C24 on the automatic charging platform B60 are also different, which will cause the automatic charging platform B60 to be unable to maintain level with the roof 33 in some special situations; it also includes a charging plug 13 and a car charging module 12, the car charging module 12 has all the functions of the existing charging module (the prior art will not be described in detail) and is connected to the charging plug 13, the car charging module 12 is connected to the platform controller 1, the power cord 21 supplies power to the car charging module 12 and the charging plug 13, and the charging plug 13 can be connected to the power socket 41 to charge the car.

[0064] The automatic charging platform B60 also includes: an ultrasonic module A9, an ultrasonic module B10, and an ultrasonic module C11. The ultrasonic module A9, the ultrasonic module B10, the ultrasonic module C11, and the ultrasonic module D54 respectively include a transmitting unit and a receiving unit and are connected to the platform controller 1. Therefore, the ultrasonic module A9, the ultrasonic module B10, the ultrasonic module C11, and the ultrasonic module D54 can perform independent obstacle avoidance detection to prevent the automatic charging platform B60 from colliding with a car or other objects. At the same time, when one of the ultrasonic modules is used as a transmitting unit, it cooperates with the receiving unit set on other equipment to infer its relative position based on the received time difference and then complete the positioning. Because the automatic charging platform B60 is not level with the roof 33 in some cases, at least three ultrasonic modules must be used to realize the positioning of the automatic charging platform B60 to determine a plane and then calculate the spatial position of the charging plug 13 through the platform controller 1 and the data input in advance.

[0065] The automatic charging platform B60 also includes: a rotating motor 2, which is fixed on the lower cover 52 of the automatic charging platform B and connected to the charging module 12. An encoder is arranged inside the rotating motor 2 to obtain the position and angle of the charging plug 13. The rotating motor 2 is connected to the platform controller 1. The platform controller 1 can control the operation of the rotating motor 2 according to the data and then control the rotation of the charging plug 13 to achieve the same angle between the charging plug 13 and the power socket 41. Ideally, the charging plug 13 is 30 degrees to the roof 33.

[0066] The automatic charging platform B60 also includes: a platform fixing plate 53, which is fixed on the lower cover 52 of the automatic charging platform B; a rotating motor seat 35, which is connected to the rotating motor 2; a linear motor A36, a linear motor B37, and a linear motor C38, one end of which is installed on the platform fixing plate 53 and connected to the platform controller 1 for operation, and the other end of the linear motor A36, the linear motor B37, and the linear motor C38 is connected to the rotating motor seat. The linear motor A36, the linear motor B37, and the linear motor C38 are internally provided with encoders which can obtain the current relative position and angle between the rotating motor seat 35 and the roof 33 through the data pre-input by the platform controller 1. The platform controller 1 controls the angle between the rotating motor seat 35 and the roof 33 by controlling the stroke of the linear motor A36, the linear motor B37, and the linear motor C38; the linear motor A36, the linear motor B37, and the linear motor C38 can control the angle of the rotating motor seat 35, thereby controlling the charging plug 13 to be parallel to the power socket 41.

[0067] The automatic charging platform B60 further includes: a linear vibration motor A3 and a linear vibration motor B4. The linear vibration motor A3 is fixed on the upper cover 51 of the automatic charging platform B. The linear vibration motor B4 is fixed on the lower cover 52 of the automatic charging platform B and is connected to the platform controller 1. The platform controller 1 controls the internal vibrators of the linear vibration motors A3 and B4 to perform reciprocating motion. When the vibrators start from the starting point, the speed is accelerated from 0 to V1. During the acceleration process, a force F1 is generated in the opposite direction of the motion. When reaching the end point, the vibrators will complete deceleration in a very short time (the speed is decelerated from V1 to 0). A force F2 will be generated in the same direction as the movement, because the acceleration time is greater than the deceleration time according to: V=a*t, F=a*m. Because the speed change is the same, it can be concluded that the smaller the time, the greater the acceleration a, and the greater the acceleration a when the mass m remains unchanged. Therefore, F2 is greater than F1 in the opposite direction. Because there is a certain friction F3 when the charging plug 13 is inserted into and unplugged from the power socket 41, the linear vibration motor A3 and the linear vibration motor B4 of the platform controller 1 work, and when the size of F1 is controlled to be smaller than F3, ensuring that the size of F2 is greater than F3, the charging plug 13 can be controlled to move relative to the power socket 41.

[0068] The automatic charging platform B60 also includes: fans A16 and B17, which are fixed on the platform fixing plate 53 and connected to the platform controller 1. The fans A16 and B17 can generate thrust using air. The platform controller 1 can adjust the posture of the automatic charging platform B60 by controlling the fans A16 and B17 to cooperate with the cables A22, B23 and C24, so that the charging plug 13 and the power socket 41 are parallel to each other. At the same time, the fans A16 and B17 can assist the charging plug 13 in being inserted into or pulled out of the power socket 41 by generating thrust.

[0069] The automatic charging platform B60 also includes: a limiting pulley 20, which can automatically rotate with the automatic charging platform B60, and limit the activity space of cables A22, cables B23, and cables C24 to reduce resistance, and at the same time prevent the cables A22, cables B23, and cables C24 from being entangled in traction units A5, traction units B6, and traction units C7 when they are in a relaxed state, such as during transportation or when cables A22, cables B23, and cables C24 are in other relaxed conditions.

[0070] like Figures 1 to 11As shown, the automatic charging platform B60 also includes: an induction coil A28 and an induction coil B29, which are fixed in the charging plug 13 and connected to the platform controller 1 for control. Using the principle of electromagnetic induction, the induction coil A28 and the induction coil B29 can be used as a transmitting source to generate a changing magnetic field with a fixed frequency and a certain intensity. When not used as a transmitting source, the induction coil A28 and the induction coil B29 can generate a corresponding changing voltage through a changing magnetic field. The platform controller 1 can compare the voltage data with the pre-input data to determine the relative position between the charging plug 13 and other induction coils, which can be used as a reference message for decision-making.

[0071] The automatic charging platform B60 also includes: the platform controller 1 can control various devices connected to it and collect corresponding data. The platform controller 1 can also communicate with other devices through wireless communication technology, such as connecting to a mobile phone or a server through the Internet.

[0072] like Figures 9 to 11 Some embodiments of the present disclosure relate to a car B55 with a car charging socket A50:

[0073] The car B55 is provided with a car charging socket A50 at the rear side of the car. The power receiving socket 41 is ideally 30 degrees to the car chassis. After the charging plug 13 is inserted into the power receiving socket 41, the car B55 can be charged.

[0074] like Figures 12 to 15Some embodiments of the present disclosure are about an automatic charging platform C70, the automatic charging platform C70 includes: a platform controller 1, the platform controller 1 controls the operation and data collection of each component connected to it, and the platform controller 1 can communicate with other devices; it also includes a charging plug 13, the charging plug 13 can be connected to the power socket 41 to charge the car; it also includes an ultrasonic module A9, an ultrasonic module B10, and an ultrasonic module C11, the ultrasonic module A9, the ultrasonic module B10, and the ultrasonic module C11 respectively include a transmitting unit and a receiving unit and are connected to the platform controller 1, so the ultrasonic module A9, the ultrasonic module B10, and the ultrasonic module C11 can all perform independent obstacle avoidance detection to prevent the automatic charging platform C70 from colliding with a car or other objects. At the same time, when one of the ultrasonic modules is used as a transmitting unit, it cooperates with the receiving unit set on other devices according to the received time difference. Infer its relative position and then complete the positioning. Because the automatic charging platform C70 is not level with the roof 33 in some cases, at least three ultrasonic modules are required to realize the positioning of the automatic charging platform C70 to determine a plane and then infer the spatial position of the charging plug 13 through the platform controller 1 and the data input in advance; it also includes an induction coil, the induction coil A28 and the induction coil B29 are fixed in the charging plug 13 and connected to the platform controller 1 for control. Using the principle of electromagnetic induction, the induction coil A28 and the induction coil B29 can be used as a transmitting source to generate a changing magnetic field with a fixed frequency and a certain intensity. When not used as a transmitting source, the induction coil A28 and the induction coil B29 can generate a corresponding changing voltage through the changing magnetic field. The platform controller 1 can compare the voltage data with the pre-input data to determine the relative position between the charging plug 13 and other induction coils, and then use it as a reference message for decision-making.

[0075] The automatic charging platform C70 also includes a bayonet motor A and a bayonet motor B, which are fixed on and connected to the platform controller 1, and can be controlled by the platform controller 1 to achieve extension and retraction; it also includes a bayonet pin 65, which is installed at the front end of the bayonet motor A and the bayonet motor B, and can be controlled by the platform controller 1 to keep the bayonet pin 65 in a certain position to limit the movement of other components; it also includes a guide groove C71 and a limiting hole 72, the guide groove C71 is provided with a certain angle chamfer, the outer opening of the guide groove C71 is larger than the inner opening, and the inner part of the guide groove is a limiting hole 72, which guides the charging object to the limiting hole 72 when the object approaches, and when there are two or more guide grooves C71 and limiting holes 72, the success rate of docking can be improved and after docking, it can be ensured that the charging plug 13 and the power socket 41 are parallel.

[0076] like Figures 12 to 15 Some embodiments of the present disclosure are about a car charging socket B67, which includes: a socket controller 40, which can control the operation and data collection of various components connected to it and communicate with an automatic charging platform; also includes a power receiving socket 41, which can be connected to a charging plug 13 for charging, and the power receiving socket 41 is fixed in the socket controller 40 and connected thereto; also includes an ultrasonic module a42, an ultrasonic module b43, and an ultrasonic module c44. The ultrasonic modules a42, b43, and c44 are fixed in the socket controller 40 and connected thereto, and the ultrasonic modules a42, b43, and c44 all have an independent transmitting unit and a receiving unit, and can perform independent obstacle avoidance detection to detect whether there are obstacles between the automatic charging platform C70 and the car charging socket B67. When one of the ultrasonic modules a42, b43, and c44 is used as a transmitter, the ultrasonic module a42, b43, and c44 can detect obstacles between the automatic charging platform C70 and the car charging socket B67. When the emitting unit is used, it cooperates with the receiving unit set on other equipment such as the automatic charging platform C70 to infer its relative position based on the received time difference and then complete the positioning. To achieve mutual positioning of the two planes, the automobile charging socket B67 needs to use at least three ultrasonic modules to achieve coordinated positioning with other ultrasonic modules; it also includes an induction coil a46 and an induction coil b47, and the induction coil a46 and the induction coil b47 are fixed in the power receiving socket 41 and connected to the socket controller 40 for control. The induction coil a46 and the induction coil b47 use the principle of electromagnetic induction to be used as a transmitting source to generate a changing magnetic field with a fixed frequency and a certain intensity, or through other induction coils such as the induction coil A28 and the induction coil B29 set in the charging plug 13. The changing magnetic field generates a corresponding changing voltage. The socket controller 40 compares the voltage data with the pre-input data and then determines the relative distance between the induction coil a46 and the induction coil b47 and it, as a basis for judging whether the charging plug 13 is inserted into the power receiving socket 40.

[0077] The automobile charging socket B67 also includes: an active hole 73, which is located on the socket controller 40; a linear rack 61, a lifting rod 62, and a lifting rod groove 66, wherein the linear rack is fixed in the lifting rod 62, the lifting rod 62 is provided with a lifting rod groove 66, and the size of the lifting rod groove 66 matches the pin 65 provided on the automatic charging platform C70, the lifting rod 62 is located in the active hole 73 and can move back and forth, and the size of the lifting rod 62 matches the size of the limit hole 72; and also includes a reduction motor a68, a reduction motor b69, the The reduction motor a68 and the reduction motor b69 are connected to the socket controller 40. The reduction motor a68 and the reduction motor b69 can drive the linear rack 61 to move and thus control the telescopic rod to perform telescopic movement. When the telescopic rod 62 is inserted into the specified position in the limit hole 72, the latch 65 can limit its movement. If the reduction motor a68 and the reduction motor b69 are controlled by the socket controller 40 to work, the telescopic rod 62 can realize the relative displacement between the automatic charging platform C70 and the car charging seat B67, thereby controlling the charging plug 13 and the power receiving socket 41 to complete the plug-in and unplug action.

[0078] like Figures 5 to 17 For some embodiments of the present disclosure, the specific method of positioning the induction coil A28, the induction coil B29, the induction coil a46, and the induction coil b47 by the principle of electromagnetic induction is as follows: Fig.16 As shown in , the induction coil B29 and the induction coil a46 are separated by a certain distance, and the induction coil B29 is connected to the platform controller 1. The alternating current with a certain frequency generated by the platform controller 1 can make the induction coil B29 generate a magnetic field with a certain frequency. According to the principle of electromagnetic induction, the induction coil B29 can make the induction coil a46 around it generate an induced electromotive force, and then generate current. The induction coil a46 is connected to the socket controller 40, and the socket controller 40 can detect the voltage generated on the induction coil a46, such as Fig.17 As shown in the figure, the relationship curve between the distance between the induction coil a46 and the induction coil B29 and the induced voltage shows that the induced voltage is inversely proportional to the distance, and the voltage generated at each position is different. Therefore, the induced voltage value detected by the socket controller 40 can be compared with the pre-input data to infer the distance between the induction coil a46 and the induction coil B29. However, there are two possibilities at this time: one is on the left side of the induction coil B29 and the other is on the right side. Figure 6 As shown, the distance between the induction coil a46 and the induction coil b47 is fixed. When the socket controller 40 simultaneously collects the induced voltage on the induction coil b47, it can compare the two pre-input data and thus infer the unique position and distance information. Similarly, the same result can be obtained by switching the transmission source using other induction coils.

[0079] As shown in Figure 1 to Figure 8 For some embodiments of the present disclosure, the method and steps of the automatic charging system of the automobile A32 and the automatic charging platform A30 are as follows:

[0080] Automatic charging system operation: The automatic charging system operates in the platform controller 1 and the socket controller 40. The platform controller 1 and the socket controller 40 communicate at regular intervals, automatically maintain wireless connection when communication is established, and identify the vehicle for identity authentication based on the communication between the platform controller 1 and the socket controller 40. The platform controller 1 and the socket controller 40 are positioned through ultrasonic modules, and positioning is performed using positioning modules connected to the platform controller 1, such as ultrasonic modules A9, ultrasonic modules B10, ultrasonic modules C11, and ultrasonic modules a42, ultrasonic modules b43, and ultrasonic modules c44 provided on the vehicle A32. The platform controller 1 determines whether the vehicle is on the ground 34 according to the positioning data collected by the socket controller 40, and determines whether the car A32 has the docking conditions. The platform controller 1 can be connected to the mobile phone or server through the Internet. If the connection conditions are met, the current status is sent to the server. The power grid or the user will receive the corresponding data. The user can set the charging time interval and the charging power interval through the mobile phone. If the power grid issues a corresponding instruction to charge or stop charging or reverse output, the automatic charging system will also execute it. The automatic charging system decides when to charge and stop charging according to the settings, and proceeds to the next step when all charging conditions are met;

[0081] Charging starts when conditions are met: During the charging process, the platform controller 1 communicates with the socket controller 40 and uses the ultrasonic module A9, ultrasonic module B10, ultrasonic module C11, ultrasonic module a42, ultrasonic module b43, and ultrasonic module c44 to calculate the spatial relative position and angle of the platform controller 1. The platform controller 1 controls the traction unit A5, traction unit B6, traction unit C7, and traction unit D8 to move the automatic charging platform A30 to the top of the car charging seat A50. During the movement, the ultrasonic modules A9, ultrasonic modules B10, and ultrasonic modules C11 work in turn to detect whether there are obstacles, and then proceed to the next step after collision avoidance is completed;

[0082] The automatic charging platform is docked with the power receiving socket: the platform controller 1 controls the traction unit A5, the traction unit B6, the traction unit C7, and the traction unit D8 to make the automatic charging platform A30 descend to a certain distance above the car charging seat A50. According to the angle deviation between the charging plug 13 and the power receiving socket 41, the rotating motor 2 is controlled to make the angle of the charging plug 13 and the power receiving plug 41 consistent, and then the head of the charging plug 13 and the power receiving socket 41 are first aligned, and then the automatic charging platform A30 continues to descend. During the process, the platform controller 1 communicates with the socket controller 40 to control the induction coil A28, the induction coil B29, the induction coil a46, the induction coil b47, and the induction coil c48 to determine whether the charging plug 13 enters the guide groove A45. If it enters, according to the angle deviation between the charging plug 13 and the power receiving socket 41, the platform controller 1 controls the traction unit A5, the traction unit B6, the traction unit C7, and the traction unit D8 to work until the charging plug is parallel to the power receiving socket 41, and then continues to lower the height of the charging plug 13 until the distance between the two reaches the set distance to complete the next step;

[0083] Charging plug insertion control: the platform controller 1 controls the fan A16, the fan B17, the fan C18, the fan D19 or the linear vibration motor A3 and the linear vibration motor B4 to generate a downward thrust. During the process, the platform controller 1 maintains communication with the socket controller 40, and decides whether to continue to lower the automatic charging platform A30 according to the comparison between the feedback voltage signal of the induction coil and the pre-input data, until the charging plug 13 completely reaches the set position of the power receiving socket 41. The platform controller 1 controls the fan A16, the fan B17, the fan C18, the fan D19 or the linear vibration motor A3 and the linear vibration motor B4 to stop working, and then the platform controller 1 determines that power supply can be started. At this time, the platform controller 1 controls the traction unit A5, the traction unit B6, the traction unit C7, and the traction unit D8 to continue to loosen a certain amount of cables, and to release a certain amount of margin to prevent the vehicle body from being damaged by external shaking. After completion, proceed to the next step;

[0084] The charging plug starts to supply power: the platform controller 1 controls the vehicle charging module 12 to supply power to the power receiving socket 41, and the power receiving socket 41 charges the vehicle A32 until the charging setting conditions are met or the charging is stopped, such as when the vehicle is ready to be started, etc., then the charging is stopped and the next step is entered;

[0085] The charging plug stops charging: the platform controller 1 controls the vehicle charging module 12 to stop working, and the next step is completed;

[0086] Charging plug removal control: the platform controller 1 controls the traction unit A5, traction unit B6, traction unit C7, and traction unit D8 to tighten the cable, and starts to withdraw according to the previous trajectory. The platform controller 1 controls the fan A16, fan B17, fan C18, fan D19 or the linear vibration motor A3 and the linear vibration motor B4 to generate an upward thrust. During the process, the spatial position obtained by the communication between the platform controller 1 and the socket controller 40 is obtained until the set distance is reached. The platform controller 1 controls the fan A16, fan B17, fan C18, fan D19 or the linear vibration motor A3 and the linear vibration motor B4 to stop working, and the next step is completed;

[0087] Automatic charging platform evacuation: platform controller 1 controls traction unit A5, traction unit B6, traction unit C7, and traction unit D8 to tighten the cables and return to the initial location along the previous descending trajectory.

Claims

1. An automatic charging system for a car, characterized in that: It includes an automatic charging platform and a charging socket platform, and the charging socket platform is used in conjunction with the automatic charging platform: The automatic charging platform comprises: A platform controller, which controls the operation and data collection of each component connected thereto, and can access the Internet to communicate with other devices; Also included is a power cord, the power cord being connected to a power source to supply power to the platform controller; It also includes a storage battery, which can be charged when the power supply is on, and provides power to the automatic charging platform to ensure normal operation after the power supply is off; It also includes at least three traction cables, one end of which is fixed to the roof or other place to suspend the automatic charging platform in the air; It also includes a traction unit, which is connected to the platform controller and the cable to control the retraction and extension of the cable. The platform controller uses tension and gravity to control the automatic charging platform to move in three-dimensional space. During the charging process, the cable can be in a relaxed state; It also includes a plurality of positioning modules, which are connected to the platform controller to realize the positioning of the automatic charging platform; it also includes a charging plug and a car charging module, which has all the functions of the existing charging module, and the charging plug is connected to the power socket to charge the car; It also includes a limiting pulley, which can rotate automatically with the automatic charging platform and limit the cable activity space to reduce resistance, and at the same time prevent the cable wound on the traction unit from unraveling when the cable is in a relaxed state; It also includes an automatic charging program running in the platform controller, the automatic charging program controls the automatic charging platform to dock with the power receiving socket, and the automatic charging platform can also be connected to other auxiliary components; The charging socket platform comprises: A power receiving socket, which can be connected to a charging plug for charging; It also includes a socket controller, which can control the operation and data collection of various components connected to it and communicate with the automatic charging platform. The power receiving socket is fixed in the socket controller and connected thereto; It also includes an ultrasonic module and a positioning module. The socket controller controls the connected ultrasonic module and positioning module. The ultrasonic module can cooperate with the positioning module of the automatic charging platform for positioning; It also includes a guide groove, which can guide the charging plug to align with the power receiving socket, and the shape of the guide groove matches the shape of the charging plug or other docking object; It also includes a linear vibration motor, which is connected to the platform controller. The platform controller controls the vibrator inside the linear vibration motor to perform reciprocating motion. When the vibrator starts from the starting point, the speed is accelerated from 0 to V1. During the acceleration process, a force F1 will be generated in the opposite direction of the movement. When it reaches the end point, it will complete the deceleration from V1 to 0 in a very short time and generate a force F2 in the same direction of the movement. Because the acceleration time is greater than the deceleration time, according to: V=a*t, F=a*m, because the speed change is the same, it can be concluded that the smaller the time, the greater the acceleration a, and the greater the acceleration a when the mass m remains unchanged, so F2 is greater than F1 in the opposite direction. Because there is a certain friction force F3 when the charging plug is inserted into and pulled out of the power socket, the linear vibration motor is controlled by the platform controller to work. When the size of F1 is controlled to be smaller than F3, it is ensured that the size of F2 is greater than F3, then the charging plug can be controlled to move relative to the power socket.

2. The automatic vehicle charging system according to claim 1, characterized in that: It also includes a telescopic rod mechanism, the telescopic rod mechanism comprising: A telescopic rod and a linear rack, wherein the linear rack is fixed inside the telescopic rod; It also includes a reduction motor, which can know the position of the reduction motor, and controls the position of the lifting and retracting rod through a linear rack; the socket controller controls the reduction motor connected thereto to work; It also includes a lifting rod groove, and the lifting rod groove cooperates with other components to realize the insertion and pushing out of the charging plug.

3. The automatic vehicle charging system according to claim 1, characterized in that: Also included is a bayonet mechanism, the bayonet mechanism comprising: A bayonet and a bayonet motor, wherein the bayonet motor is connected to the platform controller, and the bayonet is arranged on the bayonet motor and can be used to limit the movement of the groove of the telescopic rod; It also includes a guide groove and a guide hole. The guide hole can limit the movement of the telescopic rod. When the telescopic rod is inserted into the guide hole, the telescopic rod groove is locked by a pin to control the relative displacement between the charging platform and the charging socket platform.

4. The automatic vehicle charging system according to claim 1, characterized in that: The positioning module can be an ultrasonic module, each of which has an ultrasonic transmitting unit and a receiving unit, which can be used for transmission or reception respectively. The ultrasonic modules installed on the automatic charging platform and the charging socket platform or other positions cooperate with each other, and positioning is performed by utilizing the time difference of received signals or other methods. At the same time, each ultrasonic module can be used as an obstacle avoidance detection unit, which works separately to avoid collision between the automatic charging platform or the power socket and obstacles, and can detect obstacles between the automatic charging platform and the power socket.

5. The automatic vehicle charging system according to any one of claims 1-2, characterized in that: The positioning module can be an induction coil, which can be installed inside components such as a charging plug, a power socket and a guide groove. The induction coil is connected to and controlled by a platform controller or a socket controller. Using the principle of electromagnetic induction, the platform controller or the socket controller can control each induction coil to generate a magnetic field that changes at a certain frequency, and other induction coils generate changing induced voltages in the changing magnetic field. The platform controller or the socket controller can compare the voltage data with the pre-input data to determine the relative position between the charging plug and the power socket.

6. The automatic automobile charging system according to claim 1, characterized in that: The automatic charging platform also includes a rotating motor, which can control the rotation of the connected charging plug to obtain the position and angle of the charging plug. The rotating motor is connected to the charging platform through a rotating motor seat, and the rotating motor is connected to the platform controller. The platform controller can control the operation of the rotating motor according to the data to achieve the same angle between the charging plug and the power socket.

7. The automatic automobile charging system according to claim 1, characterized in that: The automatic charging platform also includes a fan, which is connected to the platform controller. The fan can use air to generate thrust. The platform controller controls the fan to work in conjunction with the cable to adjust the posture of the charging platform so that the charging plug and the power socket are parallel to each other. At the same time, the fan can assist the charging plug to be inserted into or pulled out of the power socket by generating thrust.

8. The automatic charging system according to claim 1, characterized in that: The automatic charging platform also includes a linear motor, multiple of which are installed on the platform fixing plate and connected to the platform controller for operation; it also includes a rotating motor seat, which is connected to the linear motor, and the linear motor can control the angle of the rotating motor seat, thereby controlling the charging plug to be parallel to the power socket.

9. The automatic automobile charging system according to claim 1 or 2, characterized in that: The platform controller and the socket controller communicate at regular intervals, automatically maintain wireless connection after communication is established, and identify the vehicle for identity authentication based on communication between the platform controller and the socket controller. The automatic charging program can communicate with the power grid, and automatically charge the car within a specified time according to the instructions of the power grid, so as to achieve charging the car while sharing the pressure on the power grid. Similarly, when the power grid issues a request to stop charging, the platform controller controls to stop charging, etc. For families with power generation systems, the power generated by the power generation system can be used to charge the car. For families with independent power supply systems, the system can provide reverse output of electricity to the family after a power outage. Users can use mobile phones or other devices to control the automatic charging platform through the Internet and set charging habits.

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