A test system for the alignment and guidance function of an electric vehicle wireless charging system

Abstract

The present invention discloses a test system for the alignment guidance function of an electric vehicle wireless charging system in the field of radio transmission technology, which is intended to solve the test and installation problems of the secondary side equipment of the electric vehicle charging system of different manufacturers and the position perception accuracy test problems. The test system includes a control processor, a loading shell, a sample clamping module and a positioning and navigation module, wherein the sample clamping module includes a clamping assembly, a centering clamping drive mechanism and a lifting drive mechanism, and the positioning and navigation module includes a positioning device and a distance measuring device, which can identify the position relationship between a specified reference point and the primary side equipment and the secondary side equipment within the detection range, and then the control processor can calculate the position relationship between the secondary side equipment and the primary side equipment. The present invention can accurately test the position perception accuracy and deviation correction guidance of the alignment guidance function of the electric vehicle wireless charging system, and the operation is simple and efficient.

Description

Technical Field

[0001] The invention relates to an alignment guidance function testing system for a wireless charging system of an electric vehicle, belonging to the technical field of wireless power transmission. Background Art

[0002] According to current international and domestic standards, the maximum allowable offset of the center point of the primary side equipment (the energy transmitting end is coupled with the secondary side equipment, which converts the electric energy into an alternating electromagnetic field and transmits it in a direction) and the secondary side equipment (the energy receiving end is coupled with the primary side equipment, which receives the alternating electromagnetic field and converts it into electric energy) of the electric vehicle wire charging system is (X direction ±75mm, Y direction ±100mm). Once the vehicle and the power transmitting end are misaligned, not only will the transmission power and efficiency be difficult to guarantee, but the magnetic field leakage level in the area around the vehicle will also increase sharply, causing serious adverse effects on the health of drivers and pedestrians. Therefore, the ability to achieve alignment between the primary side equipment and the secondary side equipment is a hard requirement for the industrialization of electric vehicle wireless charging.

[0003] The alignment guidance function is one of the key auxiliary functions of the electric vehicle wireless charging system. When the secondary device on the electric vehicle wireless charging vehicle is a certain distance away from the primary device on the ground, the wireless charging system transmits the coordinate information of the primary device relative to the secondary device to the vehicle-mounted central processing unit through a certain position sensing technology, and plans the optimal parking path through a certain correction guidance technology to feedback to the driver. Generally speaking, the alignment guidance function needs to be activated when the primary device and the secondary device are within 5 meters. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a test system for the alignment and guidance function of an electric vehicle wireless charging system, so as to test the position perception accuracy and deviation correction guidance of the alignment and guidance function of the wireless charging system, and to be applicable to wireless charging devices (i.e., secondary side devices) of different sizes and different ground clearances, thereby solving the problems of sample testing and installation and accuracy perception of different manufacturers.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] An alignment and guidance function test system for an electric vehicle wireless charging system comprises a loading shell, a sample clamping module, a positioning and navigation module and a control processor;

[0007] The sample clamping module comprises a clamping assembly, a centering clamping drive mechanism and a lifting drive mechanism; the clamping assembly is movably installed in the loading shell and is used to clamp the secondary side device; the centering clamping drive mechanism is used to drive the clamping assembly to move in the x-axis direction and the y-axis direction to clamp the secondary side device and make the secondary side device be in a preset position in the x-axis direction and the y-axis direction; the lifting drive mechanism is used to drive the clamping assembly to move in the z-axis direction so that the ground clearance of the clamped secondary side device is the specified height of the sample;

[0008] The positioning and navigation module includes a positioning device and a distance measuring device; the positioning device is installed on the loading shell, and is used to identify the position information of a specified reference point within the detection range and transmit it to the control processor; the distance measuring device is installed on the sample clamping module, and is used to identify the height information of the installation position point of the distance measuring device and transmit it to the control processor; the control processor calculates the position relationship between the secondary side device and the primary side device according to the position relationship between the specified reference point and the primary side device, the position relationship between the distance measuring device and the secondary side device, and the received information.

[0009] Preferably, a mounting frame is fixedly provided in the loading shell, a carrying frame is movably provided on the mounting frame, a centering clamping drive mechanism is installed on the carrying frame, a lifting drive mechanism is installed on the mounting frame and drives the connecting carrying frame; the distance measuring device is installed on the carrying frame;

[0010] The clamping assembly includes left and right clamping parts and front and rear clamping parts which are perpendicular to each other. The left and right clamping parts and the front and rear clamping parts respectively include two clamping arms which are arranged opposite to each other. The clamping arms of the left and right clamping parts and / or the front and rear clamping parts have a bottom plate for supporting the secondary side equipment, so that the device can be applied to secondary side equipment of various sizes.

[0011] The centering clamping mechanism includes an x-direction driving mechanism and a y-direction driving mechanism, which respectively drive the clamping arms connecting the left and right clamping parts and the front and rear clamping parts to facilitate clamping of the sample.

[0012] Preferably, the installation frame is longitudinally provided with a plurality of guide rails, and the carrier is slidably installed on the guide rails, which helps the carrier to rise and fall in the installation frame;

[0013] Position sensors are respectively arranged at the upper and lower ends of the guide slide rail, and the signal output ends of the position sensors are connected to the controller.

[0014] Preferably, the lifting drive mechanism includes a lifting drive motor, a transmission sprocket, a steering sprocket and a transmission chain; a transmission connection part is provided in the middle of both sides of the carrier frame, the steering sprocket is installed on the mounting bracket above the transmission connection part, the output shaft of the lifting drive motor is connected to the transmission sprocket, one end of the transmission chain is movably connected to the mounting frame, and the other end is connected to the transmission connection part of the carrier frame after bypassing the transmission sprocket and the steering sprocket. The use of the lifting drive mechanism can easily simulate the effect of installing secondary side devices of different sizes on automobile chassis at different heights.

[0015] Preferably, a tensioning gas spring is provided on the mounting frame, and one end of the transmission chain connected to the mounting frame is connected to the movable end of the tensioning gas spring; the movable end of the tensioning gas spring extends in a direction away from the mounting position of the transmission sprocket. The tensioning gas spring can be used to provide a balancing force when the carrier is lifted up and down.

[0016] Preferably, the transmission sprocket is arranged at the end of the mounting frame at the same height as the steering sprocket, the lifting drive motor is installed between the steering sprockets on both sides, and the lifting drive motor has output shafts on both sides, and each output shaft is respectively connected to the transmission sprocket on the corresponding side.

[0017] Preferably, the x-axis driving mechanism comprises an x-axis driving motor, a driving wheel, a driven wheel, a transmission wheel and a screw rod B, wherein the screw rods B are two in number, are arranged in parallel and opposite to each other and are rotatably mounted on the front end and the rear end of the carrier frame respectively, the ends of the clamping arms of the left and right clamping parts are respectively threadedly connected to the screw rods B, and the transmission wheels are respectively arranged at both ends of each screw rod B;

[0018] The x-direction driving motor, the driving wheel and the driven wheel are installed on the transmission connection part, the output shaft of the x-direction driving motor is connected to the driving wheel, the two sides of the upper part of the driving wheel are respectively meshed with a driven wheel, and the driven wheel and the transmission wheel are connected through a synchronous belt transmission. The x-direction driving mechanism can realize the left and right movement of the clamped sample.

[0019] Preferably, a walking mechanism is installed at the lower part of the loading shell, and the walking mechanism includes four Mecanum wheels independently controlled by drive motors, and the Mecanum wheels are installed at the four end corners of the bottom of the loading shell through independent suspension mechanisms; the controller controls the drive motor to drive the Mecanum wheels to move, so that the loading shell moves along a straight line or an arc with a specified curvature radius. The walking mechanism can realize the movement requirements of the loading shell such as forward movement, lateral movement, oblique movement, rotation, and combinations thereof, thereby simulating the parking trajectory of any specification of vehicle, and meeting the test requirements of the deviation correction guidance in the alignment guidance function of the wireless charging system.

[0020] Preferably, the clamping arms of the left and right clamping parts and the front and rear clamping parts are made of non-metallic materials; the positioning device adopts a laser SLAM positioning and navigation module, and the distance measuring device adopts a radar rangefinder.

[0021] Preferably, a safety protection module is also included, which includes an anti-collision bar and an emergency stop switch. The anti-collision bar and the emergency stop switch are respectively arranged at the front, back, left and right parts of the loading shell, and the signal output end of the emergency stop switch is connected to the control processor; the emergency stop switch is controlled by the control processor, and when the positioning device detects that there is an obstacle ahead, all motors of the loading shell can be stopped immediately to protect the loading shell in time.

[0022] The control processor is also used to execute a preset obstacle avoidance algorithm according to the obstacle information collected by the positioning device, and control the movement or stop of the loading shell according to the result of the obstacle avoidance algorithm. The safety protection module can effectively prevent the loading shell from colliding with obstacles during movement and causing damage.

[0023] Preferably, the control processor is further configured to:

[0024] Receive the length and width data of the secondary device to be tested from the external input, and control the operation of the x-direction drive mechanism and the y-direction drive mechanism in the centering clamping mechanism according to the received data to drive the left and right clamping parts and the front and rear clamping parts to move;

[0025] And, receiving external sample specified height data, controlling the operation of the lifting drive mechanism according to the sample specified height data, so as to drive the carrier to move up and down.

[0026] On the other hand, the present invention also provides a test method for the alignment guidance function test system of the electric vehicle wireless charging system, the steps of which include:

[0027] S1. Fix the position of the primary device in the test environment, determine the horizontal position coordinates and height h of the center point A on its upper surface, and input them into the control processor;

[0028] S2. Determine a reference point B that is highly consistent with the positioning device in the test environment, measure the relative position coordinates (x1, y1) of point B relative to point A, and input them into the control processor;

[0029] S3, control the centering clamping mechanism to clamp the secondary side equipment sample through the control processor, so that the center point of the lower surface of the sample is located at the specified coordinate point P on the plane; control the lifting drive mechanism to drive the carrier through the control processor, so as to drive the secondary side equipment sample to rise and fall until the center point of the lower surface of the sample is located at the specified height h1 of the sample;

[0030] S4, setting a plurality of test points, at each test point, using a positioning device to measure the coordinates (x2, y2) of point B relative to the positioning device, and controlling the processor to obtain the coordinates (x, y) of the center point of the lower surface of the secondary device sample relative to the center point of the upper surface of the primary device in the horizontal direction through coordinate conversion according to (x1, y1), (x2, y2) and the predetermined coordinates (x3, y3) of point P relative to the positioning device in the horizontal direction;

[0031] S5. At each test point, the control processor calculates the coordinate z of the center point of the lower surface of the secondary device sample relative to the center point of the upper surface of the primary device in the z-axis direction according to the height h1 of the secondary device sample and the height h of the center point of the upper surface of the primary device;

[0032] S6. For each test point, the control processor obtains the relative coordinates (x0, y0, z0) of the secondary device sample identified by the tested electric vehicle wireless charging system itself, compares it with the obtained relative coordinates (x, y, z), and obtains the coordinate difference between the two;

[0033] S7. The control processor calculates the position perception accuracy of the wireless charging system of the electric vehicle under test based on the coordinate differences obtained at all test points.

[0034] Preferably, step S3 includes:

[0035] The control processor receives the length and width data of the secondary side device sample to be tested inputted from the outside;

[0036] The control processor controls the centering clamping mechanism according to the received data to drive the left and right clamping parts and the front and rear clamping parts to move until the distance between the clamping arms is slightly larger than the width and length of the sample;

[0037] After the secondary device sample to be tested is placed in the clamping assembly, the control processor receives the clamping control instruction, controls the centering clamping mechanism to clamp the sample, and makes the center point of the lower surface of the sample coincide with the horizontal center point of the loading shell on the plane where it is located;

[0038] The control processor controls the lifting drive mechanism to drive the carrier frame, driving the secondary side device sample to lift and lower the sample until the center point of the lower surface of the sample is located at a specified height h1 of the sample.

[0039] Preferably, in step S3, the control processor controls the lifting drive mechanism to drive the carrier to lift the secondary device sample to a point where the center point of the lower surface of the sample is at a specified height h1 of the sample, including:

[0040] The control processor obtains the height data of the radar ranging device transmitted by the radar rangefinder, calculates the control amount of the lifting drive mechanism according to the predetermined height relationship between the radar ranging device and the corresponding position of the lower surface of the sample in the carrier, and the specified height of the sample, and controls the operation of the lifting drive mechanism with the calculated control amount.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The present invention is designed with a sample clamping module, which adjusts the sample height through a lifting drive mechanism, and drives the sample to move in the x-axis direction and the y-axis direction through a centering clamping drive mechanism, and finally reaches a preset position, thereby simulating the effect of secondary side devices of different sizes being installed on automobile chassis of different heights, and solving the sample installation problem when testing samples from different manufacturers;

[0043] 2. The present invention is designed with a positioning and navigation module. The positional relationship between the specified reference point and the primary device and the positional relationship between the reference point and the secondary device can be measured by the positioning device and the distance measuring device, so as to calculate the positional relationship of the secondary device relative to the primary device by controlling the processor, thereby solving the problem of testing the position perception accuracy of the sample;

[0044] 3. The present invention is also designed with a motion control module and a safety protection module, which facilitates the overall arc motion of the supporting shell with any curvature radius and linear motion, and at the same time ensures that the test system itself is not damaged when an obstacle appears in front during operation.

[0045] The present invention can accurately test the position perception accuracy and deviation correction guidance of the alignment guidance function of the electric vehicle wireless charging system, and the operation is simple, efficient and convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of the overall structure of a wireless charging system alignment guidance function test system provided by an embodiment of the present invention;

[0047] Figure 2 for Figure 1 A schematic diagram of the structure from the right side;

[0048] Figure 3 A schematic structural diagram of a sample clamping module of a wireless charging system alignment guidance function test system provided by an embodiment of the present invention;

[0049] Figure 4 for Figure 3 A schematic diagram of a top view structure;

[0050] Figure 5 for Figure 3 A schematic diagram of the structure from the left side of the structure shown;

[0051] Figure 6 for Figure 3 A partial enlarged structural schematic diagram of the transmission connection part shown;

[0052] Figure 7 for Figure 3 A schematic diagram of the main structure of the structure shown;

[0053] In the figure: 1 loading shell, 11 Mecanum wheel, 12 independent suspension structure, 21 positioning device, 22 distance measuring device, 3 sample clamping module, 31 mounting frame, 32 guide slide rail, 33 lifting drive mechanism, 3301 lifting drive motor, 3302 transmission sprocket, 3303 steering sprocket, 3304 transmission chain, 3305 transmission connection part, 3306 tensioning gas spring, 34y-direction drive mechanism, 3401 clamping arm of front and rear clamping part, 3402 front and rear clamping drive motor, 3403 first synchronous belt, 3404 second synchronous belt, 3405 screw A, 35x-direction drive mechanism, 3501 driving wheel, 3502 driven wheel, 3503 third synchronous belt, 3504 transmission wheel, 3505 clamping arm of left and right clamping part, 3506 screw B, 3507 guide rod, 51 emergency stop switch, 52 anti-collision strip. DETAILED DESCRIPTION

[0054] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0056] In the description of the present invention, it should be noted that when used in this specification and the appended claims, the terms "comprise" and "include" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include the plural forms.

[0057] Embodiment 1:

[0058] This embodiment introduces a test system for the alignment guidance function of an electric vehicle wireless charging system. Figure 1 As shown, it includes a loading housing 1, a sample clamping module 3 and a positioning navigation module. A mounting frame 31 is fixedly arranged in the loading housing 1, and a plurality of guide rails 32 are longitudinally arranged on the mounting frame 31, and a carrier is movably mounted on the guide rails 32. Position sensors are respectively arranged at the upper and lower ends of the guide rails 32, and the signal output end of the position sensor is connected to the controller. The position sensor can monitor the height position of the carrier on the guide rails 32 in real time.

[0059] refer to Figure 3 The sample clamping module 3 includes a clamping assembly, a centering clamping drive mechanism and a lifting drive mechanism 33. The clamping assembly is movably installed in the loading shell 1 and is used to clamp the secondary edge device. The clamping assembly includes left and right clamping parts and front and rear clamping parts that are perpendicular to each other. The left and right clamping parts and the front and rear clamping parts respectively include two clamping arms that are relatively arranged. At least one of the clamping arms of the left and right clamping parts and the front and rear clamping parts has a bottom plate for supporting the secondary edge device. An L-shaped load-bearing module can be selected.

[0060] The centering clamping drive mechanism is installed on the carrier frame, and includes an x-axis drive mechanism 35 and a y-axis drive mechanism 34, which are respectively used to drive the clamping arms of the left and right clamping parts and the front and rear clamping parts, so as to control the movement of the clamping assembly in the x-axis direction and the y-axis direction to clamp the secondary side device and make the secondary side device be in a preset position in the x-axis direction and the y-axis direction.

[0061] The lifting drive mechanism 33 is installed on the mounting frame 31, and is used to drive the clamping assembly to move in the z-axis direction so that the ground clearance of the clamped secondary side device is the specified height of the sample, thereby simulating the height of different automobile chassis and being compatible with wireless charging system samples with different working clearances.

[0062] like Figure 1 and Figure 7As shown, the positioning and navigation module includes a positioning device 21 and a distance measuring device 22, wherein the positioning device 21 can adopt a laser SLAM positioning and navigation module, and the distance measuring device 22 can adopt a radar rangefinder. The positioning device 21 is installed on the loading shell 1, and is used to identify the position information of the specified reference point within the detection range and transmit it to the control processor, and the distance measuring device 22 is installed on the carrier, and is used to identify the height information of the installation position of the distance measuring device 22 and transmit it to the control processor;

[0063] The control processor calculates the positional relationship between the secondary device and the primary device according to the positional relationship between the designated reference point and the primary device, the positional relationship between the distance measuring device 22 and the secondary device, and the received information. The control processor is also configured to receive the length and width data of the secondary device to be measured input from the outside, and control the operation of the x-direction drive mechanism 35 and the y-direction drive mechanism 34 in the centering clamping mechanism according to the received data to drive the left and right clamping parts and the front and rear clamping parts to move; and receive the external sample specified height data, and control the operation of the lifting drive mechanism 33 according to the sample specified height data to drive the carrier to move up and down.

[0064] Embodiment 2:

[0065] Based on Example 1, this example also has the following designs.

[0066] Combination Figure 5-6 The lifting drive mechanism 33 includes a lifting drive motor 3301, a transmission sprocket 3302, a steering sprocket 3303 and a transmission chain 3304. The steering sprocket 3303 is installed on the mounting bracket above the transmission connection part 3305. The transmission sprocket 3302 is arranged at the end of the mounting frame 31 at the same height as the steering sprocket 3303. The lifting drive motor 3301 is installed between the steering sprockets 3303 on both sides. The lifting drive motor 3301 is a double-headed motor, and has output shafts on both sides. Each output shaft is respectively connected to the transmission sprocket 3302 on the corresponding side. The middle part of both sides of the carrier frame is respectively provided with a transmission connection part 3305. The output shaft of the lifting drive motor 3301 is connected to the transmission sprocket 3302. One end of the transmission chain 3304 is movably connected to the mounting frame 31, and the other end is connected to the transmission connection part 3305 of the carrier frame after bypassing the transmission sprocket 3302 and the steering sprocket 3303.

[0067] When the carrier needs to be driven to rise and fall, the lifting drive motor 3301 can be started by the control processor. The lifting drive motor 3301 drives the transmission sprocket 3302 to rotate through the output shafts on both sides, thereby driving the transmission chain 3304 to transmit on the transmission sprocket 3302 and the steering sprocket 3304 in turn, driving the carrier fixed to the transmission connection part 3305 to rise and fall. A tensioning gas spring 3306 is provided on the mounting frame 31. One end of the transmission chain 3304 connected to the mounting frame 31 is connected to the active end of the tensioning gas spring 3306. The direction in which the active end of the tensioning gas spring 3306 extends is away from the installation position of the transmission sprocket 3302. The tensioning gas spring 3306 can provide a balancing force during the lifting and lowering process of the carrier.

[0068] like Figure 3-4 As shown, the x-direction driving mechanism includes an x-direction driving motor, a driving wheel 3501, a driven wheel 3502, a transmission wheel 3504 and a screw rod B3506. There are two screw rods B3506, which are arranged in parallel and opposite to each other and are rotatably mounted on the front end and the rear end of the carrier frame respectively. The ends of the clamping arms 3505 of the left and right clamping parts are respectively threadedly connected to the screw rods B3506, and a transmission wheel 3504 is respectively arranged at both ends of each screw rod B3506. The x-direction driving motor, the driving wheel 3501 and the driven wheel 3502 are installed on the transmission connection part 3305. The output shaft of the x-direction driving motor is connected to the driving wheel 3501 in a transmission manner. Both sides of the upper part of the driving wheel 3501 are respectively meshed with a driven wheel 3502. The driven wheel 3502 and the transmission wheel 3504 are connected in a transmission manner through a third synchronous belt 3503. A guide rod 3507 is provided on the inner side of the screw rod B3506. The guide rod 3507 is penetrated in the clamping arms 3505 of the left and right clamping parts to ensure that the clamping arms 3505 move in the horizontal direction and prevent the moving angle from rotating.

[0069] When x-direction centering and clamping operations are required, the x-direction drive motor is first started through the control processor. The output shaft of the x-direction drive motor drives the active wheel 3501 to rotate, and then drives the driven wheels 3502 meshing on both sides of the upper part to rotate. The driven wheel 3502 transmits the transmission wheel 3504 on both sides through the third synchronous belt 3503, thereby driving the screw B to rotate, and controlling the clamping arms 3505 of the left and right clamping parts to move inward or outward at the same time in the x-direction.

[0070] Combination Figure 4The y-axis driving mechanism includes a clamping arm 3401 of a front and rear clamping part, a front and rear clamping driving motor 3402, a first synchronous belt 3403, a second synchronous belt 3404 and a screw rod A3405. The output shafts of the front and rear clamping driving motors 3402 are connected to the first pulley, which is connected to the transmission rod by the first synchronous belt 3403. Pulleys are provided on both sides of the transmission rod. Pulleys are connected to the screw rods A3405 on both sides through the second synchronous belt 3404. The clamping arms 3401 of the front and rear clamping parts are respectively screwed on the screw rod A3405.

[0071] When the Y-axis centering clamping operation is required, the front and rear clamping drive motors 3402 are started by the control processor. The front and rear clamping drive motors 3402 drive pulley 1 to rotate. Pulley 1 drives the transmission rod to rotate through the first synchronous belt 3403, thereby driving pulley 2 on both sides of the transmission rod to rotate. Pulley 2 drives screw A3405 to rotate through the second synchronous belt 3404, and finally drives the clamping arms 3401 of the front and rear clamping parts to move.

[0072] Among them, the clamping arms of the left and right clamping parts and the front and rear clamping parts are made of non-metallic materials to prevent the wireless charging system from causing eddy current heating during positioning, ensuring that the power transmission and positioning accuracy of the wireless charging system are not affected.

[0073] Embodiment 3:

[0074] Based on Example 1, or based on the combination of Example 1 and Example 2, this example further has the following design.

[0075] refer to Figure 2 A walking mechanism is also installed at the lower part of the loading shell 1. The walking mechanism includes four Mecanum wheels 11 independently controlled by drive motors. The Mecanum wheels 11 are installed at the four end corners of the bottom of the loading shell 1 through an independent suspension mechanism 12.

[0076] The controller controls the driving motor to drive the Mecanum wheel 11 to move, so that the loading shell 1 moves along a straight line or an arc with a specified radius of curvature. The four Mecanum wheels 11 rely on the coordination of the rotation direction and speed between the wheels. These forces can be synthesized into torques in any direction, so that the loading shell 1 can move freely along the direction of the resultant force vector without changing its own direction. It has omnidirectional driving technology and can realize the movement requirements of the loading shell 1 such as forward movement, lateral movement, oblique movement, rotation and their combination. It can simulate the parking trajectory of any specification of vehicle and meet the test requirements of the deviation guidance in the alignment guidance function of the wireless charging system.

[0077] Combination Figure 1In this embodiment, an alignment guidance function test system of an electric vehicle wireless charging system also includes a safety protection module, which includes an anti-collision bar 51 and an emergency stop switch 52. The anti-collision bar 51 and the emergency stop switch 52 are respectively arranged at four positions of the front, back, left and right of the loading shell 1, wherein the anti-collision bar 51 is coated with soft rubber on the outside and protrudes from the side of the entire loading shell 1. When the loading shell 1 encounters an obstacle during operation, the protruding anti-collision bar 51 can ensure that the test system itself is not damaged.

[0078] In addition, the signal output end of the emergency stop switch 52 is connected to the control processor. The control processor is used to execute a preset obstacle avoidance algorithm according to the obstacle information collected by the positioning device, and control the movement or stop of the loading shell according to the result of the obstacle avoidance algorithm. Pressing any of the four emergency stop switches 52 can stop all motors in the loading shell 1, so that the tester can quickly stop all motors in the loading shell 1 no matter where the loading shell 1 is, to ensure safety. When the positioning device 21 detects that there is an obstacle in front, all motors of the loading shell 1 are stopped immediately, and the loading shell 1 is protected in time.

[0079] Embodiment 4:

[0080] This embodiment introduces a test method for an alignment guidance function test system of an electric vehicle wireless charging system, using the alignment guidance function test system of the electric vehicle wireless charging system of the above embodiment. The steps include:

[0081] S1. Fix the position of the primary device in the test environment, determine the horizontal position coordinates and height h of the center point A on its upper surface, and input them into the control processor;

[0082] S2. Determine a reference point B that is highly consistent with the positioning device in the test environment, measure the relative position coordinates (x1, y1) of point B relative to point A, and input them into the control processor;

[0083] S3, controlling the processor to receive the length and width data of the secondary side device sample to be tested inputted from outside;

[0084] The control processor controls the centering clamping mechanism according to the received data to drive the left and right clamping parts and the front and rear clamping parts to move until the distance between the clamping arms is slightly larger than the width and length of the sample;

[0085] After the secondary device sample to be tested is placed in the clamping assembly, the control processor receives the clamping control instruction, controls the centering clamping mechanism to clamp the sample, and makes the center point of the lower surface of the sample coincide with the horizontal center point of the loading shell 1 on the plane where it is located;

[0086] The control processor controls the centering clamping mechanism to clamp the secondary side equipment sample so that the center point of the lower surface of the sample is located at the specified coordinate point P on the plane;

[0087] The control processor obtains the height data of the radar rangefinder transmitted by the radar rangefinder, and calculates the control amount of the lifting drive mechanism 33 according to the predetermined height relationship between the radar rangefinder and the corresponding position of the lower surface of the sample in the carrier, as well as the specified height of the sample, and controls the operation of the lifting drive mechanism with the calculated control amount. The lifting drive mechanism 33 is controlled to drive the carrier to drive the secondary side equipment sample to rise and fall until the center point of the lower surface of the sample is at the specified height h1 of the sample;

[0088] S4, setting a plurality of test points, at each test point, using a positioning device to measure the coordinates (x2, y2) of point B relative to the positioning device, and controlling the processor to obtain the coordinates (x, y) of the center point of the lower surface of the secondary device sample relative to the center point of the upper surface of the primary device in the horizontal direction through coordinate conversion according to (x1, y1), (x2, y2) and the predetermined coordinates (x3, y3) of point P relative to the positioning device in the horizontal direction;

[0089] S5. At each test point, the control processor calculates the coordinate z of the center point of the lower surface of the secondary device sample relative to the center point of the upper surface of the primary device in the z-axis direction according to the height h1 of the secondary device sample and the height h of the center point of the upper surface of the primary device;

[0090] S6. For each test point, the control processor obtains the relative coordinates (x0, y0, z0) of the secondary device sample identified by the tested electric vehicle wireless charging system itself, compares it with the obtained relative coordinates (x, y, z), and obtains the coordinate difference between the two;

[0091] S7. The control processor calculates the position perception accuracy of the wireless charging system of the electric vehicle under test based on the coordinate differences obtained at all test points.

[0092] The present invention can accurately test the position perception accuracy and deviation correction guidance of the alignment guidance function of the electric vehicle wireless charging system, and the operation is simple, efficient and convenient to use.

[0093] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A test system for the alignment and guidance function of an electric vehicle wireless charging system. It is characterized in that It includes a loading shell, a sample clamping module, a positioning and navigation module, and a control processor; The sample clamping module includes a clamping assembly and a centering clamping drive mechanism and a lifting drive mechanism controlled by a control processor; the clamping assembly is movably installed in the loading shell and is used to clamp the secondary side device; the centering clamping drive mechanism is used to drive the clamping assembly to move in the x-axis direction and the y-axis direction to clamp the secondary side device and make the secondary side device be in a preset position in the x-axis direction and the y-axis direction; the lifting drive mechanism is used to drive the clamping assembly to move in the z-axis direction so that the ground clearance of the clamped secondary side device is the specified height of the sample; The positioning and navigation module includes a positioning device and a distance measuring device; the positioning device is installed on the loading shell, and is used to identify the position information of a specified reference point within the detection range and transmit it to the control processor; the distance measuring device is installed on the sample clamping module, and is used to identify the height information of the installation position point of the distance measuring device and transmit it to the control processor; the control processor calculates the position relationship between the secondary side device and the primary side device according to the position relationship between the specified reference point and the primary side device, the position relationship between the distance measuring device and the secondary side device, and the received information.

2. The electric vehicle wireless charging system alignment guidance function test system according to claim 1, Features: A mounting frame is fixedly arranged in the loading shell, a carrier frame is movably arranged on the mounting frame, a centering clamping drive mechanism is installed on the carrier frame, a lifting drive mechanism is installed on the mounting frame and drives the carrier frame; the distance measuring device is installed on the carrier frame; The clamping assembly comprises left and right clamping parts and front and rear clamping parts which are perpendicular to each other, and the left and right clamping parts and the front and rear clamping parts respectively comprise two clamping arms which are arranged opposite to each other, and the clamping arms of the left and right clamping parts and / or the front and rear clamping parts have a bottom plate for supporting the secondary side equipment; The centering clamping mechanism comprises an x-direction driving mechanism and a y-direction driving mechanism, which respectively drive the clamping arms connecting the left and right clamping parts and the front and rear clamping parts.

3. The electric vehicle wireless charging system alignment guidance function test system according to claim 2, Features: The installation frame is longitudinally provided with a plurality of guide rails, and the carrier frame is slidably installed on the guide rails; Position sensors are respectively arranged at the upper and lower ends of the guide rail, and the signal output ends of the position sensors are connected to the control processor.

4. The electric vehicle wireless charging system alignment guidance function test system according to claim 2, Features: The lifting drive mechanism includes a lifting drive motor, a transmission sprocket, a steering sprocket and a transmission chain; a transmission connection part is respectively provided in the middle of both sides of the carrier frame, the steering sprocket is installed on the mounting bracket above the transmission connection part, the output shaft of the lifting drive motor is transmission-connected to the transmission sprocket, one end of the transmission chain is movably connected to the mounting frame, and the other end is fixedly connected to the transmission connection part of the carrier frame after bypassing the transmission sprocket and the steering sprocket.

5. The electric vehicle wireless charging system alignment guidance function test system according to claim 4, Features: A tensioning gas spring is arranged on the mounting frame, and one end of the transmission chain connected to the mounting frame is connected to the movable end of the tensioning gas spring; the extending direction of the movable end of the tensioning gas spring is away from the mounting position of the transmission sprocket.

6. The electric vehicle wireless charging system alignment guidance function test system according to claim 4, Features: The transmission sprocket is arranged at the end of the mounting frame at the same height as the steering sprocket, the lifting drive motor is installed between the steering sprockets on both sides, and the lifting drive motor has output shafts on both sides, and each output shaft is respectively connected to the transmission sprocket on the corresponding side.

7. The electric vehicle wireless charging system alignment guidance function test system according to claim 4, Features: The x-direction driving mechanism comprises an x-direction driving motor, a driving wheel, a driven wheel, a transmission wheel and a screw rod B. There are two screw rods B, which are arranged in parallel and opposite to each other and are rotatably mounted on the front end and the rear end of the carrier frame respectively. The ends of the clamping arms of the left and right clamping parts are respectively threadedly connected to the screw rods B, and the transmission wheels are respectively arranged at both ends of each screw rod B. The x-direction driving motor, the driving wheel and the driven wheel are installed on the transmission connection part. The output shaft of the x-direction driving motor is connected to the driving wheel. The two sides of the upper part of the driving wheel are respectively meshed with a driven wheel. The driven wheel and the transmission wheel are connected through a synchronous belt transmission.

8. The electric vehicle wireless charging system alignment guidance function test system according to claim 2, Features: A walking mechanism is installed at the lower part of the loading shell, and the walking mechanism includes four Mecanum wheels independently controlled by drive motors, and the Mecanum wheels are installed at four end corners of the bottom of the loading shell through independent suspension mechanisms; The control processor controls the driving motor to drive the Mecanum wheel to move, so that the loading shell moves along a straight line or an arc line with a specified curvature radius.

9. The electric vehicle wireless charging system alignment guidance function test system according to claim 2, Features: The clamping arms of the left and right clamping parts and the front and rear clamping parts are made of non-metallic materials; The positioning device adopts a laser SLAM positioning and navigation module, and the distance measuring device adopts a radar range finder.

10. The electric vehicle wireless charging system alignment guidance function test system according to claim 1, It is characterized in that It also includes a safety protection module, which includes an anti-collision bar and an emergency stop switch. The anti-collision bar and the emergency stop switch are respectively arranged at the front, back, left, and right parts of the loading shell, and the signal output end of the emergency stop switch is connected to the control processor; The control processor is also used to execute a preset obstacle avoidance algorithm according to the obstacle information collected by the positioning device, and control the movement or stop of the loading shell according to the result of the obstacle avoidance algorithm.

11. The electric vehicle wireless charging system alignment guidance function test system according to claim 2, It is characterized in that The control processor is further configured to: Receive the length and width data of the secondary device to be tested from the external input, and control the operation of the x-direction drive mechanism and the y-direction drive mechanism in the centering clamping mechanism according to the received data to drive the left and right clamping parts and the front and rear clamping parts to move; And, receiving external sample specified height data, controlling the operation of the lifting drive mechanism according to the sample specified height data, so as to drive the carrier to move up and down.

12. A method for testing the alignment guidance function test system of the electric vehicle wireless charging system according to any one of claims 1 to 11, It is characterized in that include: S1. Fix the position of the primary device in the test environment, determine the horizontal position coordinates and height h of the center point A on its upper surface, and input them into the control processor; S2. Determine the reference point B that is highly consistent with the positioning device in the test environment, and measure the relative position coordinates (x 1 ,y 1 ), input control processor; S3, control the centering clamping mechanism to clamp the secondary side equipment sample through the control processor, so that the center point of the lower surface of the sample is located at the specified coordinate point P on the plane; control the lifting drive mechanism to drive the carrier through the control processor, and drive the secondary side equipment sample to rise and fall until the center point of the lower surface of the sample is at the specified height h of the sample. 1 ; S4. Set up multiple test points. At each test point, use the positioning device to measure the coordinates (x 2 ,y 2 ), the control processor according to (x 1 ,y 1 )、(x 2 ,y 2 ) and the coordinates of the predetermined point P in the horizontal direction relative to the positioning device (x 3 ,y 3 ), by coordinate transformation, the coordinates (x, y) of the center point of the lower surface of the secondary device sample in the horizontal direction relative to the center point of the upper surface of the primary device are obtained; S5. At each test point, the control processor determines the height h of the secondary device sample. 1 and the height h of the center point of the upper surface of the primary device, and calculate the coordinate z of the center point of the lower surface of the secondary device sample in the z-axis direction relative to the center point of the upper surface of the primary device; S6. For each test point, the control processor obtains the relative coordinates (x 0 ,y 0 ,z 0 ), compare it with the obtained relative coordinates (x, y, z) to get the coordinate difference between the two; S7. The control processor calculates the position perception accuracy of the wireless charging system of the electric vehicle under test based on the coordinate differences obtained at all test points.

13. The test method according to claim 12, It is characterized in that Step S3 includes: The control processor receives the length and width data of the secondary side device sample to be tested inputted from the outside; The control processor controls the centering clamping mechanism according to the received data to drive the left and right clamping parts and the front and rear clamping parts to move until the distance between the clamping arms is slightly larger than the width and length of the sample; After the secondary device sample to be tested is placed in the clamping assembly, the control processor receives the clamping control instruction, controls the centering clamping mechanism to clamp the sample, and makes the center point of the lower surface of the sample coincide with the horizontal center point of the loading shell on the plane where it is located; The control processor controls the lifting drive mechanism to drive the carrier, driving the secondary device sample to lift until the center point of the lower surface of the sample is at the specified height h of the sample. 1 .

14. The test method according to claim 12 or 13, It is characterized in that In step S3, the control processor controls the lifting drive mechanism to drive the carrier to lift the secondary device sample to the center point of the lower surface of the sample at the specified height h of the sample. 1 ,include: The control processor obtains the height data of the radar ranging device transmitted by the radar rangefinder, calculates the control amount of the lifting drive mechanism according to the predetermined height relationship between the radar ranging device and the corresponding position of the lower surface of the sample in the carrier, and the specified height of the sample, and controls the operation of the lifting drive mechanism with the calculated control amount.

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