An adsorption-type unmanned vehicle automatic charging device and intelligent control method

Abstract

The present invention discloses an adsorption type unmanned vehicle automatic charging device and an intelligent control method, wherein the device comprises: a charging pile, an unmanned vehicle autonomous charging auxiliary module and a charging docking lane; the charging pile comprises a charging panel bracket and a charging panel; wherein the charging panel is provided with: a first charging module, a first adsorption module, a first distance measuring module, a first charging guide module, a first communication module and a first control module; the unmanned vehicle autonomous charging auxiliary module comprises: a visual module, a second charging module, a second adsorption module, a second distance measuring module, a second charging guide module and a second communication module, all of which are arranged at the rear of the unmanned vehicle and are respectively arranged corresponding to the first charging module, the first adsorption module, the first distance measuring module, the first charging guide module and the first communication module on the charging panel. The device provided by the present invention can realize the functions of autonomous docking charging, charging adsorption locking, anti-mistouch and obstacle detection of unmanned vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicles, and in particular to an adsorption-type automatic charging device for an unmanned vehicle and an intelligent control method. Background Art

[0002] Unmanned vehicle charging is part of the autonomous workflow of unmanned vehicles. Unmanned vehicle charging piles include functions such as communication with unmanned vehicles, unmanned vehicle charging docking guidance, and unmanned vehicle charging. Most existing small robots rely on machine vision, laser, infrared and other methods to guide small robots to dock with charging bases, and can complete the complete autonomous charging process. Most unmanned vehicle charging solutions use the method of building maps. When the unmanned vehicle is low on power, it returns to the corresponding charging area according to the built map, and cannot achieve autonomous charging by manual battery replacement or manual charging. At present, there are still the following problems in the autonomous charging of unmanned vehicles: 1. The charging pile cannot judge obstacles during charging docking. 2. Failure to lock the unmanned vehicle when charging may cause unstable charging. 3. The charging pile is not protected against accidental touch. These problems not only lead to insufficient intelligence of unmanned vehicle products, but also lead to dangers in autonomous charging. Summary of the invention

[0003] In order to solve the above problems, the present invention provides an adsorption-type unmanned vehicle automatic charging device and an intelligent control method, which are used to solve the problems that obstacle detection cannot be realized when the charging pile and the unmanned vehicle are docked for charging, the adsorption is not reliable during charging, and the charging pile has no anti-accidental touch setting.

[0004] In a first aspect, the present invention provides an adsorption-type unmanned vehicle automatic charging device, comprising:

[0005] Charging piles, autonomous charging auxiliary modules for unmanned vehicles, and charging docking lanes;

[0006] The charging pile includes a charging panel bracket and a charging panel installed above the charging panel bracket; wherein the charging panel is provided with:

[0007] The first charging module includes two battery cells and a pressure sensor disposed on the top of the battery cells, and is used to sense and charge the unmanned vehicle;

[0008] The first adsorption module is used to adsorb the unmanned vehicle during charging;

[0009] The first distance measurement module is used to detect the distance between the unmanned vehicle or obstacle and the charging pile in the charging docking lane;

[0010] The first charging guidance module is used to guide the unmanned vehicle to perform charging positioning and docking;

[0011] A first communication module, used for communicating with the unmanned vehicle;

[0012] A first control module is electrically connected to the first charging module, the first adsorption module, the first distance measuring module, the first charging guiding module, and the first communication module respectively;

[0013] The unmanned vehicle autonomous charging auxiliary module includes:

[0014] The vision module is located in the middle of the front of the unmanned vehicle and is used to detect obstacles or lane lines of the charging and docking lane;

[0015] The second charging module, the second adsorption module, the second ranging module, the second charging guidance module, and the second communication module are all arranged at the rear of the unmanned vehicle, and are respectively arranged corresponding to the first charging module, the first adsorption module, the first ranging module, the first charging guidance module, and the first communication module on the charging panel;

[0016] The second control module is electrically connected to the second charging module, the second adsorption module, the second distance measuring module, the second charging guiding module and the second communication module respectively.

[0017] Furthermore, the first charging guiding module is two left and right groups of infrared emitters arranged on the same horizontal line.

[0018] Furthermore, the second charging guiding module includes a first infrared receiver, a second infrared receiver, and a third infrared receiver located on the same horizontal line; wherein the first infrared receiver and the second infrared receiver are respectively arranged corresponding to the two groups of infrared transmitters in the first charging guiding module, and the third group of infrared receivers is arranged between the first infrared receiver and the second infrared receiver.

[0019] Preferably, the battery cell of the first charging module includes a conical boss at the bottom, a flat battery cell body at the top, and a battery cell ring located between the conical boss and the battery cell body. The top of the battery cell body is grooved, and the pressure sensing device is arranged in the groove.

[0020] Preferably, the first adsorption module comprises a permanent magnet and an electromagnet, wherein the electromagnet is nested in the permanent magnet, and the polarity of the electromagnet is the same as the polarity of the second adsorption module when powered on.

[0021] Furthermore, the second adsorption module includes a nested permanent magnet group, and the polarity of the permanent magnet is opposite to that of the first adsorption module.

[0022] Preferably, the charging panel bracket includes a torsion mechanism and a panel bracket; wherein the torsion mechanism includes a turntable, a torsion spring and a rotating shaft; the rotating shaft is fixedly connected to the panel bracket; one end of the torsion spring is connected to the turntable, and the other end is connected to the rotating shaft.

[0023] In a second aspect, the present invention provides an intelligent control method based on the above-mentioned adsorption-type unmanned vehicle automatic charging device, comprising:

[0024] The unmanned vehicle enters the pre-charging area, and the unmanned vehicle sends a pre-charging signal to the first communication module of the charging pile through the second communication module;

[0025] After receiving the signal, the first communication module detects obstacles in the charging and docking lane through the first distance measurement module, and the unmanned vehicle detects obstacles in front of the vehicle through the visual module;

[0026] When there are no obstacles in the charging docking lane and in front of the unmanned vehicle, the unmanned vehicle uses the real-time left and right lane lines of the charging docking lane captured by the visual module to drive into the charging docking lane and enter the coarse positioning area, and start charging docking coarse positioning reverse;

[0027] When the unmanned vehicle reaches the preset critical line between the rough positioning area and the fine positioning area, the visual module and the second charging guidance module guide the unmanned vehicle to perform charging docking fine positioning, and reverse the vehicle to make the second charging module fit with the first charging module; at the same time, the second adsorption module and the first adsorption module adsorb to lock the unmanned vehicle and the charging pile;

[0028] When the connection between the unmanned vehicle and the charging pile meets the preset anti-mistouch condition, the charging pile is powered on;

[0029] After charging is completed, the first adsorption module generates repulsive force to make the unmanned vehicle detach from the charging pile.

[0030] Furthermore, the preset accidental touch prevention conditions specifically include:

[0031] (1) Check whether the charging pile is in working time;

[0032] (2) Detecting whether the first communication module of the charging pile is connected to the second communication module of the unmanned vehicle;

[0033] (3) detecting whether the second charging guidance module can receive the signal sent by the first charging guidance module;

[0034] (4) Detecting whether the distance data measured by the first distance measuring module is the preset distance for charging of the unmanned vehicle;

[0035] (5) Detecting whether the distances measured by the first ranging module and the second ranging module are the same;

[0036] (6) Detect whether the two groups of pressure sensing devices in the first charging module are under pressure and whether the pressures they are under are the same.

[0037] Furthermore, the unmanned vehicle uses the actual lane line of the charging docking lane captured by the visual module to enter the charging docking lane and enter the rough positioning area in the following specific processes:

[0038] The second communication module sends a signal of entering the charging docking lane to the first communication module;

[0039] After receiving the signal, the charging pile emits an infrared beam of a preset angle through the first charging guidance module;

[0040] The unmanned vehicle drives into the charging and docking lane and adjusts its position so that the left and right lane lines in the image captured by the visual module are located on both sides of the central axis of the image and are of equal length;

[0041] The unmanned vehicle reverses in a straight line along the center line of the charging docking lane until the third infrared receiver in the second charging guidance module can no longer receive a signal, and the charging docking coarse positioning is completed.

[0042] Furthermore, the specific process of entering the precise positioning area is as follows:

[0043] The unmanned vehicle maintains a straight reversing state in which the left and right lane lines of the charging and docking lane in the picture taken by the visual module are located on both sides of the central axis of the picture and are of equal length, while the first infrared receiver and the second infrared receiver arranged at the rear of the vehicle are always able to receive infrared signals; when the second charging module contacts the first charging module, the charging and docking precise positioning is completed.

[0044] Preferably, after the first communication module of the charging pile receives the pre-charging signal sent by the unmanned vehicle through the second communication module, the first ranging module always keeps the collision avoidance state turned on until the unmanned vehicle completes docking and starts charging; wherein the collision avoidance state is:

[0045] When the unmanned vehicle enters the charging docking lane for coarse and fine positioning of charging docking, the charging pile performs corresponding operations according to the judgment status of obstacles by X1 and X2; X1 is the distance between the charging pile and the obstacle measured by the first distance measurement module of the charging pile, and X2 is the distance from the unmanned vehicle to the obstacle measured by the second distance measurement module of the unmanned vehicle;

[0046] The obstacle determination state includes:

[0047] (1) When the changing rates of X1 and X2 are equal, the unmanned vehicle moves backward at a constant speed and docks normally;

[0048] (2) When X2 decreases and X1 remains unchanged, there is a static obstacle in the charging docking lane, and the unmanned vehicle stops immediately and issues a charging obstruction alarm;

[0049] (3) When the rates of change of X1 and X2 fluctuate or change suddenly, there is a dynamic obstacle in the charging docking lane. The unmanned vehicle stops immediately and issues an alarm indicating that charging is blocked.

[0050] Beneficial Effects

[0051] The present invention proposes an adsorption-type unmanned vehicle automatic charging device and an intelligent control method, which have the following advantages:

[0052] (1) By using the first ranging module and the second ranging module to detect obstacles, the intelligence and safety of the autonomous charging docking of the unmanned vehicle are greatly enhanced;

[0053] (2) By combining the first charging module guiding module and the second charging guiding module, the unmanned vehicle is guided to complete the charging docking rough positioning and the charging docking fine positioning, so that the charging docking between the unmanned vehicle and the charging pile is accurate and error-free;

[0054] (3) By setting up the first adsorption module and the second adsorption module, the unmanned vehicle and the charging pile are charged in the state of adsorption and locking, which ensures the safety and stability of the unmanned vehicle charging and prevents the vehicle from accidentally sliding and generating charging sparks that may cause danger; and the unmanned vehicle does not consume additional electrical energy other than charging during the adsorption process. Only after charging is completed, the electromagnet is energized to generate repulsion, so that the unmanned vehicle is separated from the charging pile, which is both energy-saving and environmentally friendly;

[0055] (4) The setting of the torsion mechanism ensures that the unmanned vehicle can charge normally when there is a slight angle error when docking with the charging panel, thereby improving the charging success rate and eliminating the error as much as possible. After charging, it automatically returns to the right position to ensure normal charging next time, thereby improving the fault tolerance rate during the charging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 It is a schematic diagram of the structure of an adsorption-type unmanned vehicle automatic charging device provided by an embodiment of the present invention;

[0058] Figure 2 is a schematic diagram of the charging pile structure provided by an embodiment of the present invention;

[0059] Figure 3 is a schematic diagram of the charging panel structure provided by an embodiment of the present invention;

[0060] Figure 4 It is a schematic diagram of the torsion mechanism and panel support structure provided by an embodiment of the present invention;

[0061] Figure 5 is a schematic diagram of the structure of the autonomous charging auxiliary module for an unmanned vehicle provided by an embodiment of the present invention; wherein, Figure 5(a) Schematic diagram of the autonomous charging auxiliary module structure at the front of the driverless vehicle; Figure 5 (b) Schematic diagram of the autonomous charging auxiliary module structure at the rear of the driverless vehicle;

[0062] Figure 6 It is the flow chart of preventing accidental touch during charging of the charging pile provided by the embodiment of the present invention;

[0063] Figure 7 It is the flow chart of the intelligent control method for charging docking of the driverless vehicle provided by the embodiment of the present invention;

[0064] Figure 8 It is the schematic diagram of the driverless vehicle entering the charging docking lane provided by the embodiment of the present invention; among them, Figure 8 (a) Schematic diagram of the driverless vehicle located in the preparatory charging area; Figure 8 (b) Schematic diagram when the vision camera detects the left and right lane lines;

[0065] Fig. 9 It is the lane line guidance schematic diagram of the driverless vehicle entering the charging docking lane provided by the embodiment of the present invention; among them, Fig. 9 (a) Schematic diagram of the driverless vehicle preparing to turn right and enter the charging docking lane; Fig. 9 (b) Schematic diagram of the upper lane line in the picture when the driverless vehicle adjusts the lane line during a right turn;

[0066] Fig.10 It is the rough positioning schematic diagram of visual guiding the driverless vehicle for charging docking provided by the embodiment of the present invention; among them, Fig.10 (a) Schematic diagram when the driverless vehicle starts to reverse in the charging docking lane; Fig.10 (b) Schematic diagram of the lane lines in the picture taken by the vision camera when the driverless vehicle makes a fine adjustment to the right and reverses when l4>l2; Fig.10 (c) Schematic diagram of the lane lines in the picture taken by the vision camera when the driverless vehicle makes a fine adjustment to the left and reverses when l4<l2; Fig.10 (d) Schematic diagram of the lane lines in the picture taken by the vision camera when the driverless vehicle keeps reversing straight when l4 = l2;

[0067] Fig.11 It is the fine positioning schematic diagram of infrared guiding and visual assisting to guide the driverless vehicle for charging docking provided by the embodiment of the present invention; among them, Fig.11 (a) Schematic diagram when the driverless vehicle reaches the boundary between the rough positioning area and the fine positioning area during reverse charging docking; Fig.11 (b) Schematic diagram when the driverless vehicle deflects and is not on the center line of the docking lane after reversing into the fine positioning area; Fig.11 (c) Schematic diagram of the lane lines in the picture taken by the vision camera when the driverless vehicle makes a fine adjustment to the right and reverses when l4>l2; Fig.11(d) When l4 < l2, it is a schematic diagram of the lane lines in the picture taken by the vision camera when the driverless vehicle makes a slight leftward reverse adjustment; Fig.11 (e) When l4 = l2, it is a schematic diagram of the lane lines in the picture taken by the vision camera when the driverless vehicle reverses in a straight line;

[0068] Fig.12 It is a schematic diagram of obstacle detection by the driverless vehicle provided by the embodiment of the present invention in the charging docking lane;

[0069] In the figure: 1 - charging pile; 2 - driverless vehicle; 3 - charging docking lane; 101 - charging panel; 102 - torsion mechanism; 103 - panel bracket; 201 - pressure sensing device; 202 - battery cell ring; 203 - permanent magnet; 204 - electromagnet; 205 - ultrasonic ranging radar; 206 - infrared emitter; 207 - Bluetooth module; 301 - turntable; 302 - torsion spring; 303 - rotating shaft; 401 - vision camera; 402 - speaker; 403 - bottom plane of the charging slot; 404 - charging ring; 405 - annular permanent magnet; 406 - circular permanent magnet; 407 - ultrasonic ranging sensor; 408 - infrared receiver; 409 - Bluetooth device. Detailed implementation manners

[0070] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0071] It should be noted that in the description of the present invention, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or sequence.

[0072] Embodiment 1

[0073] As Figure 1-5 shown, this embodiment provides an adsorption - type automatic charging device for a driverless vehicle, including:

[0074] A charging pile 1, an autonomous charging auxiliary module for the driverless vehicle, and a charging docking lane 3;

[0075] The charging pile 1 includes a charging panel bracket and a charging panel 101 installed above the charging panel bracket; wherein, the following are provided on the charging panel 101:

[0076] The first charging module, each group of the first charging module includes two batteries and a pressure sensing device 201 arranged on the top of the battery, which is used to sense the unmanned vehicle 2 and charge; the battery of the first charging module includes a conical boss at the bottom, a flat battery body at the top, and a battery ring 202 located between the conical boss and the battery body, the top of the battery body is grooved, and the pressure sensing device 201 is arranged in the groove; the pressure sensing device 201 includes a pressure sensor, a spring and a cylindrical metal block, wherein the pressure sensor is installed at the bottom of the groove grooved at the top of the battery body, one end of the spring is fixedly connected to the pressure sensor, and the other end is fixedly connected to the cylindrical metal block, so that the pressure sensor can sensitively sense the pressure. The charging part is the battery ring 202, and all parts except the battery ring 202 are insulated to prevent leakage. In this embodiment, there are two groups of batteries in the first charging module, which are symmetrically arranged on the charging panel 101.

[0077] The first adsorption module is used to adsorb the unmanned vehicle 2 during charging; wherein, the first adsorption module includes a permanent magnet 203 and an electromagnet 204, wherein the electromagnet 204 is nested in the permanent magnet 203. In this embodiment, there are two groups of first adsorption modules, which are symmetrically arranged on the outside of the two groups of battery cells in the first charging module. During specific implementation, the position of the first adsorption module can be set according to actual needs, such as above the battery cell, below the battery cell, and other positions on the charging board. The permanent magnet 203 is annular to ensure the accuracy of adsorption. After the electromagnet 204 is energized, the polarity is opposite to that of the permanent magnet 203, which can make the unmanned vehicle 2 detach from adsorption.

[0078] The first ranging module is used to detect the distance between the unmanned vehicle 2 or obstacle and the charging pile 1 in the charging docking lane 3. In this embodiment, the first ranging module adopts an ultrasonic ranging radar 205, which is installed in the middle of the two groups of battery cells of the first charging module. During specific implementation, the position of the first ranging module can be set according to actual needs, such as above the charging panel or below the charging panel.

[0079] The first charging guidance module is used to guide the unmanned vehicle to perform charging positioning and docking; wherein, the first charging guidance module is two groups of left and right infrared emitters 206 arranged on the same horizontal line. In this embodiment, the two groups of infrared emitters 206 are respectively arranged directly below the two groups of first adsorption modules. During specific implementation, the position of the first ranging module can be set according to actual needs, such as directly above the first adsorption module. The infrared emitter 206 emits infrared rays to guide the unmanned vehicle 2 to complete the coarse positioning and fine positioning of charging docking.

[0080] The first communication module is used to communicate with the unmanned vehicle 2; in this embodiment, the first communication module is composed of a Bluetooth module 207, which is installed on the top of the charging pile 1 and communicates with the unmanned vehicle 2 by sending or receiving Bluetooth signals.

[0081] The first control module is electrically connected to the first charging module, the first adsorption module, the first distance measuring module, the first charging guiding module and the first communication module respectively, and analyzes and processes the data detected and received and issues corresponding instructions.

[0082] Preferably, the charging panel bracket includes a torsion mechanism 102 and a panel bracket 103; wherein the torsion mechanism 102 includes a turntable 301, a torsion spring 302 and a rotating shaft 303; the rotating shaft 303 is fixedly connected to the panel bracket 103; one end of the torsion spring 302 is connected to the turntable 301, and the other end is connected to the rotating shaft 303. The torsion spring 302 is in a neutral position when it is not subjected to force, and the neutral position of the torsion spring 302 is selected for installation. By installing the torsion spring 302 and the rotating shaft 303 inside the turntable 301, it is ensured that the charging panel 101 can still complete charging in the presence of docking errors, that is, when the unmanned vehicle reverses and drives the charging panel to twist, it twists, and after charging is completed, the charging panel can automatically return to the center under the action of the torsion spring.

[0083] The unmanned vehicle autonomous charging auxiliary module includes:

[0084] The visual module is arranged in the middle of the front of the unmanned vehicle 2 and is used to detect obstacles or lane lines of the charging and docking lane. In this embodiment, the visual module includes a visual camera 401, such as Figure 5 As shown in (a), it is set at the lower center of the front of the unmanned vehicle 2. During the specific implementation, the position of the visual module can be set according to actual needs, such as at the upper center of the front of the vehicle. By detecting the left and right lane lines of the charging docking lane through the shooting picture, the unmanned vehicle 2 is guided to smoothly enter the charging docking lane 3, so that the unmanned vehicle can complete the charging docking rough positioning and charging docking fine positioning in sequence.

[0085] Preferably, the alarm module comprises a speaker 402, such as Figure 5 As shown in (a), it is installed on the front side of the unmanned vehicle. In specific implementation, the position of the visual module can be set according to actual needs, such as the rear side of the vehicle, etc. When the unmanned vehicle 2 is blocked in the charging and docking lane, an alarm is issued.

[0086] The second charging module, the second adsorption module, the second ranging module, the second charging guidance module, and the second communication module are all arranged at the rear of the unmanned vehicle, and are respectively arranged corresponding to the first charging module, the first adsorption module, the first ranging module, the first charging guidance module, and the first communication module on the charging panel 101.

[0087] Preferably, the second charging module comprises two groups of charging slots, the bottom surface of each group of charging slots is a plane, the bottom plane 403 of the charging slots is used to trigger the pressure sensing device 201, and the bottom plane 403 of the charging slots is connected to a charging ring 404 for fitting with the battery ring 202. When charging, the charging ring 404 fits with the battery ring 202 in the first charging module for charging.

[0088] Furthermore, the second adsorption module includes a nested permanent magnet group, and the polarity is opposite to that of the permanent magnet 203 of the first adsorption module. In specific implementation, the permanent magnet group can be set according to actual needs, such as being set as an integrated type, that is, a whole permanent magnet, or a separate type. In this embodiment, the second adsorption module includes a nested annular permanent magnet 405 and a circular permanent magnet 406. The annular permanent magnet 405 has the opposite polarity to the permanent magnet in the first charging module and is used for charging adsorption. The circular permanent magnet 406 is adsorbed on the electromagnet 204 that is not powered on in the first adsorption module during charging. After the electromagnet 204 is powered on, it generates a repulsive force with the circular permanent magnet 406, which is used for the unmanned vehicle 2 to be separated after charging is completed. When the second charging module of the unmanned vehicle is fitted with the first charging module of the charging pile, the annular magnet at the rear of the vehicle is adsorbed and locked with the annular magnet on the charging panel, and charging is performed when the preset charging conditions are met. After charging is completed, the electromagnet 204 on the charging panel is powered on to generate a mutual repulsive force, and the unmanned vehicle 2 is separated from the charging pile 1 to reduce energy waste.

[0089] Preferably, the second distance measuring module includes an ultrasonic distance measuring sensor 407, which is installed at the center of the rear of the vehicle. In specific implementation, the position of the second distance measuring module can be set according to actual needs, such as above the rear of the vehicle, etc. It is used to cooperate with the first distance measuring module to detect obstacles.

[0090] Furthermore, the second charging guidance module is three groups of infrared receivers 408 located on the same horizontal line, namely, the first infrared receiver, the second infrared receiver, and the third infrared receiver; wherein the first infrared receiver and the second infrared receiver are respectively arranged corresponding to the two groups of infrared transmitters 206 in the first charging guidance module, and the third infrared receiver is arranged between the first infrared receiver and the second infrared receiver. In specific implementation, whether the unmanned vehicle 2 enters the charging docking precision positioning stage is determined by whether the third infrared receiver can receive the infrared signals emitted by the two groups of infrared transmitters 206 in the first charging guidance module, and infrared guidance is performed according to whether the first infrared receiver and the second receiver can always receive infrared signals, so as to realize the charging docking precision positioning of the unmanned vehicle.

[0091] Furthermore, the second communication module is composed of a Bluetooth device 409, such as Figure 5(b) is shown, installed at a position slightly above the center of the rear of the vehicle. In specific implementation, the position of the second communication module can be set according to actual needs, such as at the side of the front of the vehicle, etc. The Bluetooth device 409 in the second communication module can transmit and receive Bluetooth signals and communicate with the first communication module.

[0092] The second control module is electrically connected to the second charging module, the second adsorption module, the second distance measuring module, the second charging guiding module and the second communication module respectively, and analyzes and processes the data detected and received and issues corresponding instructions.

[0093] In specific implementation, the unmanned vehicle 2 sends a charging request signal to the charging pile 1 through the second communication module. After receiving the signal, the charging pile 1 detects whether there are obstacles in the charging docking lane 3 through the first distance measurement module. At the same time, the unmanned vehicle 2 detects obstacles in front of the vehicle through the second distance measurement module; the first communication module of the charging pile 1 communicates with the second communication module of the unmanned vehicle. After confirming that there are no obstacles in the charging docking lane, the unmanned vehicle 2 uses the visual module to shoot the left and right lane lines of the charging docking lane, and visually guides the unmanned vehicle 2 according to the actual situation of the lane lines in the shooting picture, and guides the unmanned vehicle 2 to enter the charging docking lane and the rough positioning area. When the unmanned vehicle 2 enters the precise positioning area, the infrared receiver 408 of the second charging guidance module at the rear of the vehicle receives the infrared signal sent by the charging pile 1 to guide the precise positioning of the charging docking. Then, the second charging module of the unmanned vehicle is guided to fit with the first charging module of the charging pile through the first charging guidance module and the second charging guidance module, and then the first adsorption module and the second adsorption module are used to achieve adsorption and locking. Finally, it is judged that the preset power-on conditions are met and then charged. During charging, the data obtained by the second distance measuring module is compared with the data obtained by the first distance measuring module to achieve charging docking obstacle avoidance; at the same time, the first control module, the first charging module, the first charging guidance module, and the first communication module are kept corresponding to the second control module, the second charging module, the second charging guidance module, and the second communication module to avoid accidental touches. It is fully ensured that the charging pile 1 cooperates with the unmanned vehicle 2 to achieve obstacle detection, charging adsorption, charging docking precise positioning, safe charging and other functions.

[0094] Example 2

[0095] like Figure 6-12 As shown, the present invention provides an intelligent control method based on the above-mentioned adsorption-type unmanned vehicle automatic charging device, comprising:

[0096] S1: The unmanned vehicle enters the pre-charging area, and the unmanned vehicle sends a pre-charging signal to the first communication module of the charging pile through the second communication module;

[0097] S2: After receiving the signal, the first communication module detects obstacles in the charging and docking lane through the first distance measurement module, and the unmanned vehicle detects obstacles in front of the vehicle through the visual module;

[0098] S3: When there are no obstacles in the charging docking lane and in front of the vehicle, the unmanned vehicle uses the visual module to capture the lane line of the charging docking lane, drives into the charging docking lane and enters the coarse positioning area, and starts charging docking coarse positioning reverse;

[0099] S4: When the unmanned vehicle reaches the preset critical line between the rough positioning area and the fine positioning area, the visual module and the second charging guidance module guide the unmanned vehicle into the fine positioning area, and reverse the vehicle so that the second charging module fits with the first charging module; at the same time, the second adsorption module and the first adsorption module adsorb to lock the unmanned vehicle and the charging pile;

[0100] S5: When the connection between the unmanned vehicle and the charging pile meets the preset anti-mistouch condition, the charging pile is powered on;

[0101] S6: After charging is completed, the first adsorption module and the second adsorption module generate repulsive force to make the unmanned vehicle separate from the charging pile.

[0102] Furthermore, the unmanned vehicle uses the actual lane line of the charging docking lane captured by the visual module to enter the charging docking lane and enter the rough positioning area in the following specific processes:

[0103] The second communication module sends a signal of entering the charging docking lane to the first communication module;

[0104] After receiving the signal, the charging pile emits an infrared beam of a preset angle through the first charging guidance module;

[0105] The unmanned vehicle drives into the charging and docking lane and adjusts its position so that the left and right lane lines in the image captured by the visual module are located on both sides of the central axis of the image and are of equal length;

[0106] The unmanned vehicle reverses in a straight line along the center line of the charging docking lane until the third infrared receiver in the second charging guidance module can no longer receive a signal, and the charging docking coarse positioning is completed.

[0107] Furthermore, the specific process of entering the precise positioning area is as follows:

[0108] The unmanned vehicle maintains a straight reversing state in which the left and right lane lines of the charging and docking lane in the picture taken by the visual module are located on both sides of the central axis of the picture and are equal in length, while the first infrared receiver and the second infrared receiver arranged at the rear of the vehicle are always able to receive infrared signals; when the second charging module contacts the first charging module, the charging and docking precise positioning is completed.

[0109] Preferably, after the first communication module of the charging pile receives the pre-charging signal sent by the unmanned vehicle through the second communication module, the first ranging module always remains in the collision avoidance state until the unmanned vehicle completes docking and starts charging.

[0110] Further, the collision avoidance state is:

[0111] When the unmanned vehicle enters the charging docking lane for coarse and fine positioning of charging docking, the charging pile performs corresponding operations according to the judgment status of obstacles by X1 and X2; X1 is the distance between the charging pile and the obstacle measured by the first distance measurement module of the charging pile, and X2 is the distance from the unmanned vehicle to the obstacle measured by the second distance measurement module of the unmanned vehicle;

[0112] The obstacle determination state includes:

[0113] (1) When the changing rates of X1 and X2 are equal, the unmanned vehicle moves backward at a constant speed and docks normally;

[0114] (2) When X2 decreases and X1 remains unchanged, there is a static obstacle in the charging docking lane, and the unmanned vehicle stops immediately and issues a charging obstruction alarm;

[0115] (3) When the rates of change of X1 and X2 fluctuate or change suddenly, there is a dynamic obstacle in the charging docking lane. The unmanned vehicle stops immediately and issues an alarm indicating that charging is blocked.

[0116] The specific implementation process is as follows:

[0117] 1. Charging preparation

[0118] When the unmanned vehicle is low on power, it returns to one side of the charging and docking lane, that is, the unmanned vehicle enters the preparatory charging area and prepares for docking and charging. The unmanned vehicle sends a preparatory charging signal to the charging pile through the second communication module. When the charging pile receives the preparatory charging signal, the first control module issues an instruction to control the charging pile to turn on the first distance measurement module and the first charging module. The first distance measurement module starts to measure the road length of the charging and docking lane. If the distance measurement value is less than the preset road length, there is an obstacle on the road surface of the charging and docking lane; at the same time, the unmanned vehicle uses a visual camera to detect obstacles in front of the vehicle. If there is an obstacle, the unmanned vehicle remains in a parking state and issues a warning sound through the alarm module to remind the staff that there is an obstacle that affects docking on the charging and docking lane. If the unmanned vehicle and the charging pile detect that the obstacle has been removed or no obstacle is detected, the charging docking continues. In addition, during docking, the unmanned vehicle and the charging pile always maintain obstacle detection, which greatly improves the safety during charging and docking.

[0119] 2. Enter the charging docking lane

[0120] Based on the lane lines of the charging docking lane captured by the visual camera, the unmanned vehicle is guided into the charging docking lane. When the left and right lane lines appear on both sides of the central axis of the visual camera shooting screen, the charging docking rough positioning and reversing are ready. At this time, the ultrasonic ranging sensor at the rear of the vehicle is turned on to emit ultrasonic waves to the charging panel for ranging; at the same time, the ultrasonic ranging radar on the charging panel sends ultrasonic waves to the unmanned vehicle for ranging. Whether there are obstacles in the charging docking lane is determined based on whether the ranging values ​​obtained by the unmanned vehicle and the charging panel are equal and the rate of change of the ranging values. If there are no obstacles, the charging docking rough positioning and charging docking precise positioning are started, and obstacle detection is always maintained during the positioning process.

[0121] Specifically, the specific adjustment process for the unmanned vehicle to enter the charging docking lane is as follows:

[0122] When there are no obstacles on the charging docking lane, the unmanned vehicle detects the two lane lines of the charging docking lane through the visual camera. Figure 8 (a)), when the visual camera detects the left and right lane lines (as shown in Figure 8 (b)), the unmanned vehicle is preparing to turn right to enter the charging docking lane ( Fig. 9 (a)). Since the lane line close to the unmanned vehicle will be lost in the visual camera's field of view when the unmanned vehicle turns into the lane, the vehicle's turning adjustment is based on the lane line on the upper part of the screen, that is, ( Fig. 9 (b)) AB. During the turn, always measure the two ends of the upper lane A and B in the shooting picture. In the figure, l1 is the distance from point A to the camera center axis, and l2 is the distance from point B to the camera center axis. If point A is on the right side of the center axis of the picture, the vehicle is entering the lane. At this time, increase the turning angle until AB is on the same side, and fine-tune the driving direction of the unmanned vehicle to keep l1 and l2 unchanged during driving. When the camera of the unmanned vehicle can capture the second lane line, it means that it has successfully entered the charging and docking lane.

[0123] 3. Rough positioning of charging docking

[0124] During the reversing process of the charging docking rough positioning, the visual camera takes pictures of the left and right lane lines of the charging docking lane, and determines whether the unmanned vehicle is driving on the center line of the charging docking lane based on the distance between the top and bottom of the left and right lane lines in the picture and the central axis of the picture, and adjusts the unmanned vehicle to drive on the center line of the charging docking lane. When the third infrared receiver in the second charging guidance module in the middle of the rear of the unmanned vehicle cannot receive the infrared signal, it indicates that the unmanned vehicle charging docking rough positioning is completed, and the charging docking fine positioning begins.

[0125] Specifically, the specific adjustment process of the unmanned vehicle for charging docking rough positioning is as follows:

[0126] Before the driverless vehicle enters the charging docking lane in the preparatory charging area, it sends a preparatory charging signal to the charging pile through the second communication module. After receiving the signal, the charging pile activates the first charging guidance module. The first charging guidance module emits an infrared beam at a preset angle, that is, an infrared signal. When all three infrared receivers at the rear of the vehicle can receive the infrared signal, it indicates that the driverless vehicle performs rough positioning for charging docking. At this time, the driverless vehicle starts to reverse( Fig.10 (a)), and at the same time detects the two lane lines, and starts to measure the distances l1, l2, l3, and l4 from points A, B, C, and D to the central axis of the captured image respectively( Fig.10 (b, c, d)). At this time, the following situations exist:

[0127] ① If l4 > l2, the driverless vehicle slightly adjusts and reverses to the right, l4 decreases, l2 increases, l1 decreases, and l3 increases. Since the vehicle will also travel a certain distance to the right rear when it returns to the correct position, when the magnitude of l4 is close to that of l2, it starts to return to the correct position in the opposite direction. When returning to the correct position, l4 slowly decreases, l2 slowly increases, l1 increases, and l3 decreases. Stop returning to the correct position until l1 is equal to l3. Continue to reverse backward, continuously adjust, and keep l1 = l3, l2 = l4, and basically reverse in a straight line in the middle of the lane line.( Fig.10 (b))

[0128] ② If l4 < l2, the driverless vehicle slightly adjusts and reverses to the left, l4 increases, l2 decreases, l1 increases, and l3 decreases. Since the vehicle will also travel a certain distance to the left rear when it returns to the correct position, when the magnitude of l4 is close to that of l2, it starts to return to the correct position in the opposite direction. When returning to the correct position, l4 slowly increases, l2 slowly decreases, l1 decreases, and l3 increases. Stop returning to the correct position until l1 is equal to l3.( Fig.10 (c))

[0129] Adjust the driverless vehicle according to the above method until the captured image of the vision camera is Fig.10 (d), so that the driverless vehicle reverses in a straight line along the central axis.

[0130] During the rough positioning stage of the driverless vehicle, there is a certain distance between the first charging guidance module of the charging pile and the driverless vehicle, and the first charging guidance module emits an infrared beam at a preset angle, so that the infrared beams emitted by the two groups of infrared transmitters of the first charging guidance module will form a triangular signal-free area inside( Fig.10 (a)). When the third infrared receiver in the second charging guidance module of the driverless vehicle cannot receive the infrared signal, the rough positioning of the charging docking ends.

[0131] 4. Fine positioning of charging docking

[0132] During the precise positioning and reversing process of charging docking, the unmanned vehicle determines whether the unmanned vehicle is offset based on whether the first and second infrared receivers in the second charging guidance module can receive infrared signals. If offset occurs, the position of the unmanned vehicle is adjusted according to the method used in the rough positioning of charging docking to make it reverse in a straight line on the center line. The closer the unmanned vehicle is to the charging pile, the smaller the range of the infrared signal, and the more accurate the precise positioning of charging docking; in addition, the first charging module of the charging pile and the second charging module of the unmanned vehicle are correspondingly arranged, and under the action of the first adsorption module and the second adsorption module, the unmanned vehicle can accurately adsorb and charge with the charging pile.

[0133] Specifically, the specific adjustment process of the unmanned vehicle for charging docking precise positioning is as follows:

[0134] When the unmanned vehicle is charging and docking and roughly positioning and reversing to the boundary between the rough positioning area and the fine positioning area, the first and second infrared receivers at the rear of the vehicle are still in the signal receiving area and can receive the infrared signal ( Fig.11 (a)), and the third infrared receiver reaches the critical point of the signal area. If the unmanned vehicle continues to reverse, it will not be able to receive the infrared signal. When there is no signal from the third infrared receiver, the charging docking coarse positioning ends and the charging docking enters the charging docking fine positioning stage.

[0135] After entering the precise positioning area, the infrared guidance of the first charging guidance module is the main guidance, and the visual guidance of the visual module is the auxiliary guidance. The unmanned vehicle still reverses in a straight line during the precise positioning stage of charging and docking. During the reversing process, the unmanned vehicle may deviate or be not in the center line of the docking lane ( Fig.11 (b)). Therefore, when the unmanned vehicle is reversing, the infrared receiver on the left side of the rear of the vehicle is in the critical signal receiving area, resulting in a sudden change in the signal amount, which can be used to determine that the unmanned vehicle has a docking deviation. At this time, the visual camera is used as an aid to determine the deviation of the unmanned vehicle based on the distance l1, l2, l3, and l4 between the four points A, B, C, and D and the central axis of the shooting screen. The specific situation is as follows:

[0136] ① If l4>l2, the unmanned vehicle will slightly reverse to the right, l4 will decrease, l2 will increase, l1 will decrease, and l3 will increase. Since the vehicle will travel a distance to the right rear when it returns to the center, when l4 is close to l2, it will start to return to the opposite direction. When returning to the center, l4 will slowly decrease, l2 will slowly increase, l1 will increase, and l3 will decrease. When l1 equals l3, it will stop returning to the center. ( Fig.11 (c))

[0137] ② If l4 < l2, the driverless vehicle reverses with a slight left adjustment. l4 increases, l2 decreases, l1 increases, and l3 decreases. Since the vehicle will also travel a certain distance towards the left rear when it returns to the correct position, when the size of l4 is close to that of l2, it starts to return to the correct position in the opposite direction. During the return, l4 slowly increases, l2 slowly decreases, l1 decreases, and l3 increases. It stops returning when l1 equals l3.( Fig.11 (d))

[0138] The driverless vehicle reverses backward and continuously adjusts the driverless vehicle through the above method to ensure that the first and second infrared receivers at the rear of the driverless vehicle can always receive infrared signals. The closer to the first charging guidance module of the charging pile, the smaller the angle of the infrared signal area, and the finer the adjustment made by the driverless vehicle. Moreover, the first and second infrared receivers at the rear of the driverless vehicle are installed corresponding to the two groups of infrared transmitters of the first charging guidance module on the charging panel. That is, in the state where the vehicle is aligned for charging, the first and second infrared receivers at the rear of the driverless vehicle can receive all the infrared signals from the two groups of infrared transmitters of the first charging guidance module. Therefore, infrared guidance realizes the alignment of the driverless vehicle with the charging pile, and after alignment, the visual camera captures the image as Fig.11 (e). When the driverless vehicle is close enough to the charging pile, the bottom plane of the charging slot at the rear of the driverless vehicle squeezes the metal block of the pressure sensing device on the charging panel, and the pressure is transmitted through the spring connected to the metal block to the pressure sensor at the bottom of the battery cell slot. The pressure sensor senses the pressure, and at this time, the precise positioning of the charging connection ends.

[0139] 5. Charging of the driverless vehicle

[0140] The second charging guidance module at the rear of the vehicle is aligned with the first charging guidance module on the charging panel, and the second adsorption module at the rear of the driverless vehicle is also aligned with the first adsorption module on the charging panel. The second adsorption module of the driverless vehicle adsorbs to the first adsorption module on the charging panel. At this time, the bottom plane of the charging slot at the rear of the driverless vehicle squeezes the metal block on the charging panel, and the pressure is transmitted through the spring connected to the metal block to the pressure sensor at the bottom of the battery cell slot. The pressure sensor senses the pressure. Since the charging ring in the charging slot needs to fit with the battery cell ring on the charging panel when the driverless vehicle is charging, after the pressure sensors at the top of the left and right battery cell bodies receive the same pressure and remain unchanged for a period of time, the charging ring starts to conduct electricity to charge the driverless vehicle.

[0141] There is a torsion mechanism under the charging panel. When there is a slight angular error when the driverless vehicle docks with the charging panel, after the battery cell on the charging panel enters the charging slot, the reverse movement of the driverless vehicle will drive the charging panel to twist, ensuring normal charging and improving the charging success rate, and eliminating errors as much as possible. Due to the existence of the torsion mechanism, after the driverless vehicle is fully charged and drives away, the torsion mechanism will drive the charging panel to automatically return to the correct position, returning to the initial position to ensure normal charging for the next time.

[0142] 6. Disengagement after unmanned vehicle is fully charged

[0143] After charging is completed, the electromagnet in the first adsorption module of the charging pile is energized and interacts with the circular permanent magnet at the rear of the unmanned vehicle, generating a force opposite to the annular permanent magnet, causing the unmanned vehicle to detach from adsorption and wait for the first control module to issue corresponding instructions or complete the corresponding task.

[0144] Specifically, when the unmanned vehicle is fully charged, a charging completion signal is sent to the charging panel through the Bluetooth device. After the charging pile receives the charging completion signal, the electromagnet of the first adsorption module starts to be energized. The energized electromagnet has opposite magnetic poles to the circular permanent magnet in the second adsorption module of the unmanned vehicle, generating a mutual repulsion force, so that the unmanned vehicle can successfully detach from the charging pile. This method can adsorb the vehicle to the charging pile, ensure charging stability and safety, and prevent the vehicle from accidentally sliding and generating charging sparks that cause danger. In addition, the unmanned vehicle does not consume additional electrical energy other than charging during the adsorption process. The electromagnet is energized only when the charging is completed and released, and the power is stopped after the release is completed, which effectively achieves energy saving and environmental protection. After the electromagnet on the charging panel is energized, the charging pile sends a permission to leave signal to the unmanned vehicle through the Bluetooth module, and the unmanned vehicle returns to the waiting area or performs the handling task according to the next instruction.

[0145] 7. Anti-accidental touch design

[0146] Since the charging voltage of unmanned vehicles is high and electric shock is likely to occur, the charging pile always determines whether a person accidentally touches the charging device to prevent the risk of electric shock. The charging pile keeps the two pressure sensors in the first charging module to detect pressure, the first communication module is always turned on, the first distance measurement module performs distance measurement, and the first charging guidance module is turned on. The preset anti-accidental touch conditions specifically include:

[0147] (1) Check whether the charging pile is in working time;

[0148] (2) Detecting whether the first communication module of the charging pile is connected to the second communication module of the unmanned vehicle;

[0149] (3) detecting whether the second charging guidance module can receive the signal sent by the first charging guidance module;

[0150] (4) Detecting whether the distance data measured by the first distance measuring module is the preset distance for charging of the unmanned vehicle;

[0151] (5) Detecting whether the distances measured by the first ranging module and the second ranging module are the same;

[0152] (6) Detect whether the two groups of pressure sensing devices in the first charging module are under pressure and whether the pressures they are under are the same.

[0153] When all the above six conditions are met, the first charging module of the charging pile is powered on, which greatly ensures the safety of personnel and is of great significance in the autonomous charging of unmanned vehicles.

[0154] (7) Obstacle avoidance during charging and docking

[0155] The first ranging module on the charging panel remains on after the unmanned vehicle sends a pre-charging signal to the charging pile, until the unmanned vehicle completes docking and starts charging. When the unmanned vehicle performs coarse and fine positioning of charging docking in the charging docking lane, the second ranging module at the rear of the vehicle is turned on to emit ultrasonic waves to the charging panel for ranging. At the same time, the first ranging module of the charging panel is also sending ultrasonic waves to the unmanned vehicle for ranging. In the figure, X1 is the distance between the charging pile and the obstacle measured by the first ranging module of the charging pile, and X2 is the distance from the unmanned vehicle to the obstacle measured by the second ranging module of the unmanned vehicle. The following situations exist:

[0156] ① During normal docking, the unmanned vehicle moves backward at a constant speed, and the change rates of X1 and X2 are similar.

[0157] ② When there is a stationary obstacle in the docking path of the unmanned vehicle, X2 decreases when the unmanned vehicle reverses, and X1 remains unchanged, so the obstacle in the docking path can be determined.

[0158] ③ If there are dynamic obstacles, the change rates of X1 and X2 will fluctuate and change suddenly, which can be used to determine that there are obstacles in the docking path. When the unmanned vehicle senses an obstacle in the docking path, it will stop immediately and sound an alarm through the speaker on the side of the vehicle body, indicating that there is an obstacle in the docking path and charging is blocked, which greatly enhances the intelligence and safety of the unmanned vehicle's autonomous charging docking.

[0159] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0160] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An adsorption-type unmanned vehicle automatic charging device, characterized in that: include: Charging piles, autonomous charging auxiliary modules for unmanned vehicles, and charging docking lanes; The charging pile includes a charging panel bracket and a charging panel installed above the charging panel bracket; wherein the charging panel is provided with: A first charging module, comprising two battery cells and a pressure sensing device disposed on the top of the battery cells, for sensing the unmanned vehicle and charging; the battery cell of the first charging module comprises a conical boss at the bottom, a battery cell body with a plane at the top, and a battery cell ring located between the conical boss and the battery cell body, the top of the battery cell body is grooved, and the pressure sensing device is disposed in the groove; The first adsorption module is used to adsorb the unmanned vehicle during charging; The first distance measurement module is used to detect the distance between the unmanned vehicle or obstacle and the charging pile in the charging docking lane; The first charging guide module is used to guide the unmanned vehicle to perform charging positioning and docking; the first charging guide module is two groups of left and right infrared transmitters arranged on the same horizontal line; the first charging guide module emits an infrared beam at a preset angle; A first communication module, used for communicating with the unmanned vehicle; A first control module is electrically connected to the first charging module, the first adsorption module, the first distance measuring module, the first charging guiding module, and the first communication module respectively; The unmanned vehicle autonomous charging auxiliary module includes: The vision module is located in the middle of the front of the unmanned vehicle and is used to detect obstacles or lane lines of the charging and docking lane; The second charging module, the second adsorption module, the second ranging module, the second charging guidance module, and the second communication module are all arranged at the rear of the unmanned vehicle, and are respectively arranged corresponding to the first charging module, the first adsorption module, the first ranging module, the first charging guidance module, and the first communication module on the charging panel; the second charging guidance module includes a first infrared receiver, a second infrared receiver, and a third infrared receiver located on the same horizontal line; wherein the first infrared receiver and the second infrared receiver are respectively arranged corresponding to the two groups of infrared transmitters in the first charging guidance module, and the third group of infrared receivers is arranged between the first infrared receiver and the second infrared receiver; The second control module is electrically connected to the second charging module, the second adsorption module, the second distance measuring module, the second charging guiding module and the second communication module respectively.

2. The adsorption type unmanned vehicle automatic charging device according to claim 1 is characterized in that: The first adsorption module includes a permanent magnet and an electromagnet, wherein the electromagnet is nested in the permanent magnet, and the polarity of the electromagnet is the same as the polarity of the second adsorption module when powered on.

3. The suction-type unmanned vehicle automatic charging device according to claim 2 is characterized in that: The second adsorption module includes a nested permanent magnet group, and the polarity of the permanent magnet is opposite to that of the first adsorption module.

4. The adsorption type unmanned vehicle automatic charging device according to claim 1 is characterized in that: The charging panel bracket includes a torsion mechanism and a panel bracket; wherein the torsion mechanism includes a turntable, a torsion spring and a rotating shaft; the rotating shaft is fixedly connected to the panel bracket; one end of the torsion spring is connected to the turntable, and the other end is connected to the rotating shaft.

5. An intelligent control method based on the adsorption type unmanned vehicle automatic charging device according to any one of claims 1 to 4, characterized in that: include: The unmanned vehicle enters the pre-charging area, and the unmanned vehicle sends a pre-charging signal to the first communication module of the charging pile through the second communication module; After receiving the signal, the first communication module detects obstacles in the charging and docking lane through the first distance measurement module, and the unmanned vehicle detects obstacles in front of the vehicle through the visual module; When there are no obstacles in the charging docking lane and in front of the unmanned vehicle, the unmanned vehicle uses the real-time left and right lane lines of the charging docking lane captured by the visual module to drive into the charging docking lane and enter the coarse positioning area, and start charging docking coarse positioning reverse; When the unmanned vehicle reaches the preset critical line between the rough positioning area and the fine positioning area, the visual module and the second charging guidance module guide the unmanned vehicle to perform charging docking fine positioning, and reverse the vehicle to make the second charging module fit with the first charging module; at the same time, the second adsorption module and the first adsorption module adsorb to lock the unmanned vehicle and the charging pile; When the connection between the unmanned vehicle and the charging pile meets the preset anti-mistouch condition, the charging pile is powered on; After charging is completed, the first adsorption module generates repulsive force to make the unmanned vehicle detach from the charging pile.

6. According to claim 5, an intelligent control method for charging an adsorption-type unmanned vehicle by docking with a charging pile is characterized in that: The preset accidental touch prevention conditions specifically include: (1) Check whether the charging pile is in working time; (2) Detecting whether the first communication module of the charging pile is connected to the second communication module of the unmanned vehicle; (3) detecting whether the second charging guidance module can receive the signal sent by the first charging guidance module; (4) Detecting whether the distance data measured by the first distance measuring module is the preset distance for charging of the unmanned vehicle; (5) Detecting whether the distances measured by the first ranging module and the second ranging module are the same; (6) Detect whether the two groups of pressure sensing devices in the first charging module are under pressure and whether the pressures they are under are the same.

7. According to claim 5, an intelligent control method for charging an adsorption-type unmanned vehicle by docking with a charging pile is characterized in that: The unmanned vehicle uses the visual module to capture the lane lines of the charging docking lane. The specific process of entering the charging docking lane and entering the rough positioning area is as follows: The second communication module sends a signal of entering the charging docking lane to the first communication module; After receiving the signal, the charging pile emits an infrared beam of a preset angle through the first charging guidance module; The unmanned vehicle drives into the charging and docking lane and adjusts its position so that the left and right lane lines in the image captured by the visual module are located on both sides of the central axis of the image and are of equal length; The unmanned vehicle reverses in a straight line along the center line of the charging docking lane until the third infrared receiver in the second charging guidance module can no longer receive a signal, and the charging docking coarse positioning is completed.

8. According to claim 5, an intelligent control method for charging an adsorption-type unmanned vehicle by docking with a charging pile is characterized in that: The specific process of entering the precise positioning area is as follows: The unmanned vehicle maintains a straight reversing state in which the left and right lane lines of the charging and docking lane in the picture taken by the visual module are located on both sides of the central axis of the picture and are of equal length, while the first infrared receiver and the second infrared receiver arranged at the rear of the vehicle are always able to receive infrared signals; when the second charging module contacts the first charging module, the charging and docking precise positioning is completed.

9. The intelligent control method for charging an adsorption-type unmanned vehicle by docking with a charging pile according to claim 5, characterized in that: After the first communication module of the charging pile receives the pre-charging signal sent by the unmanned vehicle through the second communication module, the first ranging module always remains in the collision avoidance state until the unmanned vehicle completes docking and starts charging; Wherein, the collision avoidance state is: When the unmanned vehicle performs coarse and precise positioning of charging docking in the charging docking lane, the charging pile performs corresponding operations according to the judgment status of the obstacle by X1 and X2; wherein X1 is the distance between the charging pile and the obstacle measured by the first distance measurement module of the charging pile, and X2 is the distance from the unmanned vehicle to the obstacle measured by the second distance measurement module of the unmanned vehicle; wherein the judgment status of the obstacle includes: (1) When the changing rates of X1 and X2 are equal, the unmanned vehicle moves backward at a constant speed and docks normally; (2) When X2 decreases and X1 remains unchanged, there is a static obstacle in the charging docking lane, and the unmanned vehicle stops immediately and issues a charging obstruction alarm; (3) When the rates of change of X1 and X2 fluctuate or change suddenly, there is a dynamic obstacle in the charging docking lane. The unmanned vehicle stops immediately and issues an alarm indicating that charging is blocked.

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