A power connection system and method for a work vehicle

Abstract

The application discloses a power connection system and method of work vehicles, which comprises the following steps: installing a power receiving plate on a first vehicle, installing a power supply plate, a driving device and a measuring device on a second vehicle, the driving device is used to drive the power receiving plate and the power supply plate to be close to each other, and the measuring device is used to determine whether the second vehicle is in the peripheral range of the first vehicle; when the controller receives a power connection command of the first vehicle, the second vehicle is controlled to approach the first vehicle; when the measuring device determines that the second vehicle is in the peripheral range of the first vehicle, the second vehicle is controlled to drive to a target position of the first vehicle; and the driving device is controlled to move the power supply plate to be close to the power receiving plate, so that the power signal output by the power supply plate is transmitted to the power receiving plate. The system has the advantages of simple overall structure, convenient installation, low price, accurate positioning of the first vehicle and the second vehicle, unmanned intelligent power connection, and improved safety of the work vehicle power connection operation.

Description

Technical Field

[0001] This application relates to the technical field of power connection for work vehicles, and more particularly to a power connection system and method for work vehicles. Background Technology

[0002] In the metallurgical industry, many vehicles need to perform operations such as unloading, loading, and opening / closing covers after arriving at designated locations. Due to insufficient onboard power, external power supply is necessary. Currently, both domestically and internationally, external power connection is done manually. This not only leads to high labor intensity and the risk of personal injury due to improper connection operations, but also presents problems such as forgetting to unplug the power cord when the vehicle leaves the station, severely impacting equipment stability and the safety of the working environment. With the development of smart steel plants and intelligent manufacturing technologies, the demand for unmanned, intelligent power connection is extremely urgent.

[0003] Therefore, improving the safety of power connection operations for work vehicles is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] The present invention provides a power connection system and method for a work vehicle, which improves the safety of power connection operations for work vehicles.

[0005] The embodiments of the present invention provide the following solutions:

[0006] In a first aspect, embodiments of the present invention provide a power connection system for a work vehicle, the system comprising:

[0007] A power receiving board is installed on a first vehicle, which is used to perform the task to be performed.

[0008] A power supply board is installed on a second vehicle, which supplies power to the first vehicle.

[0009] A drive unit, installed on the second vehicle, is used to drive the power receiving board to be in close contact with the power supply board;

[0010] A measuring device, installed on the second vehicle, is used to determine whether the second vehicle is within the perimeter of the first vehicle;

[0011] The controller is configured to, upon receiving a power-on command from the first vehicle, control the second vehicle to approach the first vehicle; when the measuring device determines that the second vehicle is within the vicinity of the first vehicle, control the second vehicle to travel to the target position of the first vehicle; and control the drive device to move the power supply board to be close to the power receiving board, so as to transmit the power signal output by the power supply board to the power receiving board.

[0012] In one optional embodiment, the measuring device includes:

[0013] A first rangefinder is connected to the controller and is used to send and receive a first ranging signal.

[0014] A baffle is installed around the second vehicle, forming a driving channel for the first vehicle between the baffle and the second vehicle, and the baffle is used to reflect the first ranging signal.

[0015] In an optional embodiment, the measuring device further includes:

[0016] A second rangefinder, connected to the controller, is used to send and receive a second ranging signal to determine whether the first vehicle and the second vehicle are at the target location.

[0017] In an optional embodiment, the measuring device further includes:

[0018] An encoder is installed on the wheel of the second vehicle and is connected to the controller. The encoder is used to measure the distance the second vehicle moves when the first rangefinder determines that the second vehicle is close to the first vehicle, and outputs the measurement data to the controller.

[0019] In one alternative embodiment, the driving device includes:

[0020] A mounting bracket is installed on the second vehicle;

[0021] A telescopic mechanism is installed on the fixed frame, and the power supply plate is installed on the telescopic rod of the telescopic mechanism.

[0022] In an optional embodiment, the driving device further includes:

[0023] A displacement sensor is connected to the controller. The displacement sensor is used to measure the extension distance of the telescopic mechanism and output the result to the controller.

[0024] Secondly, embodiments of the present invention also provide a method for connecting a work vehicle to power, the method comprising:

[0025] Receive a power-on command for the first vehicle, wherein the first vehicle is the vehicle performing the task to be performed;

[0026] According to the power-on command, control the second vehicle to approach the first vehicle, and determine whether the second vehicle is within the vicinity of the first vehicle;

[0027] When the second vehicle is within the vicinity of the first vehicle, control the second vehicle to drive to the target position of the first vehicle, and move the power supply board on the second vehicle to be close to the power receiving board on the first vehicle;

[0028] The power signal output by the power supply board is transmitted to the power receiving board to supply power to the first vehicle.

[0029] In one optional embodiment, controlling the second vehicle to travel to the target location of the first vehicle includes:

[0030] The system outputs a first drive signal to make the second vehicle travel at a preset speed, and determines whether a target ranging signal is received during the travel process, wherein the target ranging signal is the distance signal measured when the first vehicle and the second vehicle are at the target position;

[0031] If so, a stop signal is output to the second vehicle.

[0032] In an optional embodiment, after the first drive signal is output to cause the second vehicle to travel at a preset speed, the method further includes:

[0033] The vehicle interval distance and the travel distance of the second vehicle are obtained, wherein the vehicle interval distance is the distance between the vehicle position when the second vehicle enters the surrounding area and the target position;

[0034] When the measured value of the driving distance reaches the vehicle interval distance, it is determined whether a target ranging signal has been received.

[0035] If so, then it is determined that the second vehicle has traveled to the target position of the first vehicle;

[0036] If not, output the slip warning signal for the first vehicle.

[0037] In one optional embodiment, the power supply board on the movable second vehicle is in close contact with the power receiving board on the first vehicle, including:

[0038] Output a second drive signal to move the power supply board toward the power receiving board, and obtain the moving distance of the power supply board;

[0039] When the moving distance is not less than the preset target distance, a stop moving signal is output to control the power supply board to stop moving.

[0040] The power connection system and method for a work vehicle of the present invention have the following advantages compared with the prior art:

[0041] The power connection system of this invention involves installing a power receiving board on a first vehicle and a power supply board, a drive device, and a measuring device on a second vehicle. The drive device drives the power receiving board to be in close contact with the power supply board, and the measuring device determines whether the second vehicle is within the vicinity of the first vehicle. When the controller receives a power connection command from the first vehicle, it controls the second vehicle to move closer to the first vehicle. Once the measuring device determines that the second vehicle is within the vicinity of the first vehicle, it controls the second vehicle to travel to the target position of the first vehicle, and controls the drive device to move the power supply board to be in close contact with the power receiving board, so as to transmit the power signal output by the power supply board to the power receiving board. The system has a simple overall structure, is easy to install, and is inexpensive. It can accurately locate the first and second vehicles to achieve unmanned intelligent power connection, thereby improving the safety of power connection operations for the work vehicles. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a front view structural diagram of the power connection system for the work vehicle provided in an embodiment of the present invention;

[0044] Figure 2 This is a top view of the power connection system for the work vehicle provided in an embodiment of the present invention;

[0045] Figure 3 This is a side view of the power connection system for the work vehicle provided in an embodiment of the present invention;

[0046] Figure 4 A flowchart illustrating the power connection method for a work vehicle provided in an embodiment of the present invention.

[0047] Explanation of reference numerals in the attached drawings: 1-First vehicle, 2-Power receiving board, 3-First wheel, 4-First track, 5-Power receiving box, 6-Second track, 7-Second vehicle, 8-Second wheel, 9-Fixed frame, 10-Telescopic mechanism, 11-Displacement sensor, 12-Drive system, 13-Encoder, 14-Second rangefinder, 15-Power supply board, 16-First rangefinder, 17-Baffle, 18-Mounting bracket. Detailed Implementation

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the protection scope of the embodiments of the present invention.

[0049] Currently, there are some applications of intelligent power connection, such as the Chinese invention patent with publication number CN 86101664 A, which relates to the main connection form of electrified railways. Electrified railway power supply systems obtain power from the power grid, and the output of their traction substations is divided into a maximum of two-phase traction network feeder areas, with the length of the same-phase feeder area for alternating phases not exceeding the substation spacing L. The new connection traction network system is modified to allow each traction substation to connect equally to three different phase traction network feeder areas, with the length of the same-phase traction network feeder area extended to 2L. This reduces equipment installation capacity, lowers costs, improves overall efficiency and reliability, and mitigates asymmetry and interference effects. However, this solution only reduces the substation equipment installation capacity and cost; it cannot achieve intelligent power connection.

[0050] Chinese invention patent CN1048379C describes a method for directly supplying heating power to an induction furnace via a single-phase coil driven by an AC synchronous generator from a prime mover. Simultaneously, the voltage of the single-phase coil can be continuously adjusted by the generator's automatic voltage regulator, thereby continuously regulating the heating power corresponding to the supplied voltage. Furthermore, the frequency of this voltage can be continuously adjusted by the prime mover's automatic frequency controller according to a predetermined relationship with the voltage. Upon initial power supply, the supply voltage and frequency can increase from a predetermined minimum value to their rated value in a predetermined gradient over a predetermined time period. This solution is only applicable to powering induction furnaces; it does not address how to achieve unmanned power connection technology.

[0051] Chinese invention patent CN87107471A discloses a static converter comprising multiple modules, a pair of parallel flanges, and a rear plate. Each module has a heat dissipation device on a substrate made of a thermally conductive metal material, serving as a support for electronic components. The flange sides are fixed to two opposite sides of the substrate. The rear plate is used to connect to a bolted pull-in contactor on a fixed connection base. The error prevention device consists of a pin and an opening. To prevent any module connection errors, the pull-in contactor is implemented by horn claws or clips that can be inserted into six holes in the connecting plate. This solution is only used for continuous power supply and cannot achieve intelligent power connection.

[0052] Furthermore, Chinese invention patent CN1058495A proposes adding a high-voltage DC blocking coupling capacitor to a standard rectifier circuit to couple the ripple voltage from the DC traction power grid to the rectifier circuit. After rectification, filtering, and voltage regulation, a relatively flat DC low-voltage output is provided for electronic control auxiliary equipment. This solution can be used as a power source in electronic control auxiliary equipment for DC traction power grids in mines; it simplifies the power supply system for mine transportation and has practical value. However, it is mainly applicable to power grid systems, and it does not yet address how to achieve intelligent power connection.

[0053] Therefore, existing technical solutions are not suitable for intelligent power connection of work vehicles. In order to reduce the labor intensity and work safety risks of on-site workers, it is necessary to develop a power connection system suitable for work vehicles to realize unmanned intelligent power connection of work vehicles. This is of great significance to ensuring the stable operation of the work site. The technical solution of this application will be specifically described below in conjunction with the accompanying drawings.

[0054] Please see Figure 1-2 This invention provides a power connection system for a work vehicle, the system comprising:

[0055] A receiving board 2 is mounted on a first vehicle 1, which performs the task to be performed. A supply board 15 is mounted on a second vehicle 7, which supplies power to the first vehicle 1. A drive unit is mounted on the second vehicle 7 and drives the receiving board 2 to be in close contact with the supply board 15. A measuring device is mounted on the second vehicle 7 and determines whether the second vehicle 7 is within the vicinity of the first vehicle 1. A controller is used to control the second vehicle 7 to approach the first vehicle 1 when it receives a power-on command from the first vehicle 1, and to control the second vehicle 7 to travel to the target position of the first vehicle 1 when the measuring device determines that the second vehicle 7 is within the vicinity of the first vehicle 1. The controller also controls the drive unit to move the supply board 15 to be in close contact with the receiving board 2 so as to transmit the power signal output by the supply board 15 to the receiving board 2.

[0056] Specifically, the specific task to be performed by the first vehicle 1 is not limited here. For example, it could be a work vehicle in a steel plant, intermittently traveling along a preset trajectory to perform the task. The first vehicle 1 travels intermittently along the extension direction of the first track 4. By installing two first wheels 3 on the first vehicle 1, the first vehicle 1 is pulled to move, and the first wheels 3 can travel along the first track 4. Similarly, the second vehicle 7 can also travel along the second track 6. The second vehicle 7 is equipped with two second wheels 8. Since the second wheels 8 are powered vehicles, a drive system 12 can be installed on the second vehicle 7. The drive system 12 can autonomously drive the second wheels 8 to travel along the second track 6. The drive system 12 can be a driver consisting of a motor and a brake. The first track 4 and the second track 6 can be parallel straight lines or curved equidistant structures; of course, other structures can also be set according to actual usage requirements, as long as the tracks enable the second vehicle 7 to travel to the target position of the first vehicle 1. There are no specific restrictions on the track structure here.

[0057] The receiving plate 2 can be configured as a raised structure, and the supply plate 15 as a grooved structure that mates with the raised structure, with the length of the supply plate 15 being greater than that of the receiving plate 2. Alternatively, the receiving plate 2 and the supply plate 15 can be configured with other connection structures, as long as they can achieve electrical connection when tightly attached. To ensure convenience and safety in power connection, a receiving box 5 can be installed on the first vehicle 1, with the raised receiving plate 2 installed on its side. Furthermore, the connection length of the receiving plate 2 is set to 'd', and the connection length of the supply plate 15 is set to 'L'. To ensure reliability of the connection, the connection length 'd' of the receiving plate 2 can be set to be greater than the connection length 'L' of the supply plate 15. Even if there is a slight deviation between the actual parking position of the vehicle and the target position when the receiving plate 2 and the supply plate 15 are tightly attached, it will not affect the power connection effect.

[0058] The driving device can be one of a motor telescopic mechanism 10, a hydraulic cylinder, or a pneumatic cylinder, capable of driving the power supply board 15 to move and come into close contact with the power receiving board 2. The measuring device can be one of an infrared rangefinder, a radar rangefinder, or a laser rangefinder, capable of measuring the relative position of the first vehicle 1 and the second vehicle 7. The controller can be a PLC (Programmable Logic Controller) or an IPC (Industrial Personal Computer), capable of writing control logic programs. The power connection command can be issued by the workers at the work site or by the control system based on the work process of the first vehicle 1. When the controller receives the power connection command, it means that the second vehicle 7 needs to supply power to the first vehicle 1. The controller then controls the second vehicle 7 to travel at a relatively fast preset speed to gradually approach the first vehicle 1. During the approach of the second vehicle 7, it continuously monitors whether the second vehicle 7 is within the vicinity of the first vehicle 1. When the second vehicle 7 is within the vicinity of the first vehicle 1, it controls the second vehicle 7 to decelerate to a slower preset speed until it reaches the target position. When the second vehicle 7 reaches the target position of the first vehicle 1, it means that the first vehicle 1 and the second vehicle 7 are in a position where power connection can be implemented. The controller then controls the drive device to move the power supply board 15 until the power supply board 15 is in close contact with the power receiving board 2, so as to transmit the power signal output by the power supply board 15 to the power receiving board 2. After the first vehicle 1 is powered on, it can start the work task.

[0059] In practical applications, there are multiple implementation schemes for measuring the relative position of the first vehicle 1 and the second vehicle 7, but some schemes have poor applicability. Therefore, in one specific implementation, the measuring device includes:

[0060] The first rangefinder 16 is connected to the controller and is used to send and receive the first ranging signal; the baffle 17 is installed around the second vehicle 7, and the baffle 17 and the second vehicle 7 form a driving channel for the first vehicle 1, and the baffle 17 is used to reflect the first ranging signal.

[0061] Specifically, the first rangefinder 16 is preferably a laser rangefinder. Please continue reading. Figure 2The first rangefinder 16 can be installed on the side of the power supply board 15 near the first vehicle 1. The baffle 17 is installed parallel to the second track 6. As the second vehicle 7 approaches the first vehicle 1, it transmits a first ranging signal to the baffle 17 in real time. The baffle 17 reflects the first ranging signal back to the first rangefinder 16. When the first ranging signal is blocked by the first vehicle 1, it indicates that the second vehicle 7 is within the perimeter of the first vehicle 1. Since the position of the power receiving board 2 relative to the first vehicle 1 is fixed, and the relative position of the power supply board 15 relative to the second vehicle 7 is also fixed, the travel time of the second vehicle 7 can be measured when it enters the perimeter of the first vehicle 1. When the set target time is reached, the vehicle stops and power is connected. The baffle 17 can be fixed on the mounting bracket 18, which fixes the baffle 17 to a preset height.

[0062] In practical applications, determining the target position by measuring the travel time of the second vehicle 7 is easily affected by the driving conditions. For example, if the second vehicle 7 slips or the first vehicle 1 slips, both vehicles will fail to reach the target position. Therefore, in one specific embodiment, the measuring device further includes:

[0063] The second rangefinder 14 is connected to the controller and is used to send and receive second ranging signals to determine whether the first vehicle 1 and the second vehicle 7 are at the target position.

[0064] Specifically, the second rangefinder 14 can also be set as a laser rangefinder. The second rangefinder 14 can be installed on the side of the power supply board 15 away from the first vehicle 1 and at the same horizontal level. The target position is the relative position of the first vehicle 1 and the second vehicle 7 when the power supply board 15 can be completely attached to the power receiving board 2. The distance between the first rangefinder 16 and the second rangefinder 14 is set to L1, and the power receiving length d of the power receiving board 2 is greater than the distance L1 to ensure that the power supply board 15 can be completely attached to the power receiving board 2 when power is connected.

[0065] The present invention also provides another embodiment to ensure that the second vehicle 7 is parked at the target position. In one specific embodiment, the measuring device further includes:

[0066] An encoder is installed on the wheel (or second wheel 8) of the second vehicle 7. The encoder is connected to the controller. The encoder is used to measure the moving distance of the second vehicle 7 when the first rangefinder 16 determines that the second vehicle 7 is close to the first vehicle 1, and outputs the measurement data to the controller.

[0067] Specifically, the encoder rotates via the axle to measure the number of rotations of the second wheel 8, and then calculates the travel distance of the second vehicle 7 based on the outer diameter of the second wheel 8. When the measured travel distance is the target distance, the second vehicle 7 is controlled to stop. The target distance can be understood as representing the remaining distance from the target position when the second vehicle 7 enters the perimeter of the first vehicle 1.

[0068] It should be noted that the measuring device may include a first rangefinder 16, a second rangefinder 14, and an encoder. After receiving the power-on command, the second vehicle 7 is controlled to run at a first speed. The first rangefinder 16 determines the perimeter of the first vehicle 1, and the second vehicle 7 is controlled to run at a second speed, which is less than the first speed. The encoder then measures the travel distance of the second vehicle 7. Within the preset distance range, the second rangefinder 14 determines that the second vehicle 7 has reached the target position and then stops.

[0069] In one specific embodiment, the driving device includes:

[0070] A fixed frame 9 is installed on the second vehicle 7; a telescopic mechanism 10 is installed on the fixed frame 9, and an electrical supply board 15 is installed on the telescopic rod of the telescopic mechanism 10.

[0071] For details, please refer to Figure 3 The mounting bracket 9 can be a metal structure and is fixedly installed on the second vehicle 7 with fasteners. The telescopic mechanism 10 can be a cylinder with a fixed stroke. The extension or retraction of the cylinder is achieved by controlling the opening and closing of compressed air via a solenoid valve. The fixed end of the telescopic mechanism 10 is fastened to the mounting bracket 9, and the power supply plate 15 is installed on the telescopic rod of the telescopic mechanism 10. Of course, the telescopic mechanism 10 can also include a slide rail to guide the movement direction of the power supply plate 15; alternatively, a grooved slide can be provided on the second vehicle 7, with a clearance fit between the grooved slide and the power supply plate 15, which is driven by the telescopic mechanism 10 to move within the grooved slide.

[0072] In one specific embodiment, the driving device further includes:

[0073] Displacement sensor 11 is connected to the controller. Displacement sensor 11 is used to measure the extension distance of telescopic mechanism 10 and outputs the result to the controller.

[0074] Specifically, the type of displacement sensor 11 can be configured according to the actual application scenario, and no specific restrictions are imposed here. The displacement sensor 11 can measure the moving distance in real time when the telescopic mechanism 10 drives the power supply plate 15 to move. When the measured moving distance reaches a set value, it indicates that the power supply plate 15 has adhered to the power receiving plate 2, and the telescopic mechanism 10 is controlled to stop moving. It should be noted that the displacement sensor 11 can also be set with settings corresponding to different tasks to be performed, so that the power connection operation of the first vehicle 1 can be successfully implemented in different scenarios.

[0075] Based on the same inventive concept as the power connection system, embodiments of the present invention also provide a power connection method for a work vehicle. Please refer to [link to relevant documentation]. Figure 4 The method includes:

[0076] S11. Receive the power-on command for the first vehicle, wherein the first vehicle is the vehicle performing the task to be performed.

[0077] Specifically, the power connection command can be issued by the operators at the work site or by the control system based on the operation process of the first vehicle. After receiving the power connection command, it indicates that the first vehicle needs to be powered on and proceeds to step S12.

[0078] S12. Control the second vehicle to approach the first vehicle according to the power-on command, and determine whether the second vehicle is within the vicinity of the first vehicle.

[0079] Specifically, a drive command for the second vehicle can be output based on the power-on command, causing the second vehicle to approach the first vehicle. During the approach process, the relative distance between the first and second vehicles is measured by the first rangefinder. If the relative distance does not reach the preset target distance, it indicates that the second vehicle is not within the perimeter of the first vehicle; otherwise, it is determined that the second vehicle is within the perimeter of the first vehicle and the process proceeds to step S13.

[0080] S13. When the second vehicle is within the vicinity of the first vehicle, control the second vehicle to drive to the target position of the first vehicle, and move the power supply board on the second vehicle to be close to the power receiving board on the first vehicle.

[0081] Specifically, the target position is the relative position of the first vehicle and the second vehicle when the moving power supply board can be completely attached to the power receiving board. When the second vehicle is within the perimeter of the first vehicle, the second vehicle can be controlled to move linearly to the target position based on a preset time. When the second vehicle reaches the target position of the first vehicle, it indicates that the power connection operation can be performed, and then the power supply board is controlled to move towards the power receiving board until the power supply board is in close contact with the power receiving board.

[0082] In practical applications, measuring the travel time of the second vehicle from the surrounding area to the target location using time-based methods presents accuracy issues. Therefore, in one specific implementation, controlling the second vehicle to travel to the target location of the first vehicle includes:

[0083] The system outputs a first drive signal to make the second vehicle travel at a preset speed, and determines whether a target ranging signal is received during the travel process, wherein the target ranging signal is the distance signal measured when the first vehicle and the second vehicle are at the target position; if so, the system outputs a stop signal to the second vehicle.

[0084] Specifically, the target ranging signal can be obtained by measuring with a second rangefinder installed on the second vehicle. If the target ranging signal is received, it means that the second vehicle has reached the target position, and a stop signal is output to stop the second vehicle. Conversely, if the target ranging signal is not received during the journey, it means that the second vehicle has not yet reached the target position, and the second vehicle is controlled to continue traveling along the preset trajectory until the target ranging signal is received.

[0085] In practical applications, since the first vehicle needs to perform the task to be done, the vehicle load may slip, causing the second vehicle to continue driving and creating a safety hazard. Therefore, in one specific embodiment, after outputting the first drive signal to make the second vehicle travel at a preset speed, the method further includes:

[0086] The system acquires the vehicle interval distance and the travel measurement distance of the second vehicle, where the vehicle interval distance is the distance between the vehicle position of the second vehicle when it enters the surrounding area and the target position. When the measured value of the travel measurement distance reaches the vehicle interval distance, it determines whether a target ranging signal has been received. If yes, it determines that the second vehicle has traveled to the target position of the first vehicle. If no, it outputs a slip alarm signal for the first vehicle.

[0087] Specifically, the travel distance can be measured using an encoder on the second vehicle. The encoder rotates synchronously with the axle of the second wheel to measure the travel distance of the second vehicle after entering the surrounding area. If the measured travel distance reaches the vehicle interval distance and a target distance signal is received, it indicates that the second vehicle has reached the target position of the first vehicle, and power-on operation can be initiated. Conversely, if the measured distance reaches the vehicle interval distance but no target distance signal is received, it indicates that the first vehicle has slipped, and the slipping direction is away from the travel direction of the second vehicle. In this case, a slip warning signal can be output through an audible and visual alarm or a warning message displayed on the central control screen. After the first vehicle slips, the second vehicle stops to prevent it from continuing to travel and causing safety hazards. Alternatively, if the target distance signal is received before the measured distance reaches the vehicle interval distance, it indicates that the first vehicle has slipped in the direction of travel of the second vehicle, and the second vehicle is controlled to stop and power-on operation is initiated.

[0088] In one specific implementation, the power supply board on the movable second vehicle is in close contact with the power receiving board on the first vehicle, including:

[0089] The second drive signal is output to move the power supply board toward the power receiving board, and the moving distance of the power supply board is obtained; when the moving distance is not less than the preset target distance, a stop moving signal is output to control the power supply board to stop moving.

[0090] Specifically, the type of the second drive signal can be determined according to the telescopic mechanism. When the telescopic mechanism is a cylinder or hydraulic cylinder, the second drive signal is the activation signal of the control solenoid valve; when the telescopic mechanism is a telescopic device composed of a motor and a screw structure, the second drive signal is a pulse signal controlling the rotation of the motor. The moving distance of the power supply board can be obtained based on the measurement of the displacement sensor. The target distance characterizes the moving distance of the power supply board when the power supply board and the power receiving board are in close contact, and can be determined through calibration experiments. When the moving distance is not less than the target distance, it indicates that the power supply board and the power receiving board are in close contact and power transmission can be implemented. Then, the power supply board is controlled to stop moving, and after the power supply board on the second vehicle is in close contact with the power receiving board on the first vehicle, the process proceeds to step S14.

[0091] S14. The power signal output by the power supply board is transmitted to the power receiving board to supply power to the first vehicle.

[0092] Specifically, the power signal can be transmitted to the receiving board by means of contactor engagement, so that the second vehicle can supply power to the first vehicle.

[0093] The following embodiments of the present invention will take a preferred implementation as an example, combined with... Figure 1-3 The overall explanation outlines how to achieve power connection for the first vehicle.

[0094] Step 1: The first vehicle 1 stops at the first preset position to perform the task to be performed, and the second vehicle 7 stops at the second preset position before the power connection operation. The telescopic mechanism 10 is in the initial state, and the end face of the power supply plate 15 is on the same plane as the inner side of the second vehicle 7. When the controller detects that the first vehicle 1 issues a "power connection command" signal, it proceeds to Step 2.

[0095] Step 2: The first distance measuring instrument 16 and the second distance measuring instrument 14 are started and enter the real-time distance measurement state. The measured values ​​are recorded as M1 and M2 respectively. When M1≤(b+e) or M2≤(b+e), the system alarms and displays "The first vehicle 1 is parked in an improper position" on the display screen, and proceeds to Step 3; otherwise, proceeds to Step 4.

[0096] Step 3: Start drive system 12, encoder starts counting, second vehicle 7 moves to the right along second track 6 until M1 > (b+e) and M2 > (b+e). At the same time, the encoder calculates that the distance the second vehicle 7 has moved to the right is no greater than s, the encoder stops counting, drive system 12 stops, and proceeds to step 4; if the encoder calculates that the distance the second vehicle 7 has moved is greater than s, the system alarms "first vehicle is slipping, please check", drive system 12 controls the second vehicle 7 to stop moving, and proceeds to step 8;

[0097] Step 4: Start the drive system 12 to drive the second vehicle 7 to the right along the second track 6 at a preset speed v1. When M2 = (b + e), the encoder starts and counts from zero. When the encoder calculates that the distance traveled by the second vehicle 7 is greater than (s + L1) / 2, and M1 = (a + e) ​​and M2 = (a + e), the drive system 12 stops running and fixes the second vehicle 7 on the second track 6, then proceed to step 5.

[0098] Step 5: Reset the encoder count to zero and turn off the encoder; start the telescopic mechanism 10 and displacement sensor 11, and record the displacement of the telescopic mechanism 10. When the telescopic structure drives the power supply plate 15 to move a distance of not less than a towards the first vehicle 1, the telescopic mechanism 10 stops moving. At this time, the power supply plate 15 is in close contact with the power receiving plate 2. After stopping for 2 seconds, proceed to step 6.

[0099] Step 6: Power is supplied to the power receiving board 2 via the power supply board 15. After the first vehicle 1 successfully connects to the power supply, the display shows "Power receiving in progress"; if the first vehicle 1 fails to connect to the power supply, the display shows "Power receiving failure, please check the line"; when the controller receives the "Power receiving ended" command, it proceeds to step 7.

[0100] Step 7: Activate the telescopic mechanism 10 to perform the retraction action and drive the power supply plate 15 to move away from the first vehicle 1. After the real-time displacement of the displacement sensor 11 becomes zero, close the telescopic mechanism 10; activate the drive system 12 to drive the second vehicle 7 to move to the left. When M1 = f and M2 = f, close the drive system 12 and proceed to step 8.

[0101] Step 8: Lock the second vehicle 7, turn off the first rangefinder 16 and the second rangefinder 14, and the power connection system operation ends.

[0102] The technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0103] 1. The power connection system consists of a receiving board mounted on a first vehicle and a power supply board, drive unit, and measuring device mounted on a second vehicle. The drive unit propels the receiving board to a tight fit with the power supply board, and the measuring device determines whether the second vehicle is within the vicinity of the first vehicle. When the controller receives a power connection command from the first vehicle, it controls the second vehicle to approach the first vehicle. Once the measuring device confirms that the second vehicle is within the vicinity of the first vehicle, it controls the second vehicle to travel to the target position of the first vehicle, and controls the drive unit to move the power supply board to a tight fit with the receiving board, so as to transmit the power signal output by the power supply board to the receiving board. The system has a simple overall structure, is easy to install, and is inexpensive. It can accurately locate the first and second vehicles to achieve unmanned intelligent power connection, thereby improving the safety of power connection operations for the work vehicles.

[0104] 2. The designed power receiving board has a raised structure and its length is greater than the width of the power supply board. This structurally solves the problem of being unable to connect to the power supply due to alignment errors, effectively ensuring the power connection and power supply effect.

[0105] 3. The drive system and encoder can effectively calculate the moving distance of the energized vehicle, improving the accuracy of vehicle position control and monitoring.

[0106] 4. A grooved structure is adopted on the mobile vehicle body, and the size of the power supply board is matched with it. Then, the telescopic function of the telescopic mechanism is used to meet the power receiving needs of the receiving vehicle.

[0107] 5. The position of the telescopic structure is measured in real time using displacement sensors, which effectively ensures the reliability of the connection between the power receiving board and the power supply board and the stability of the power supply.

[0108] 6. The first and second rangefinders were used to realize the real-time detection of the distance between the first vehicle and the second vehicle, and displacement judgment rules were established to realize automatic power connection under the condition of precise positioning of the first vehicle.

[0109] 7. By adopting a method of converting distance measurement and displacement measurement, and establishing a first vehicle slippage judgment standard, intelligent judgment of unsafe factors such as wheel slippage is realized.

[0110] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0112] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0113] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0114] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0115] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A power connection method for a power connection system applied to a work vehicle, characterized in that, The system includes: A power receiving board is installed on a first vehicle, which is used to perform the task to be performed. A power supply board is installed on a second vehicle, which supplies power to the first vehicle. A drive unit, installed on the second vehicle, is used to drive the power supply board to be in close contact with the power receiving board; A measuring device, installed on the second vehicle, is used to determine whether the second vehicle is within the perimeter of the first vehicle; The controller is configured to, upon receiving a power-on command from the first vehicle, control the second vehicle to approach the first vehicle; when the measuring device determines that the second vehicle is within the vicinity of the first vehicle, control the second vehicle to travel to the target position of the first vehicle; and control the drive device to move the power supply board to be close to the power receiving board, so as to transmit the power signal output by the power supply board to the power receiving board. The method includes: Receive a power-on command for the first vehicle, wherein the first vehicle is the vehicle performing the task to be performed; According to the power-on command, control the second vehicle to approach the first vehicle, and determine whether the second vehicle is within the vicinity of the first vehicle; When the second vehicle is within the vicinity of the first vehicle, control the second vehicle to drive to the target position of the first vehicle, and move the power supply board on the second vehicle to be close to the power receiving board on the first vehicle; The power signal output by the power supply board is transmitted to the power receiving board to supply power to the first vehicle; After outputting a first drive signal to cause the second vehicle to travel at a preset speed, the method further includes: The vehicle interval distance and the travel distance of the second vehicle are obtained, wherein the vehicle interval distance is the distance between the vehicle position when the second vehicle enters the surrounding area and the target position; When the measured value of the driving distance reaches the vehicle interval distance, it is determined whether a target ranging signal has been received, wherein the target ranging signal is the distance signal measured when the first vehicle and the second vehicle are at the target position; If so, then it is determined that the second vehicle has traveled to the target position of the first vehicle; If not, output the skid alarm signal for the first vehicle.

2. The power connection method for a power connection system applied to a work vehicle according to claim 1, characterized in that, The measuring device includes: A first rangefinder is connected to the controller and is used to send and receive a first ranging signal. A baffle is installed around the second vehicle, forming a driving channel for the first vehicle between the baffle and the second vehicle, and the baffle is used to reflect the first ranging signal.

3. The power connection method for a power connection system applied to a work vehicle according to claim 2, characterized in that, The measuring device further includes: A second rangefinder, connected to the controller, is used to send and receive a second ranging signal to determine whether the first vehicle and the second vehicle are at the target location.

4. The power connection method for a power connection system applied to a work vehicle according to claim 2, characterized in that, The measuring device further includes: An encoder is installed on the wheel of the second vehicle and is connected to the controller. The encoder is used to measure the distance the second vehicle moves when the first rangefinder determines that the second vehicle is close to the first vehicle, and outputs the measurement data to the controller.

5. The power connection method for a power connection system applied to a work vehicle according to claim 1, characterized in that, The driving device includes: A mounting bracket is installed on the second vehicle; A telescopic mechanism is installed on the fixed frame, and the power supply plate is installed on the telescopic rod of the telescopic mechanism.

6. The power connection method for a power connection system applied to a work vehicle according to claim 5, characterized in that, The drive device further includes: A displacement sensor is connected to the controller. The displacement sensor is used to measure the extension distance of the telescopic mechanism and output the result to the controller.

7. The power connection method for a power connection system applied to a work vehicle according to claim 1, characterized in that, Controlling the second vehicle to travel to the target location of the first vehicle includes: Output a first drive signal to make the second vehicle travel at a preset speed, and determine whether a target ranging signal is received during the travel process; If so, a stop signal is output to the second vehicle.

8. The power connection method for a power connection system applied to a work vehicle according to claim 1, characterized in that, The power supply board on the second vehicle is in close contact with the power receiving board on the first vehicle, including: Output a second drive signal to move the power supply board toward the power receiving board, and obtain the moving distance of the power supply board; When the moving distance is not less than the preset target distance, a stop moving signal is output to control the power supply board to stop moving.

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