Movable intelligent charging pile and automatic charging method

Abstract

The application discloses a movable intelligent charging pile and an automatic charging method, the charging pile comprising a charging pile body, a charging gun installed on the charging pile body through an automatic plug device, an image acquisition module installed at the front end of the charging gun, and a walking mechanism installed at the bottom of the charging pile body; the automatic plug device, the image acquisition module and the walking mechanism are respectively connected with the charging pile controller; the charging pile can realize automatic movement and automatic alignment of the charging gun, when receiving charging request information, the charging pile can be driven to move to a specified charging position, then the image recognition technology is used to automatically adjust the position of the moving charging gun, the charging gun can be automatically plugged in or unplugged through the combination of coarse adjustment and fine adjustment, the user can realize unattended charging, the charging can be carried out on time and in quantity through the submission of the reservation charging record, the peak electricity price can be fully utilized, and the charging resource can be maximally utilized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of charging piles, in particular to a movable intelligent charging pile and an automatic charging method. BACKGROUND

[0002] With the world automobile industry entering a comprehensive transportation energy transformation period, new energy vehicles have entered a new stage of accelerated development. As new energy vehicles, electric vehicles have an increasingly large share of travel vehicles, and the demand for the number and regional layout density of electric vehicle charging stations is also growing.

[0003] Electric vehicles are new energy vehicles powered by electricity and need to be continuously charged. However, vehicle-side charging must be stopped at a fixed parking space, and the charging cable must be manually connected to the charging pile to complete the charging preparation phase. During the charging process, there are various remote and local reservation charging functions, and after charging is complete, vehicle-side charging is terminated, but the charging cable needs to be manually terminated, otherwise the charging pile resources will be occupied. Especially in charging stations or parking lots with charging functions, the occupation of charging pile resources affects charging efficiency. SUMMARY

[0004] The purpose of the present application is to provide a movable intelligent charging pile and an automatic charging method to solve the problem of low charging utilization rate of existing charging piles due to the inability of the charging piles to automatically move and automatically plug and unplug.

[0005] To solve the above technical problems, the present application provides a movable intelligent charging pile, comprising a charging pile body, a charging gun installed on the charging pile body through an automatic plug and unplug device, an image acquisition module installed at the front end of the charging gun, and a walking mechanism installed at the bottom of the charging pile body; the automatic plug and unplug device, the image acquisition module, and the walking mechanism are respectively connected with the charging pile controller.

[0006] The walking mechanism is used to drive the charging pile body to move to a specified charging position according to a walking instruction; the image acquisition module is used to acquire image information of a charging port of a vehicle to be charged and a charging connector in the charging port according to an image acquisition instruction; the automatic plug and unplug device is used to first move the charging gun to the front of the charging port area according to a coarse adjustment instruction, then adjust the charging gun to be connected with the charging connector in the charging port according to a fine adjustment instruction, and finally pull out the charging gun according to a pulling-out instruction after charging is completed; the charging pile controller is used to receive charging request information and control the walking mechanism, the image acquisition module, and the automatic plug and unplug device to work according to the charging request information.

[0007] Further, the automatic plug-in device comprises a charging gun shell, the charging gun is installed in the charging gun shell, and the front end of the charging gun shell is provided with a guide opening matched with the charging gun; the charging gun shell is provided with a fine adjustment device for fine adjustment of the position and posture of the charging gun; and the charging gun shell is installed on the charging pile body through a coarse adjustment device for coarse adjustment of the position of the charging gun.

[0008] Further, the fine adjustment device comprises a first axial adjustment mechanism for driving the charging gun to move axially along the charging gun shell, a rotation adjustment mechanism for driving the charging gun to rotate around the axis, and a posture adjustment mechanism for adjusting the posture of the charging gun; the first axial adjustment mechanism, the rotation adjustment mechanism, the posture adjustment mechanism and the coarse adjustment device are connected with the charging pile controller respectively.

[0009] Further, the first axial adjustment mechanism comprises a first rack arranged on the side wall of the charging gun along the axial direction of the charging gun, a first gear installed on the inner side of the charging gun shell and matched with the first rack, and a first motor for driving the first gear; the rotation adjustment mechanism comprises a second rack arranged on the side wall of the charging gun around the circumference of the charging gun, a second gear installed on the inner side of the charging gun shell and matched with the second rack, and a second motor for driving the second gear; the posture adjustment mechanism comprises a plurality of first elliptical gears, a plurality of second elliptical gears, and a plurality of third motors and a plurality of fourth motors for driving the plurality of first elliptical gears and the plurality of second elliptical gears respectively, the first elliptical gears are uniformly arranged on the inner side of the charging gun shell at the middle part along the circumference of the charging gun, and the second elliptical gears are uniformly arranged on the inner side of the charging gun shell at the front end along the circumference of the charging gun; the first gear and the second gear are elastic gears, and the first elliptical gears and the second elliptical gears are elastic elliptical gears.

[0010] Further, the elastic gear is an inflatable rubber gear, and the elastic elliptical gear is an inflatable rubber elliptical gear; the inflatable rubber gear and the inflatable rubber elliptical gear are inflated by an inflation pump, and the inflation pump is connected with the inflatable rubber gear through an inflation valve.

[0011] Further, the coarse adjustment device comprises a height adjustment mechanism and an outer shell, the charging gun shell is installed in the outer shell, the front end of the charging gun shell is extended out of the outer shell from the front end of the outer shell, and the charging gun shell is provided with a second axial adjustment mechanism for driving the charging gun shell to move axially along the outer shell between the charging gun shell and the outer shell; and the outer shell is installed on the charging gun carrier through the height adjustment mechanism.

[0012] The application also provides a method for automatic charging by using the movable intelligent charging pile, which comprises the following steps:

[0013] S1: determining the charging time and the charging amount according to the charging request information;

[0014] S2: driving the movable intelligent charging pile to reach the specified charging position before the charging time, starting the charging protocol after the movable intelligent charging pile reaches the specified charging position, and waiting for the charging port of the vehicle to be charged to open;

[0015] S3: controlling the image acquisition module to acquire image information of the charging port of the vehicle to be charged, then identifying position information of the charging port according to the image information of the charging port by using image recognition principle, and generating a coarse adjustment instruction according to the position information;

[0016] S4: controlling the automatic plug device to move the charging gun to the front of the charging port area according to the coarse adjustment instruction;

[0017] S5: controlling the image acquisition module to acquire image information of the charging connector in the charging port of the vehicle to be charged, then identifying pose information of the charging connector according to the image information of the charging connector by using image recognition principle, and generating a fine adjustment instruction according to the pose information;

[0018] S6: controlling the automatic plug device to adjust the charging gun to be connected with the charging connector in the charging port according to the fine adjustment instruction and charge;

[0019] S7: after the charging is completed, controlling the automatic plug device to reset and pull out the charging gun.

[0020] Further, the user sends charging request information to the charging pile controller through remote reservation or local reservation.

[0021] Further, the method further comprises:

[0022] S8: remotely sending a contact completion signal to the user to remind the user that the charging is completed.

[0023] The beneficial effects of the present application are as follows: the charging pile can be automatically moved and the charging gun can be automatically aligned for charging, when receiving the charging request information, the charging pile can be driven to move to the specified charging position, then the image recognition technology is used to automatically adjust the position of the movable charging gun, by using the combination of coarse adjustment and fine adjustment, the charging gun can be automatically plugged and unplugged, the user can conveniently realize unattended charging, the charging can be performed on time and in quantity by submitting the reservation charging record, the peak electricity price can be fully utilized, and the charging resource can be maximally utilized. BRIEF DESCRIPTION OF DRAWINGS

[0024] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The same reference numerals are used to represent the same or similar parts in the drawings, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0025] Figure 1 It is a schematic diagram of an embodiment of the present application.

[0026] Figure 2 Structure diagram of one embodiment of the application.

[0027] Wherein: 1, charging gun; 11, first rack; 12, second rack; 13, camera; 2, charging gun shell; 21, third rack; 3, first gear; 4, second gear; 5, first oval wheel; 51, second oval wheel; 6, third gear; 7, outer shell; 8, fourth gear; 9, charging pile; 91, fourth rack; 92, charging module; 93, walking mechanism. DETAILED DESCRIPTION

[0028] As Figure 1 Disclosed is a movable intelligent charging pile, comprising a charging pile body 9, a charging gun 1 installed on the charging pile body 9 through an automatic plug-in device, an image acquisition module installed at the front end of the charging gun 1, and a walking mechanism 93 installed at the bottom of the charging pile body 9; the automatic plug-in device, the image acquisition module, and the walking mechanism 93 are respectively connected with a charging pile controller; the walking mechanism 93 is used to drive the charging pile body 9 to move to a designated charging position according to a walking instruction; the image acquisition module is used to acquire image information of a charging port of a vehicle to be charged and a charging connector in the charging port according to an image acquisition instruction; the automatic plug-in device is used to first move the charging gun 1 to the front of the charging port area according to a coarse adjustment instruction, then adjust the charging gun 1 to be connected with the charging connector in the charging port according to a fine adjustment instruction, and then pull out the charging gun 1 according to a pulling-out instruction after the charging is completed; the charging pile controller is used to receive charging request information and control the walking mechanism 93, the image acquisition module, and the automatic plug-in device to work according to the charging request information.

[0029] The charging pile can realize automatic movement and plug-in charging. When receiving charging request information, the charging pile can be driven to move to a designated charging position, then the image recognition technology is used to automatically adjust the position of the charging gun 1, and the charging gun 1 can be automatically plugged in and pulled out, so that the user can realize unattended charging, and through submitting a reservation charging record, the charging can be performed on time and in quantity, so that the peak electricity price can be fully utilized and the charging resource can be maximally utilized. The movement route of the charging pile can be positioned by using a positioning module (such as GPS, Beidou, or UWB) and combined with a map to plan a path, or an electromagnetic guide rail can be used to control the movement route.

[0030] According to one embodiment of the present application, the automatic plug device comprises a charging gun shell 1, a charging gun 1 is installed in the charging gun shell 1, the front end of the charging gun shell 1 is provided with a guide port matched with the charging gun 1; the charging gun shell 1 is provided with a fine adjustment device for fine adjustment of the position and attitude of the charging gun 1; the charging gun shell 1 is installed on the charging pile body 9 through a coarse adjustment device for coarse adjustment of the position of the charging gun 1. The present application adjusts the charging gun 1 by adopting the mode that the coarse adjustment device and the fine adjustment device cooperate, combining with the image recognition technology, first, the position of the charging port of the electric vehicle is recognized, then the charging gun 1 is adjusted to the front of the charging port area by the coarse adjustment device; the image of the charging connector in the charging port is collected by the image acquisition device installed at the front end of the charging gun 1 and the position and angle of the charging connector are analyzed, finally, the charging gun 1 is adjusted by the fine adjustment device to make it move in vector and align with the charging connector in the charging port; after the charging is completed, the charging gun 1 can be automatically pulled out by resetting the coarse adjustment device and the fine adjustment device.

[0031] According to one embodiment of the present application, the fine adjustment device comprises a first axial adjustment mechanism for driving the charging gun 1 to move axially along the charging gun shell 1, a rotation adjustment mechanism for driving the charging gun 1 to rotate along the axis, and an attitude adjustment mechanism for adjusting the attitude of the charging gun 1; the first axial adjustment mechanism, the rotation adjustment mechanism, the attitude adjustment mechanism and the coarse adjustment device are connected with the charging pile controller respectively. When fine adjustment is carried out, it mainly includes axial position fine adjustment of the charging gun 1, rotation angle fine adjustment of the charging gun 1 and attitude adjustment mechanism (i.e. inclination angle) fine adjustment of the charging gun 1. When the position and angle of the charging connector are analyzed, the charging pile controller is used to control the first axial adjustment mechanism, the rotation adjustment mechanism and the attitude adjustment mechanism to make the charging gun 1 move in vector to complete the connection.

[0032] According to one embodiment of the present application, the first axial adjustment mechanism comprises a first rack 11 arranged on the side wall of the charging gun 1 along the axial direction of the charging gun 1, a first gear 3 installed on the inside of the charging gun shell 1 and matched with the first rack 11, and a first motor for driving the first gear 3; when the axial position fine adjustment of the charging gun 1 is carried out, the first motor is used to drive the first gear 3 to rotate, thereby driving the charging gun 1 to slide axially along the charging gun shell 12, so as to realize the horizontal distance adjustment between the charging gun 1 and the charging connector in the charging port of the vehicle.

[0033] The rotation adjusting mechanism comprises a second gear rack 12 arranged on the side wall of the charging gun 1 around the circumference of the charging gun 1, a second gear 4 mounted on the inner side of the charging gun shell 1 and matched with the second gear rack 12, and a second motor for driving the second gear 4; when fine adjustment of the rotation angle of the charging gun 1 is performed, the second gear 4 is driven to rotate by the second motor, thereby driving the charging gun 1 to rotate along the axis, and the planar angle matching adjustment between the charging gun 1 and the charging connector in the vehicle charging port can be realized.

[0034] The posture adjusting mechanism comprises a plurality of first elliptical gears 5, a plurality of second elliptical gears 51, and a plurality of third motors and a plurality of fourth motors for respectively driving the plurality of first elliptical gears 5 and the plurality of second elliptical gears 51; the first elliptical gears 5 are uniformly arranged on the inner side of the charging gun shell 1 at the middle part along the circumference of the charging gun 1, and the second elliptical gears 51 are uniformly arranged on the inner side of the charging gun shell 1 at the front end along the circumference of the charging gun 1; when fine adjustment of the posture adjusting mechanism (i.e. the inclination angle) of the charging gun 1 is performed, the rotation angles of the first elliptical gears 5 and the second elliptical gears 51 are respectively adjusted by the third motors and the fourth motors, so that the posture of the charging gun 1 is matched with the angle of the charging connector in the vehicle charging port.

[0035] The first gear 3 and the second gear 4 are elastic gears, and the first elliptical gear 5 and the second elliptical gear 51 are elastic elliptical gears; by using the elastic gears and the elastic elliptical gears, the situation of being stuck can be avoided.

[0036] According to one embodiment of the present application, the elastic gear is an inflatable rubber gear, and the elastic elliptical gear is an inflatable rubber elliptical gear; the inflatable rubber gear and the inflatable rubber elliptical gear are inflated by an inflation pump, and the inflation pump is connected with the inflatable rubber gear through an inflation valve. By adjusting the air pressure of the inflatable rubber and the inflatable rubber elliptical gear, the supporting force on the charging gun 1 can be met; the inflatable rubber is relatively soft, the wear is relatively small, and the misalignment tolerance function between the gear and the gear rack is better; in addition, the inflatable rubber gear and the inflatable rubber elliptical gear are light in weight, and the inflatable rubber elliptical gear occupies a small space, so that the radial space can be saved.

[0037] According to one embodiment of the present application, the coarse adjustment device comprises a height adjustment mechanism and an outer shell 7, the charging gun shell 1 is installed in the outer shell 7 and the front end of the charging gun shell 1 is extended to the outside of the outer shell 7 by the front end of the outer shell 7, and the second axial adjustment mechanism for driving the charging gun shell 1 to move axially along the outer shell 7 is arranged between the charging gun shell 1 and the outer shell 7; the outer shell 7 is installed on the charging gun 1 carrier through the height adjustment mechanism. When fine adjustment is performed, it mainly includes fine adjustment of the axial position of the charging gun 1, fine adjustment of the rotation angle of the charging gun 1 and fine adjustment of the attitude adjustment mechanism (i.e. the inclination angle) of the charging gun 1. When the position and angle of the charging connector are analyzed, the first axial adjustment mechanism, the rotation adjustment mechanism and the attitude adjustment mechanism are controlled by the charging pile controller to make the charging gun 1 move vectorially to complete the connection.

[0038] According to one embodiment of the present application, the outer shell 7 comprises a main sleeve and a telescopic sleeve; the telescopic sleeve is connected to the front end of the main sleeve, the telescopic sleeve comprises at least two sliding sleeve-connected movable sleeves, the movable sleeves can freely extend and retract along with the axial movement of the main sleeve, the second axial adjustment mechanism comprises a third gear 6 fixed in the middle of the main sleeve, a third rack 21 arranged on the side wall of the charging gun shell 1 along the axial direction of the charging gun shell 1 and matched with the third gear 6, and a fifth motor for driving the third gear 6. When the axial position of the charging gun 1 is coarsely adjusted, the third gear 6 is driven to rotate by the fifth motor, thereby driving the charging gun 1 to slide axially along the main sleeve, so that the horizontal distance between the charging gun 1 and the charging connector in the vehicle charging port can be coarsely adjusted, and the outer shell 77 can not only extend and retract, but also can be beneficial to support the charging gun 1.

[0039] According to one embodiment of the present application, the height adjustment mechanism comprises a fourth rack 91 vertically arranged on the charging gun 1 carrier, a fourth gear 8 installed on the main sleeve and matched with the fourth rack 91, and a sixth motor for driving the fourth gear 8. When the height position of the charging gun 1 is coarsely adjusted, the fourth gear 8 is driven to rotate by the sixth motor, thereby driving the charging gun 1 to move up and down along the rack, so that the height between the charging gun 1 and the charging connector in the vehicle charging port can be coarsely adjusted.

[0040] The present application also provides a method for automatically charging by using the movable intelligent charging pile, comprising:

[0041] S1: determining the charging time and the charging amount according to the charging request information;

[0042] S2: driving the movable intelligent charging pile to reach the specified charging position before the charging time, starting the charging protocol after the movable intelligent charging pile reaches the specified charging position, and opening the charging port of the vehicle to be charged;

[0043] S3: control the image acquisition module to acquire the charging port image information of the vehicle to be charged, then recognize the position information of the charging port according to the charging port image information by using the image recognition principle, and generate a coarse adjustment instruction according to the position information;

[0044] S4: control the automatic plug device to move the charging gun 1 to the front of the charging port area according to the coarse adjustment instruction;

[0045] S5: control the image acquisition module to acquire the charging connector image information in the charging port of the vehicle to be charged, then recognize the pose information of the charging connector according to the charging connector image information by using the image recognition principle, and generate a fine adjustment instruction according to the pose information;

[0046] S6: control the automatic plug device to adjust the charging gun 1 to be connected with the charging connector in the charging port according to the fine adjustment instruction and charge;

[0047] S7: after the charging is completed, control the automatic plug device to reset and pull out the charging gun 1.

[0048] According to an embodiment of the present application, the user sends the charging request information to the charging pile controller through remote reservation or local reservation.

[0049] According to an embodiment of the present application, the method further comprises:

[0050] S8: remotely send a contact completion signal to the user to remind the user that the charging is completed.

[0051] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the purpose and scope of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A mobile intelligent charging pile, characterized in that, The device includes a charging pile body, a charging gun mounted on the charging pile body via an automatic plug-in device, an image acquisition module mounted at the front end of the charging gun, and a walking mechanism mounted at the bottom of the charging pile body; the automatic plug-in device, the image acquisition module, and the walking mechanism are respectively connected to the charging pile controller via signals. The walking mechanism is used to drive the charging pile body to move to the designated charging position according to the walking command and a preset route; the image acquisition module is used to acquire image information of the charging port and the charging connector inside the charging port of the vehicle to be charged according to the image acquisition command. The automatic plugging and unplugging device is used to first move the charging gun to the front of the charging port area according to the coarse adjustment command, then adjust the charging gun to mate with the charging connector in the charging port according to the fine adjustment command, and then pull out the charging gun according to the unplugging command after charging is completed; the charging pile controller is used to receive charging request information and control the walking mechanism, image acquisition module and automatic plugging and unplugging device to work according to the charging request information. The automatic plugging and unplugging device includes a charging gun housing, in which the charging gun is installed. The charging gun housing contains a fine-tuning device for finely adjusting the position and attitude of the charging gun. The fine-tuning device includes a first axial adjustment mechanism for driving the charging gun to move along the axial direction of the charging gun housing, a rotary adjustment mechanism for driving the charging gun to rotate along its axis, and an attitude adjustment mechanism for adjusting the attitude of the charging gun. The first axial adjustment mechanism, the rotary adjustment mechanism, and the attitude adjustment mechanism are each connected to a charging pile controller. The first axial adjustment mechanism includes a first rack arranged along the axial direction of the charging gun on the side wall of the charging gun, a first gear installed inside the charging gun housing and cooperating with the first rack, and a first motor for driving the first gear; the rotation adjustment mechanism includes a second rack arranged circumferentially around the charging gun on the side wall of the charging gun, a second gear installed inside the charging gun housing and cooperating with the second rack, and a second motor for driving the second gear; the attitude adjustment mechanism includes a plurality of first elliptical wheels, a plurality of second elliptical wheels, and a plurality of third motors and a plurality of fourth motors for driving the plurality of first elliptical wheels and the plurality of second elliptical wheels respectively. The first elliptical wheels are evenly arranged along the circumferential direction of the charging gun in the middle of the inner side of the charging gun housing, and the second elliptical wheels are evenly arranged along the circumferential direction of the charging gun in the front end of the inner side of the charging gun housing; the first gear and the second gear are elastic gears, and the first elliptical wheel and the second elliptical wheel are both elastic elliptical wheels.

2. The mobile intelligent charging pile of claim 1, wherein, The front end of the charging gun housing is provided with a guide port that conforms to the charging gun; the charging gun housing is mounted on the charging pile body through a coarse adjustment device for coarsely adjusting the position of the charging gun; the coarse adjustment device is connected to the charging pile controller.

3. The mobile intelligent charging pile of claim 1, wherein, The elastic gear is an inflatable rubber gear, and the elastic elliptical wheel is an inflatable rubber elliptical wheel; the inflatable rubber gear and the inflatable rubber elliptical wheel are inflated by an air pump, and an air pump is connected to the inflatable rubber gear and the inflatable rubber elliptical wheel by an air pump.

4. The mobile intelligent charging pile according to claim 2, characterized in that, The coarse adjustment device comprises a height adjustment mechanism and an outer shell, the charging gun shell is mounted in the outer shell, and the front end of the charging gun shell extends to the outside of the outer shell through the front end of the outer shell, and a second axial adjustment mechanism is arranged between the charging gun shell and the outer shell for driving the charging gun shell to move axially along the outer shell; the outer shell is mounted on the charging gun carrier through the height adjustment mechanism.

5. The mobile intelligent charging pile according to claim 1, characterized in that, The charging pile is provided with a human-computer interaction unit mounted on the shell of the charging pile body and in signal connection with the charging pile controller.

6. A method for automatic charging using the movable intelligent charging pile according to any one of claims 1-5, characterized in that, Comprise: S1: according to the charging request information, determine the charging time and the charging amount; S2: drive the movable intelligent charging pile to reach the specified charging position before the charging time, start the charging protocol after the movable intelligent charging pile reaches the specified charging position, and open the charging port of the vehicle to be charged; S3: control the image acquisition module to acquire the charging port image information of the vehicle to be charged, then use image recognition principle to identify the position information of the charging port according to the charging port image information, and generate a coarse adjustment instruction according to the position information; S4: control the automatic plug device to move the charging gun to the front of the charging port area according to the coarse adjustment instruction; S5: control the image acquisition module to acquire the charging connector image information in the charging port of the vehicle to be charged, then use image recognition principle to identify the pose information of the charging connector according to the charging connector image information, and generate a fine adjustment instruction according to the pose information; S6: control the automatic plug device to adjust the charging gun and the charging connector in the charging port to be connected and charged according to the fine adjustment instruction; S7: after the charging is completed, control the automatic plug device to reset and pull out the charging gun.

7. The method of automatically charging according to claim 6, wherein, The user sends the charging request information to the charging pile controller through remote reservation or local reservation.

8. The method of automatically charging of claim 6, wherein, The method further comprises: S8: remotely send the contact completion signal to the user, and remind the user that the charging is completed.

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