A guide rail type wireless charging device and a charging method

Abstract

The application relates to the technical field of wireless charging, and provides a guide rail type wireless charging device and a charging method. The guide rail type wireless charging device comprises a charging pile, a track spacing adjusting device, a linear moving device, a lifting device, a position sensing device and a wireless charging device. The linear moving device and the lifting device are arranged on the front side of the charging pile and below the ground. The lifting device is arranged on the linear moving device. The wireless charging device comprises a transmitting coil and a receiving coil. The transmitting coil is arranged on the lifting device, and the receiving coil is arranged at the bottom of an unmanned vehicle. The track spacing adjusting device comprises a driving assembly and two guide rails. The driving assembly adjusts the spacing between the two guide rails. The two guide rails are symmetrically arranged on the two sides of the charging pile and the linear moving device. The position sensing device is arranged on the charging pile and the unmanned vehicle. The wireless charging of unmanned vehicles of different types can be automatically realized, manual operation is not needed, and the labor and time costs are saved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wireless charging, and more particularly to a guide rail type wireless charging device and a charging method. BACKGROUND

[0002] The transformer substation is an indispensable part of the power system. With the development of science and technology, various intelligent robots in the transformer substation replace manual work to efficiently manage and maintain the transformer substation. After the unmanned vehicle travels for a period of time, it needs to be charged. At present, the charging mode of the unmanned vehicle is basically implemented by manual charging docking operation, which occupies more time of workers and requires workers to spend extra effort to manage the charging work of the unmanned vehicle, which is time-consuming and laborious. In addition, the charging modes of different types of unmanned vehicles are different, which easily causes waste of time and labor and affects the operation efficiency of the transformer substation.

[0003] With the development of automation of the transformer substation, the traditional manual plug-in charging mode of the unmanned vehicle cannot meet the actual demand. Therefore, it is urgent to realize wireless charging of the unmanned vehicle. SUMMARY

[0004] The purpose of the embodiment of the application is to provide a guide rail type wireless charging device to solve the technical problem of time-consuming and laborious in the prior art.

[0005] To achieve the above purpose, the technical solution adopted by the application is to provide a guide rail type wireless charging device, comprising: a charging pile, a track spacing adjusting device, a linear moving device, a lifting device, a position sensing device and a wireless charging device, the linear moving device and the lifting device are arranged on the front side of the charging pile and below the ground, the lifting device is arranged on the linear moving device, the wireless charging device comprises a transmitting coil and a receiving coil, the transmitting coil is arranged on the lifting device, the receiving coil is arranged at the bottom of the unmanned vehicle, the track spacing adjusting device comprises a driving assembly and two guide rails, the driving assembly adjusts the spacing between the two guide rails, the two guide rails are symmetrically arranged on both sides of the charging pile and the linear moving device, and the position sensing device is arranged on the charging pile and the unmanned vehicle.

[0006] In one embodiment, the driving assembly comprises a reducer, a driving motor, a connecting shaft, a first lead screw, a second lead screw, a first mounting base, a second mounting base, a first sliding block and a second sliding block, two ends of the connecting shaft are connected with the first lead screw and the second lead screw respectively, the first lead screw is rotationally arranged on the first mounting base, the second lead screw is rotationally arranged on the second mounting base, the first sliding block is arranged on the first lead screw and is used for mounting one guide rail, the second sliding block is arranged on the second lead screw and is used for mounting the other guide rail, the driving motor is in driving connection with the connecting shaft through the reducer, and the thread directions of the first lead screw and the second lead screw are opposite.

[0007] In one embodiment, the side of the charging pile is provided with a third infrared distance sensor for sensing the distance between the two guide rails.

[0008] In one embodiment, the opposite side of the two guide rails is provided with a mounting groove, a guide block is movably arranged in the mounting groove, a plurality of permanent magnets are arranged on the guide block at intervals, an electromagnet is arranged at the bottom of the mounting groove of the guide rail, a tension spring is arranged between the guide block and the bottom of the mounting groove, and a plurality of first pressure sensors are arranged on the guide block at intervals.

[0009] In one embodiment, the inlet end of the guide rail is provided with a guide table arranged parallel to the first mounting base and the second mounting base, the guide table is provided with a guide long groove, the guide rail is provided with a guide column inserted into the guide long groove, and the inlet end of the guide rail is provided with a roller.

[0010] In one embodiment, the linear movement device comprises a lead screw motor, a third mounting base, a third lead screw and a third sliding block, the third lead screw is rotationally arranged in the third mounting base, the third sliding block is arranged on the third lead screw, one end of the lead screw motor is connected with the third lead screw, and the lifting device is arranged on the third sliding block.

[0011] In one embodiment, the lifting device comprises a base, a mounting frame, an electric cylinder, a telescopic rod and an ultrasonic distance sensor, the base is arranged on the third sliding block, the electric cylinder is arranged on the base and connected with the mounting frame, the telescopic rod is arranged in two and one end of which is arranged on the base and the other end of which is arranged on the mounting frame, the ultrasonic distance sensor is arranged on the top of the mounting frame, and the transmitting coil is arranged in the mounting frame.

[0012] In an embodiment, the position sensing device comprises: a first infrared distance sensor and a first communication module arranged on the charging pile, a second infrared distance sensor arranged on the mounting frame, a laser distance sensor, a second communication module and a camera arranged on the unmanned vehicle, the first infrared distance sensor is used to detect the distance between the unmanned vehicle and the charging pile, the second infrared distance sensor is used to detect the distance between the transmitting coil and the charging pile, the first communication module and the second communication module cooperate to realize the information exchange between the unmanned vehicle and the charging pile, the camera is used to shoot the picture in front of the charging pile, and the laser distance sensor is used to detect the distance between the charging pile and the unmanned vehicle.

[0013] In an embodiment, the bottom of the unmanned vehicle is provided with two magnetic resistance sensors located on both sides of the receiving coil.

[0014] Another purpose of the present application is to provide a charging method of the guide rail type wireless charging device, based on the guide rail type wireless charging device as described above, the charging method comprises the following steps:

[0015] S1, the unmanned vehicle enters the preliminary charging area, the position sensing device senses the charging demand of the unmanned vehicle and sends a preliminary charging signal;

[0016] S2, the track spacing adjusting device adjusts the distance between the two guide rails according to the vehicle type of the unmanned vehicle;

[0017] S3, the unmanned vehicle drives to the space between the two guide rails, and under the guidance and positioning of the two guide rails, moves to the direction close to the charging pile above the lifting device;

[0018] S4, the lifting device performs lifting action, so that the transmitting coil approaches the receiving coil on the unmanned vehicle and keeps the optimal distance;

[0019] S5, the straight line moving device drives the lifting device to reciprocate to adjust the position of the transmitting coil, so that the transmitting coil is coaxially aligned with the receiving coil;

[0020] S6, the transmitting coil is powered on, and the wireless charging of the unmanned vehicle can be realized.

[0021] The guide rail type wireless charging device provided by the present application has the advantages that: compared with the prior art, the guide rail type wireless charging device of the present application can automatically realize the wireless charging of the unmanned vehicle, without manual operation, which not only saves manpower and time cost, but also can be applied to wireless charging of unmanned vehicles of different types, and has the advantages of high safety and high practicality. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0023] Figure 1 The structure schematic diagram of the guide rail type wireless charging device provided by the embodiment of the present application and the unmanned small car docking for charging preparation;

[0024] Figure 2 The inclined bottom view structure schematic diagram of the guide rail type wireless charging device provided by the embodiment of the present application and the unmanned small car;

[0025] Figure 3 The overall structure schematic diagram of the guide rail type wireless charging device provided by the embodiment of the present application;

[0026] Figure 4 The structure schematic diagram of the guide rail type wireless charging device provided by the embodiment of the present application omitting the guide rail adjusting device;

[0027] Figure 5 The Figure 4 The enlarged view of A in FIG. 6;

[0028] Figure 6 The transverse cross-sectional structure schematic diagram of the guide rail in the guide rail type wireless charging device provided by the embodiment of the present application;

[0029] Figure 7 The anti-misoperation flowchart of the guide rail type wireless charging device provided by the embodiment.

[0030] In the drawings, various reference signs:

[0031] 1, charging pile; 11, third infrared distance sensor; 2, track spacing adjusting device; 21, driving assembly; 211, speed reducer; 212, driving motor; 213, connecting shaft; 214, first screw rod; 215, second screw rod; 216, first mounting seat; 217, second mounting seat; 218, first sliding block; 219, second sliding block; 22, guide rail; 221, mounting groove; 222, guide block; 223, permanent magnet; 224, electromagnet; 225, tension spring; 226, first pressure sensor; 227, guide table; 228, guide long groove; 229, guide column; 23, roller; 3, linear moving device; 31, screw motor; 32, third mounting seat; 33, third screw rod; 34, third sliding block; 4, lifting device; 41, base; 42, mounting frame; 43, electric cylinder; 44, telescopic rod; 45, ultrasonic distance sensor; 5, position sensing device; 51, first infrared distance sensor; 52, first communication module; 53, second infrared distance sensor; 54, laser distance sensor; 55, second communication module; 56, camera; 6, wireless charging device; 61, transmitting coil; 62, receiving coil; 7, unmanned trolley; 71, guide groove; 72, reluctance sensor. DETAILED DESCRIPTION

[0032] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0033] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0034] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0035] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an indicated number of technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0036] As shown in the figure, a guide rail type wireless charging device provided by the embodiment of the present application will be described. The guide rail type wireless charging device comprises a charging pile 1, a track spacing adjusting device 2, a linear moving device 3, a lifting device 4, a position sensing device 5 and a wireless charging device 6. Figures 1-6 The charging pile 1 is provided with a control system for providing a safe charging condition and controlling the cooperation of various components. The charging pile 1 is arranged on the ground, and the ground area facing the front of the charging pile 1 is the parking area of the unmanned vehicle 7. In the embodiment, the linear moving device 3 and the lifting device 4 are arranged on the front of the charging pile 1 and below the ground, or the height of the linear moving device 3 and the lifting device 4 is lower than the chassis height of the unmanned vehicle 7, so that the unmanned vehicle 7 can drive above the lifting device 4. The lifting device 4 is arranged on the linear moving device 3, and the linear moving device 3 is used to drive the lifting device 4 to move back and forth along a straight line.

[0037] In the embodiment, the wireless charging device 6 comprises a transmitting coil 61 and a receiving coil 62, the transmitting coil 61 is arranged on the lifting device 4, and the receiving coil 62 is arranged at the bottom of the unmanned vehicle 7, specifically arranged on the center axis of the unmanned vehicle 7, the lifting device 4 is used to adjust the height of the transmitting coil 61, so as to adjust the spacing between the transmitting coil 61 and the receiving coil 62, and ensure that the transmitting coil 61 and the receiving coil 62 are in the best wireless charging spacing. The linear moving device 3 is used to adjust the movement of the transmitting coil 61, so that the transmitting coil 61 and the receiving coil 62 are coaxially aligned, and ensure that the wireless charging is in the best state.

[0038] In the embodiment, the track spacing adjusting device 2 comprises a driving assembly 21 and two guide rails 22, the driving assembly 21 is used to adjust the spacing between the two guide rails 22, the two guide rails 22 are symmetrically arranged on the center axis of the linear moving device 3, the linear moving device 3 and the lifting device 4 are arranged on the center axis of the charging pile 1, and the two guide rails 22 are located on both sides of the charging pile 1 and the linear moving device 3. In the embodiment, the position sensing device 5 is arranged on the charging pile 1 and the unmanned vehicle 7, which is used to confirm the relative position of the unmanned vehicle 7 relative to the charging pile 1.

[0039]

[0040] ​When the unmanned vehicle 7 needs to be charged, the unmanned vehicle 7 drives to the front of the charging pile 1, the position sensing device 5 exchanges the vehicle type information, position information and the like of the unmanned vehicle 7 with the charging pile 1, the track spacing adjusting device 2 adjusts the spacing between the two guide rails 22 according to the vehicle type information, after the spacing between the two guide rails 22 is adjusted, the unmanned vehicle 7 drives to between the two guide rails 22 under the positioning and guiding of the two guide rails 22, and drives to above the lifting device 4; the lifting device 4 drives the transmitting coil 61 to ascend, adjusts the spacing between the transmitting coil 61 and the receiving coil 62, and keeps the optimal distance; then the straight line moving device 3 drives the transmitting coil 61 to move horizontally and reciprocally, performs position fine adjustment, makes the transmitting coil 61 and the receiving coil 62 coaxially butt joint, and ensures that the wireless charging is in the optimal state. The guide rail type wireless charging device can automatically realize the wireless charging of the unmanned vehicle 7, does not need manual operation, saves the labor and time cost, can be suitable for wireless charging of unmanned vehicles 7 of different types, and has the advantages of high safety and high practicability.

[0041] In the present embodiment, as Figures 1-3As shown, the driving assembly 21 comprises a reducer 211, a driving motor 212, a connecting shaft 213, a first lead screw 214, a second lead screw 215, a first mounting seat 216, a second mounting seat 217, a first sliding block 218 and a second sliding block 219. The reducer 211 is arranged between the first mounting seat 216 and the second mounting seat 217, and the first mounting seat 216 and the second mounting seat 217 are arranged in a straight line and at the back of the charging pile 1. The first mounting seat 216 and the second mounting seat 217 are both frame structures, the first lead screw 214 is rotatably arranged in the first mounting seat 216, the second lead screw 215 is rotatably arranged in the second mounting seat 217, and the two ends of the connecting shaft 213 are connected with the first lead screw 214 and the second lead screw 215 respectively, specifically, the first lead screw 214, the second lead screw 215 and the connecting shaft 213 are integrally formed. The first sliding block 218 is arranged on the first lead screw 214 and used for mounting one guide rail 22, the second sliding block 219 is arranged on the second lead screw 215 and used for mounting the other guide rail 22, and the two guide rails 22 are arranged in parallel. The reducer 211 at least comprises a mounting shell and a gear assembly arranged in the mounting shell, the driving motor 212 is in driving connection with the connecting shaft 213 through the reducer 211, specifically, the driving motor 212 is arranged on the mounting shell and in driving connection with the connecting shaft 213 through the gear assembly, the screw threads of the first lead screw 214 and the second lead screw 215 are opposite, when the driving motor 212 works, the connecting shaft 213 is driven to rotate by the gear assembly, the first lead screw 214 and the second lead screw 215 are synchronously driven to rotate by the connecting shaft 213, due to the opposite screw threads of the first lead screw 214 and the second lead screw 215, the first sliding block 218 and the second sliding block 219 relatively approach or move away from each other, so as to adjust the distance between the two guide rails 22. The gear assembly comprises a driving gear and a driven gear, the driving gear is arranged on the output shaft of the driving motor 212, and the driven gear is arranged on the connecting shaft 213, the driving gear and the driven gear are in meshing.

[0042] In the embodiment, a third infrared distance sensor 11 for sensing the distance between the two guide rails 22 is arranged on the side of the charging pile 1, and the third infrared distance sensor 11 is used to determine the distance between the two guide rails 22 to adapt to the width of the body of the unmanned vehicle 7 which needs to be charged.

[0043] In the embodiment, as shown in Figure 3 and Figure 6As shown, the opposite side of the two guide rails 22 is provided with a mounting groove 221, the mounting groove 221 movably provides a guide block 222, the guide block 222 is provided with a plurality of permanent magnets 223 at intervals, the bottom of the mounting groove 221 of the guide rail is provided with an electromagnet 224, when the electromagnet 224 is powered, the permanent magnet 223 and the electromagnet 224 are the same type of magnet, repel each other, so that the two guide blocks 222 are close to each other and clamped on both sides of the unmanned car 7. The guide block 222 and the bottom of the mounting groove 221 are provided with a tension spring 225, when the electromagnet 224 is powered off, the repulsive magnetic force is lost, and the tension spring 225 pulls the guide block 222 to the inside of the guide rail, so that the guide block 222 is separated from the unmanned car 7. In this embodiment, a plurality of first pressure sensors 226 are provided on the guide block 222 at intervals, and the first pressure sensors 226 are used to sense the clamping pressure between the guide block 222 and the unmanned car 7. As long as the pressures detected by the first pressure sensors 226 on the two guide rails are substantially the same, it indicates that the positioning of the unmanned car 7 is completed. The bottom of the two sides of the unmanned car 7 is provided with a guide groove 71 matched with the guide block 222. The guide groove 71 is provided to ensure that the unmanned car 7 travels in a straight line when entering again, so as to ensure that the pressures detected by the plurality of first pressure sensors 226 are the same.

[0044] In this embodiment, the inlet end of the guide rail is provided with a guide table 227 which is parallel to the first mounting seat 216 and the second mounting seat 217, the guide table 227 is provided with a guide long groove 228, and the guide rail 22 is provided with a guide column 229 which is inserted into the guide long groove 228. When the guide rail 22 is adjusted in distance, the guide column 229 slides in the guide groove, and the guide table 227 is used to support the inlet end of the guide rail to ensure that both ends of the guide rail have supporting force, so that the guide rail remains in a horizontal state.

[0045] In this embodiment, the inlet end of the two guide rails 22 is provided with a roller 23, and the purpose of the roller is to guide the unmanned car 7 when it enters between the two guide rails.

[0046] As shown in the figure, Figure 4 In this embodiment, the linear motion device 3 includes a lead screw motor 31, a third mounting seat 32, a third lead screw 33, and a third sliding block 34. The lead screw motor 31 is arranged at the bottom of the charging pile 1, the third mounting seat 32 is a frame structure and is installed on the ground, the third lead screw 33 is rotatably installed in the third mounting seat 32, the third sliding block 34 is arranged on the third lead screw 33, one end of the lead screw motor 31 is connected with the third lead screw 33, and the lifting device 4 is arranged on the third sliding block 34. When the lead screw motor 31 works, the third lead screw 33 can rotate forward or reverse, thereby driving the third sliding block 34 to reciprocate, and realizing the reciprocating motion of the lifting device 4. The axis of the third lead screw 33 is on the symmetry line of the two guide rails.

[0047] In this embodiment, as shown in the figure, Figure 5As shown, the lifting device 4 comprises a base 41, a mounting frame 42, an electric cylinder 43, telescopic rods 44 and an ultrasonic ranging sensor 45. Among them, the base 41 is arranged on the third sliding block 34, the electric cylinder 43 is arranged on the base 41 and connected with the mounting frame 42, the telescopic rods 44 are arranged in two and one end is arranged on the base 41 and the other end is arranged on the mounting frame 42, the two telescopic rods 44 are used to install the mounting frame 42 on the base 41 in a telescopic manner, the electric cylinder 43 is used to realize the lifting function of the mounting frame 42, and the transmitting coil 61 is arranged in the mounting frame 42, so that the transmitting coil 61 realizes the lifting function. In this embodiment, the ultrasonic ranging sensor 45 is arranged at the top of the mounting frame 42, and the ultrasonic ranging sensor 45 is used to detect the distance between the transmitting coil 61 and the receiving coil 62.

[0048] In this embodiment, as shown in the figure, Figures 1-5 As shown, the position sensing device 5 comprises a first infrared ranging sensor 51 and a first communication module 52 arranged on the charging pile 1, a second infrared ranging sensor 53 arranged on the mounting frame 42, a laser ranging sensor 54, a second communication module 55 and a camera 56 arranged on the unmanned car 7.

[0049] Among them, the first infrared ranging sensor 51 is arranged on the front face of the charging pile 1, and the first infrared ranging sensor 51 is used to detect the distance between the charging pile 1 and the unmanned car 7, the second infrared ranging sensor 53 is arranged on the side face of the mounting frame 42, and is used to detect the distance between the transmitting coil 61 and the front face of the charging pile 1. The first communication module 52 and the second communication module 55 adopt wireless communication such as wifi, and cooperate with each other to realize the information exchange between the unmanned car 7 and the charging pile 1, such as charging demand, car type and other information interaction of the unmanned car 7, the camera 56 is arranged in two and located on the two sides of the unmanned car 7, and the camera 56 is used to shoot the picture in front of the charging pile 1, so as to accurately confirm that there is no other obstacle or car in front of the charging pile 1, and the unmanned car 7 can accurately drive into the space between the two guide rails. The laser ranging sensor 54 is arranged on the end face of the unmanned car 7, and is used to detect the distance between the charging pile 1 and the unmanned car 7, so as to avoid the unmanned car 7 colliding with the charging pile 1 or parking too close to the charging pile 1, and the straight line moving device 3 adjusts the position of the transmitting coil 61.

[0050] In this embodiment, the bottom of the unmanned car 7 is provided with two magnetic resistance sensors 72 located on the two sides of the receiving coil 62. The magnetic resistance sensor 72 is a heteromagnetic resistance sensor. The magnetic resistance sensor 72 is used to detect the direction and size of the magnetic induction line emitted by the transmitting coil 61 when intermittently powered, so as to adjust the position of the transmitting coil 61, so that the transmitting coil 61 is coaxially aligned with the receiving coil 62.

[0051] In the embodiment, a charging method of the guide rail type wireless charging device is also provided, which is implemented based on the guide rail type wireless charging device described above, and comprises the following steps:

[0052] S1, the unmanned vehicle enters the preliminary charging area, the position sensing device 5 senses the charging demand of the unmanned vehicle 7 and sends a preliminary charging signal;

[0053] S2, the track spacing adjusting device 2 adjusts the spacing between the two guide rails according to the vehicle type of the unmanned vehicle 7;

[0054] S3, the unmanned vehicle 7 drives to the space between the two guide rails, and under the guidance and positioning of the two guide rails, moves to the direction close to the charging pile 1 to the above of the lifting device 4;

[0055] S4, the lifting device 4 performs lifting action, so that the transmitting coil 61 is close to the receiving coil 62 on the unmanned vehicle 7 and keeps the best spacing;

[0056] S5, the linear moving device 3 drives the lifting device 4 to reciprocate, so as to adjust the position of the transmitting coil 61, so that the transmitting coil 61 is coaxial with the receiving coil 62.

[0057] S6, the transmitting coil 61 is powered on, and wireless charging can be realized on the unmanned vehicle 7.

[0058] In step S1, when the unmanned vehicle 7 enters the preliminary charging area, the second communication module 55 on the unmanned vehicle 7 sends a preliminary charging signal to the first communication module 52 on the charging pile 1, and sends the vehicle type information of the unmanned vehicle 7 to the first communication module 52. After the first communication module 52 receives the corresponding signal, the laser ranging sensor 54 measures the spacing between the unmanned vehicle 7 and the charging pile 1, and the camera 56 shoots the picture in front of the charging pile 1, to determine whether there is an obstacle;

[0059] In step S2, when it is determined that there is no obstacle, the track spacing adjusting device 2 adjusts the spacing between the two guide rails according to the received vehicle type information of the unmanned vehicle 7. After the spacing between the two guide rails is adjusted, the first infrared ranging sensor 51 on the charging pile 1 detects the object in front, and if the unmanned vehicle 7 is detected to appear in the preliminary charging area, the laser ranging sensor 54 on the unmanned vehicle 7 measures the distance to the charging pile 1, and if the distance measured by the first infrared ranging sensor 51 is the same, the unmanned vehicle 7 sends an advancing signal from the second communication module 55 to the first communication module 52 on the charging pile 1; the unmanned vehicle 7 dynamically identifies the lane marking line between the two guide rails through the camera 56, and starts to position the vehicle body.

[0060] Wherein, in step S3, the unmanned trolley 7 travels to the entrance end of the two guide rails, travels between the two guide rails under the guidance of the two rollers 23, the guide blocks 222 cooperate with the guide grooves 71 on the unmanned trolley 7, and the unmanned trolley 7 travels to a certain distance from the charging pile 1. At this time, the distance measured by the laser ranging sensor 54 is smaller than the distance measured by the second infrared ranging sensor 53, the unmanned trolley 7 stops running, and the receiving coil 62 is located above the transmitting coil 61 at this time; the electromagnet 224 is energized, the electromagnet 224 and the permanent magnet 223 repel each other because they have the same magnetism, so that the two guide blocks 222 clamp the unmanned trolley 7, and when the pressures detected by the plurality of first pressure sensors 226 are consistent, the body of the unmanned trolley 7 is positioned. In this step, the transmitting coil 61 and the receiving coil 62 are aligned or misaligned.

[0061] Wherein, in step S4, the electric cylinder 43 is elongated, the two telescopic rods 44 are elongated, the transmitting coil 61 is driven to move towards the receiving coil 62, and under the cooperation of the ultrasonic ranging sensor 45, the transmitting coil 61 and the receiving coil 62 are at the best distance.

[0062] Wherein, in step S5, the transmitting coil 61 starts to be intermittently energized, the lead screw motor 31 rotates forward or reverses, realizes the reciprocating motion of the transmitting coil 61, detects the magnetic field strength around the transmitting coil 61 through the opposite magnetic resistance sensors 72 on both sides of the receiving coil 62, and when the magnetic field strength is the same, the transmitting coil 61 and the receiving coil 62 are coaxially aligned, and the lead screw motor 31 stops working.

[0063] As preferred, the charging pile 1 measures the distance between the charging pile 1 and the unmanned trolley 7 twice through the first infrared ranging sensor 51 and the laser ranging sensor 54, and the first communication module 52 and the second communication module 55 cooperate, the laser ranging sensor 54 of the unmanned trolley 7 is set to measure the distance of the front object with a parameter A, the first infrared ranging sensor 51 is set to measure the distance of the object with a parameter B, and the safety passing state of the front obstacle is judged; wherein, the safety passing state is:

[0064] When the unmanned vehicle reaches the charging guide lane (the entrance end of the guide rail) from the charging standby area:

[0065] A, B, and B are equal, the unmanned trolley 7 normally travels;

[0066] A, B, and B are equal, the unmanned trolley 7 normally travels;

[0067] A, B, and B are equal, the unmanned trolley 7 normally travels;

[0068] When the unmanned trolley 7, the straight line moving device 3, the lifting device 4, and the guide rail satisfy the non-contact condition, the transmitting coil 61 enters the continuous energization state.

[0069] After the unmanned vehicle 7 is fully charged, the first communication module 52 sends information to the second communication module 55, so that the unmanned vehicle drives away from the working area.

[0070] In the embodiment, the non-contact condition specifically includes:

[0071] (1) detecting whether the charging pile 1 is started;

[0072] (2) detecting whether the first communication module 52 of the charging pile 1 is connected with the second communication module 55 of the unmanned vehicle 7;

[0073] (3) detecting whether the signal sent by the pressure sensor is received;

[0074] (4) detecting whether the distance parameter measured by the first infrared distance sensor is the charging distance of the unmanned vehicle 7;

[0075] (5) detecting whether the distance measured by the first infrared distance sensor is the same as the distance measured by the laser distance sensor 54;

[0076] In the embodiment, the specific process that the unmanned vehicle 7 enters the two guide rails to position the vehicle body is as follows:

[0077] The unmanned vehicle 7 roughly adjusts the pose according to the dynamic picture of the middle axis line shot by the camera 56, and compares two parameters sent by the pressure sensors arranged on both sides of the guide rail to the first communication module 52. The direction adjusting device (walking mechanism) of the unmanned vehicle 7 will be fine-tuned according to the two parameters. When the two parameters are within a reasonable error range, the unmanned vehicle 7 will drive into the stroke of the straight-line moving device 3, the electromagnet 224 is powered off, the guide block 222 is separated from the unmanned vehicle 7 under the action of the tension spring 225, and at this time, the vehicle body positioning of the unmanned vehicle is completed.

[0078] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rail-mounted wireless charging device, characterized in that, include: The system comprises a charging pile (1), a track spacing adjustment device (2), a linear motion device (3), a lifting device (4), a position sensing device (5), and a wireless charging device (6). The linear motion device (3) and the lifting device (4) are located on the front of the charging pile (1) and below the ground. The lifting device (4) is mounted on the linear motion device (3). The wireless charging device (6) includes a transmitting coil (61) and a receiving coil (62). The transmitting coil (61) is mounted on the lifting device (4), and the receiving coil (62) is mounted on the bottom of the unmanned vehicle (7). The track spacing adjustment device (2) includes a drive assembly (21) and two guide rails (22). The drive assembly (21) adjusts the spacing between the two guide rails (22). 2) Symmetrically arranged on both sides of the charging pile (1) and the linear motion device (3), the position sensing device (5) is arranged on the charging pile (1) and the unmanned vehicle (7); the two guide rails (22) are provided with mounting grooves (221) on opposite sides, the mounting grooves (221) are provided with guide blocks (222) in a movable manner, the guide blocks (222) are provided with a number of permanent magnets (223) spaced apart, the bottom of the mounting grooves (221) of the guide rails (22) is provided with electromagnets (224), the bottom of the guide blocks (222) and the mounting grooves (221) is provided with tension springs (225), the guide blocks (222) are provided with a number of first pressure sensors (226) spaced apart; the bottom of both sides of the unmanned vehicle (7) is provided with guide grooves (71) that cooperate with the guide blocks (222).

2. The rail-mounted wireless charging device as described in claim 1, characterized in that: The drive assembly (21) includes a reducer (211), a drive motor (212), a connecting shaft (213), a first lead screw (214), a second lead screw (215), a first mounting base (216), a second mounting base (217), a first slider (218), and a second slider (219). The two ends of the connecting shaft (213) are respectively connected to the first lead screw (214) and the second lead screw (215). The first lead screw (214) is rotatably mounted on the first mounting base (216). Two lead screws (215) are rotatably mounted on the second mounting base (217). The first slider (218) is mounted on the first lead screw (214) and is used to mount a guide rail (22). The second slider (219) is mounted on the second lead screw (215) and is used to mount another guide rail (22). The drive motor (212) is connected to the connecting shaft (213) through the reducer (211). The threads of the first lead screw (214) and the second lead screw (215) are opposite.

3. The rail-mounted wireless charging device as described in claim 2, characterized in that: The charging pile (1) is provided with a third infrared ranging sensor (11) on its side for sensing the distance between the two guide rails (22).

4. The rail-mounted wireless charging device as described in claim 3, characterized in that: The guide rail (22) has an inlet end with a guide platform (227) arranged parallel to the first mounting base (216) and the second mounting base (217). The guide platform (227) has a guide groove (228). The guide rail (22) has a guide post (229) inserted into the guide groove (228). The guide rail (22) has a roller (23) at the inlet end.

5. The rail-mounted wireless charging device as described in any one of claims 1-4, characterized in that: The linear motion device (3) includes: a lead screw motor (31), a third mounting base (32), a third lead screw (33), and a third slider (34). The third lead screw (33) is rotatably mounted in the third mounting base (32), and the third slider (34) is disposed on the third lead screw (33). One end of the lead screw motor (31) is connected to the third lead screw (33), and the lifting device (4) is disposed on the third slider (34).

6. The rail-mounted wireless charging device as described in claim 5, characterized in that: The lifting device (4) includes: a base (41), a mounting frame (42), an electric cylinder (43), a telescopic rod (44), and an ultrasonic ranging sensor (45). The base (41) is mounted on the third slider (34). The electric cylinder (43) is mounted on the base (41) and connected to the mounting frame (42). Two telescopic rods (44) are provided, with one end mounted on the base (41) and the other end mounted on the mounting frame (42). The ultrasonic ranging sensor (45) is located at the top of the mounting frame (42). The transmitting coil (61) is located inside the mounting frame (42).

7. The rail-mounted wireless charging device as described in claim 6, characterized in that: The position sensing device (5) includes: a first infrared ranging sensor (51) and a first communication module (52) installed on the charging pile (1), a second infrared ranging sensor (53) installed on the mounting frame (42), a laser ranging sensor (54), a second communication module (55) and a camera (56) installed on the unmanned vehicle (7). The first infrared ranging sensor (51) is used to detect the distance between the unmanned vehicle (7) and the charging pile (1), the second infrared ranging sensor (53) is used to detect the distance between the transmitting coil (61) and the charging pile (1), the first communication module (52) and the second communication module (55) cooperate to realize information exchange between the unmanned vehicle (7) and the charging pile (1), the camera (56) is used to capture the front view of the charging pile (1), and the laser ranging sensor (54) is used to detect the distance between the charging pile (1) and the unmanned vehicle (7).

8. The rail-mounted wireless charging device as described in claim 7, characterized in that: The bottom of the unmanned vehicle (7) is equipped with two magnetoresistive sensors (72) located on both sides of the receiving coil (62).

9. A charging method for a rail-mounted wireless charging device, used in any one of claims 1-8, characterized in that, The charging method includes the following steps: S1. The unmanned vehicle enters the pre-charging area. The position sensing device (5) senses the charging needs of the unmanned vehicle (7) and sends a pre-charging signal. S2, Track spacing adjustment device (2) adjusts the spacing between the two guide rails (22) according to the model of the unmanned vehicle (7); S3. The unmanned vehicle (7) travels between the two guide rails (22) and moves towards the charging pile (1) and above the lifting device (4) under the guidance and positioning of the two guide rails (22). S4. The lifting device (4) performs a lifting action, so that the transmitting coil (61) moves closer to the receiving coil (62) on the unmanned vehicle and maintains the optimal distance. S5. The linear moving device (3) drives the lifting device (4) to reciprocate to adjust the position of the transmitting coil (61) so that the transmitting coil (61) and the receiving coil (62) are aligned on the same axis. S6. When the transmitting coil (61) is energized, it can wirelessly charge the unmanned vehicle (7).

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