An intelligent unmanned vehicle automatic charging device

Abstract

The present invention relates to an automatic charging device for an intelligent unmanned vehicle, belonging to the fields of intelligent equipment, unmanned vehicles and automatic charging. In order to solve the problems of poor contact easily occurring in single-sided contact and sparking when the charging electrodes just come into contact, the present invention designs an automatic charging device comprising: a first shell (3), a second shell (4), an external automatic fire extinguishing nozzle (5), a visual sensing device (6), a protective baffle (7), a lifting commutator (9), a lifting screw (10), a first synchronous pulley (11), a screw nut (12), a bearing seat (14), a synchronous belt (15), a second synchronous pulley (16), an automatic fire extinguishing device (18), a built-in automatic fire extinguishing nozzle (20), a smoke detection device (21), a device-end charging component (26), etc. The present invention has high reliability, can withstand a larger charging current, avoids sparking and ablation when the electrodes are in direct contact, can extinguish internal and external equipment, is effectively dustproof and rainproof, and can be highly adjusted.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent equipment, unmanned vehicles and automatic charging, and in particular relates to an automatic charging device for an intelligent unmanned vehicle. Background Art

[0002] With the rapid development of intelligent unmanned equipment, the intelligent unmanned vehicle system has gradually attracted attention from the fields of security, warehousing and transportation, field rescue, military applications, etc. due to its advantages of intelligence, unmanned operation, and high environmental adaptability. The demand for intelligent unmanned vehicle systems in various industries is increasing. As an important part of the intelligent unmanned vehicle system, the automatic charging device has become the current mainstream demand with its simple structure, reliable operation, high intelligence and long service life.

[0003] There are many types of automatic charging devices at present. For example, the invention patent CN115675150A discloses an adsorption-type unmanned vehicle automatic charging device, and the utility model patent CN214479733U discloses an automatic charging system for unmanned vehicles based on a mechanical arm, etc. However, there are also some shortcomings in the current automatic charging devices: the charging electrode is a single contact surface extrusion docking or adsorption docking, which is prone to poor contact failure; the charging electrode end is not designed to prevent sparks, and it is easy to ignite and burn the electrode or even damage the equipment during docking; there is no fire detection and automatic fire extinguishing design, and once a fire failure occurs, it is easy to cause a fire; the charging electrode is directly exposed to the outside, and there is no protection design for the contact electrode opening; the charging height cannot be adjusted or the height can be adjusted but the structure is complex. Based on the mainstream needs and existing deficiencies, how to design an automatic charging device that can take into account the deficiencies of the automatic charging device in the existing technical solution and meet the current mainstream needs needs to be solved urgently.

[0004] 1) In the existing technical solutions, the contact electrodes are generally charged by a single-sided extrusion contact method or a single-sided magnetic attraction contact method. Single-sided contact is prone to poor contact problems such as point contact or line contact on the contact surface due to uneven force or foreign matter on the contact surface.

[0005] 2) The existing technical solution does not have a design to prevent sparks in the contact electrodes. Sparks are likely to occur when the charging electrode on the vehicle end just contacts the charging electrode on the device end. The generated electric sparks will burn the electrodes, reduce the service life of the equipment, and even have the risk of directly burning the equipment.

[0006] 3) The existing technical solutions do not include fire detection and automatic fire extinguishing designs. Once a fire occurs, the automatic charging device cannot automatically extinguish the fire, which will burn all equipment and cause a fire.

[0007] 4) In the existing technical solution, the opening of the contact electrode is not protected and is directly exposed to the outside. Dust particles and foreign matter adhere to the surface of the electrode, which can easily lead to poor contact.

[0008] 5) The existing technical solutions use a robotic arm to control the charging electrode, which can adjust the electrode height. However, the robotic arm has many joints, and the control and mechanical structure are relatively complex, and multi-degree-of-freedom motion control is prone to failure. In other technical solutions, the electrode height is fixed and can only be charged for unmanned vehicles of this specific height. However, the adaptability of different unmanned vehicles with charging electrodes of different heights is poor, and it cannot be adjusted and set in advance, and the only option is to replace the corresponding charging device. Summary of the invention

[0009] 1. Technical issues to be resolved

[0010] The technical problem to be solved by the present invention is how to provide an automatic charging device for an intelligent unmanned vehicle to solve the problems existing in current automatic charging devices, such as poor contact on one side, sparking when the charging electrodes just come into contact, automatic fire extinguishing, lack of protection at the electrode opening, and high adaptability.

[0011] (II) Technical solution

[0012] In order to solve the above technical problems, the present invention provides an automatic charging device for an intelligent unmanned vehicle, the automatic charging device comprising: a first housing (3), a second housing (4), an external automatic fire extinguishing nozzle (5), a visual sensing device (6), a protective baffle (7), a lifting commutator (9), a lifting screw (10), a first synchronous pulley (11), a screw nut (12), a bearing seat (14), a synchronous belt (15), a second synchronous pulley (16), an automatic fire extinguishing device (18), an upper end travel switch (19), a built-in automatic fire extinguishing nozzle (20), a smoke detection device (21), a guide rail (22), a display and setting component (23), a slider (24), a lower end travel switch (25), a device end charging component (26), a device bracket (27), a main control unit (28), a servo motor (29) and an automatic charging management unit (30);

[0013] The lifting commutator (9) is fixed to the bottom end of the first housing (3); the bearing seat (14) is fixed to the top end of the first housing (3); the lead screw nut (12) is fixed to the inside of the second housing (4); the lead screw nut (12) is sleeved on the lifting lead screw (10); the upper end of the lifting lead screw (10) is connected to the bearing seat (14), and the lower end is connected to the lifting commutator (9); the charging height of the automatic charging device (1) can be preset by rotating the lifting commutator (9) with a special tool;

[0014] The first synchronous pulley (11) and the second synchronous pulley (16) are respectively fixed inside the second housing (4), and are connected to each other via a synchronous belt (15); the servo motor (29) is connected to the first synchronous pulley (11);

[0015] The guide rail (22) is fixed inside the second housing (4); the slider (24) is connected to the guide rail (22) and can slide on the guide rail (22); the protective baffle (7) is connected and fixed to the slider (24); the lower end travel switch (25) is fixed inside the second housing (4) and is located at a position where the protective baffle (7) is in a closed state; the upper end travel switch (19) is fixed inside the second housing (4) and is located at a position where the protective baffle (7) is in an open state; the synchronous belt (15) is connected to the protective baffle (7) to drive the protective baffle (7) to automatically open and close;

[0016] The automatic fire extinguishing device (18) is fixed to the top of the second housing (4); the smoke detection device (21) is fixed to the top of the second housing (4); the internal automatic fire extinguishing nozzle (20) is fixed to the inside of the top of the second housing (4), and the external automatic fire extinguishing nozzle (5) is fixed to the outside of the top of the second housing (4); the visual sensing device (6) is fixed to the center of the outside of the top of the second housing (4);

[0017] The device bracket (27) is fixed inside the second housing (4); the main control unit (28) is fixed on the device bracket (27); the display and setting component (23) is fixed on the device bracket (27) and is used to display and set relevant parameters of the automatic charging device (1);

[0018] The device-side charging component (26) is fixed on the device bracket (27) and is used to dock with the vehicle-side charging component (8) on the intelligent unmanned vehicle (2) to charge the intelligent unmanned vehicle (2);

[0019] The automatic charging management unit (30) is fixed to the bottom inside the first housing (3).

[0020] (III) Beneficial effects

[0021] The present invention proposes an automatic charging device for an intelligent unmanned vehicle. In the automatic charging device of the present invention, the contact electrode part adopts the form of upper and lower double contact surface clamping. The charging electrode contact surface realizes angle adaptation through structures such as adaptive ball joint guide rod, spring, vertical guide column, etc. Compared with the single contact surface, the double contact surface clamping design has a large contact force and a large contact area. When the vehicle-mounted charging electrode is inserted, foreign matter on the surface of the contact electrode can also be removed. The reliability is high and can withstand a larger charging current, so as to solve the problem of poor contact prone to single-sided contact.

[0022] In the automatic charging device of the present invention, an anti-spark contact resistor is designed at the front end of the charging electrode. The charging electrode at the device end and the charging electrode at the vehicle end first contact with the anti-spark contact resistor to form a short circuit before they are fully in contact. After that, the contact surfaces of the charging electrodes are in full contact with each other, effectively avoiding sparking and ablation when the electrodes are in direct contact, so as to solve the problem of sparking when the charging electrodes are just in contact.

[0023] The automatic charging device of the present invention is designed with a smoke detection device, an automatic fire extinguishing device, a built-in automatic fire extinguishing nozzle, an external automatic fire extinguishing nozzle, a visual sensing device, etc. The automatic fire extinguishing device can extinguish fires of both internal equipment and external equipment to solve the problem of automatic fire extinguishing of the automatic charging device and prevent fires.

[0024] The automatic charging device of the present invention is designed with an automatic door opening and closing protection system. When the visual sensor recognizes that an unmanned vehicle is coming to charge, the automatic door opening and closing protection system automatically opens. When the battery is fully charged, the corresponding charging device is reset and the automatic door opening and closing protection system automatically closes, effectively preventing dust and rain, thereby solving the problem of no protection at the electrode opening of the automatic charging device.

[0025] The automatic charging device of the present invention realizes height adjustment of the automatic charging device through simple mechanical structures such as lifting commutator, lead screw, lead screw nut, bearing seat, etc. The height adjustment can be preset in advance for different unmanned vehicles and different electrode heights to solve the problem of poor height adaptability of the automatic charging device when charging different unmanned vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the automatic charging system of the present invention;

[0027] Figure 2 This is a schematic diagram of the automatic charging device of the present invention;

[0028] Figure 3 A is a schematic diagram of the interior of the automatic charging device of the present invention;

[0029] Figure 4 This is a schematic diagram B of the interior of the automatic charging device of the present invention;

[0030] Figure 5 A is a schematic diagram of a charging component at the device end of the present invention;

[0031] Figure 6 Schematic diagram B of the device-side charging component of the present invention;

[0032] Figure 7 Schematic diagram of electrode contact in the charging state of the present invention.

[0033] Among them, 1-automatic charging device; 2-intelligent unmanned vehicle; 3-first shell; 4-second shell; 5-external automatic fire extinguishing nozzle; 6-visual sensing equipment; 7-protective baffle; 8-vehicle-mounted charging component; 801-linear electric cylinder; 802-insulating fixing frame; 803-vehicle-mounted charging electrode; 9-lifting commutator; 10-lifting screw; 11-first synchronous pulley; 12-screw nut; 13-cooling exhaust fan; 14-bearing seat; 15-synchronous belt; 16-second synchronous pulley; 17-sealing rubber strip; 18-automatic fire extinguishing device ;19-upper end travel switch;20-built-in automatic fire extinguishing nozzle;21-smoke detection device;22-guide rail;23-display and setting components;24-slider;25-lower end travel switch;26-equipment end charging component;27-equipment bracket;28-main control unit;29-servo motor;30-automatic charging management unit;2601-charging electrode support frame;2602-equipment end charging electrode;2603-anti-spark contact resistor;2604-vertical guide column;2605-spring;2606-adaptive ball joint guide rod. DETAILED DESCRIPTION

[0034] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0035] The present invention provides an automatic charging device for an intelligent unmanned vehicle, comprising: a first housing (3), a second housing (4), an external automatic fire extinguishing nozzle (5), a visual sensing device (6), a protective baffle (7), a lifting commutator (9), a lifting lead screw (10), a first synchronous pulley (11), a lead screw nut (12), a heat dissipation fan (13), a bearing seat (14), a synchronous belt (15), a second synchronous pulley (16), a sealing rubber strip (17), an automatic fire extinguishing device (18), an upper end travel switch (19), a built-in automatic fire extinguishing nozzle (20), a smoke detection device (21), a guide rail (22), a display and setting component (23), a slider (24), a lower end travel switch (25), a device end charging component (26), a device bracket (27), a main control unit (28), a servo motor (29) and an automatic charging management unit (30).

[0036] The device-end charging assembly (26) comprises: a charging electrode support frame (2601), a device-end charging electrode (2602), an anti-spark contact resistor (2603), a vertical guide column (2604), a spring (2605), and an adaptive ball-jointed guide rod (2606).

[0037] The lifting commutator (9) is fixed to the bottom end of the first housing (3); the bearing seat (14) is fixed to the top end of the first housing (3); the lead screw nut (12) is fixed to the inside of the second housing (4); the lead screw nut (12) is sleeved on the lifting lead screw (10); the upper end of the lifting lead screw (10) is connected to the bearing seat (14), and the lower end is connected to the lifting commutator (9); the charging height of the automatic charging device (1) can be preset by rotating the lifting commutator (9) with a special tool;

[0038] The heat dissipation fan (13) is fixed inside the second housing (4) and is used to discharge heat inside the automatic charging device (1); the first synchronous pulley (11) and the second synchronous pulley (16) are respectively fixed inside the second housing (4) and are connected via a synchronous belt (15); the servo motor (29) is connected to the first synchronous pulley (11);

[0039] The guide rail (22) is fixed inside the second housing (4); the slide block (24) is connected to the guide rail (22) and can slide on the guide rail (22); the protective baffle (7) is connected and fixed to the slide block (24); the lower end travel switch (25) is fixed inside the second housing (4) and is located at a position where the protective baffle (7) is in a closed state; the upper end travel switch (19) is fixed inside the second housing (4) and is located at a position where the protective baffle (7) is in an open state;

[0040] The sealing rubber strip (17) is fixed in the second housing (4) and is used for sealing; the synchronous belt (15) is connected to the protective baffle (7) to drive the protective baffle (7) to automatically open and close;

[0041] The automatic fire extinguishing device (18) is fixed to the top of the second housing (4); the smoke detection device (21) is fixed to the top of the second housing (4); the internal automatic fire extinguishing nozzle (20) is fixed to the inside of the top of the second housing (4), and the external automatic fire extinguishing nozzle (5) is fixed to the outside of the top of the second housing (4); the visual sensing device (6) is fixed to the center of the outside of the top of the second housing (4);

[0042] The device bracket (27) is fixed inside the second housing (4); the main control unit (28) is fixed on the device bracket (27); the display and setting component (23) is fixed on the device bracket (27) and is used to display and set relevant parameters of the automatic charging device (1);

[0043] The device-side charging component (26) is fixed on the device bracket (27) and is used to dock with the vehicle-mounted charging component (8) on the intelligent unmanned vehicle (2) to charge the intelligent unmanned vehicle (2); wherein the charging electrode support frame (2601) of the device-side charging component (26) is fixed on the device bracket (27); the vertical guide column (2604) is fixed inside the charging electrode support frame (2601); one end of the adaptive ball joint guide rod (2606) is connected to the device-side charging electrode (2602) and the other end is connected to the vertical guide column (2604); the spring (2605) is sleeved on the vertical guide column (2604) and is located between the charging electrode support frame (2601) and the device-side charging electrode (2602) in a compressed state, providing elastic force for the device-side charging electrode (2602) to achieve self-adaptive contact and reliable contact at the contact surface angle; the anti-spark contact resistor (2603) is fixed on the 45-degree inclined plane at the front end of the device-side charging electrode (2602);

[0044] The automatic charging management unit (30) is fixed to the bottom inside the first housing (3).

[0045] The intelligent unmanned vehicle (2) of the present invention is provided with a vehicle-mounted charging component (8), and the vehicle-mounted charging component (8) comprises: a linear electric cylinder (801), an insulating fixing frame (802), and a vehicle-mounted charging electrode (803).

[0046] The vehicle-mounted charging electrode (803) is fixed on an insulating fixing frame (802), the insulating fixing frame (802) is connected and fixed to the front end of a linear electric cylinder (801), and the linear electric cylinder (801) is fixed on the intelligent unmanned vehicle (2).

[0047] Working principle: When the intelligent unmanned vehicle (2) equipped with the vehicle-mounted charging component reaches the automatic charging area accurately through its own navigation positioning system and auxiliary limit adjustment device, the visual sensor device (6) recognizes that there is an intelligent unmanned vehicle (2) to be charged. Under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and opens the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the upper end travel switch (19), the protective baffle (7) has been opened to the full position, and the servo motor (29) stops working. At this time, the device-side charging component (26) and the display and setting component (23) are exposed.

[0048] The vehicle-end charging component (8) fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) extends to slowly extend the vehicle-end charging electrode (803). The 45-degree inclined surface at the front end of the vehicle-end charging electrode (803) first contacts the anti-spark contact resistor (2603), and then transitions to the upper and lower planes of the vehicle-end charging electrode (803) contacting the upper and lower planes of the device-end charging electrode (2602). The device-end charging electrode (2602) has an angle adaptive capability under the action of the vertical guide column (2604), the spring (2605), the adaptive ball joint guide rod (2606), etc., and can adaptively match according to the inclination angle of the contact plane of the vehicle-end charging electrode (803) to ensure that the two working planes are in full contact.

[0049] Then, the intelligent unmanned vehicle (2) starts to be charged under the integrated control of the main control unit (28) and the automatic charging management unit (30). When the battery is fully charged, the system automatically detects that the battery is fully charged and stops charging. The vehicle-mounted charging component (8) fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) shortens and retracts the vehicle-mounted charging electrode (803) into the interior of the intelligent unmanned vehicle (2) and drives away. The visual sensing device (6) recognizes that the intelligent unmanned vehicle (2) has driven away, and under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and closes the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the lower end travel switch (25), the protective baffle (7) has been closed in place, and the servo motor (29) stops working, completely protecting the device-side charging component (26) and the display and setting component (23).

[0050] If a fire occurs due to a fault during the automatic charging process, the internal smoke detection device (21) and the external visual sensor device (6) can respectively detect the internal or external fire and transmit the detection signal to the main control unit (28). The main control unit (28) instructs the automatic charging management unit (30) to disconnect the charging output and stop charging. At the same time, the main control unit (28) instructs the automatic fire extinguishing device (18) to extinguish the fire through the built-in automatic fire extinguishing nozzle (20) and the external automatic fire extinguishing nozzle (5).

[0051] For intelligent unmanned vehicles (2) of different heights, when the heights of the on-board charging components (8) are different, the charging height of the automatic charging device (1) can be preset and adjusted for the same type of intelligent unmanned vehicles (2), so that it can be applied to any type of intelligent unmanned vehicles (2) equipped with on-board charging components within the range of minimum height to maximum height. The lifting commutator (9) is rotated by a special tool to drive the lifting lead screw (10) to rotate, so that the lead screw nut (12) drives the second housing (4) to rise or fall, thereby realizing the preset adjustment of the charging height of the automatic charging device (1). At the same time, the lifting commutator (9) has a self-locking function, and the second housing (4) can be kept unchanged at the corresponding height without using other limiting measures.

[0052] Among them, the dual contact surface angle adaptive and anti-fire structure design, automatic protective baffle system structure design, automatic fire extinguishing system design, and charging height preset adjustment structure design are the core of the present invention, as follows:

[0053] 1) Double contact surface angle adaptation and anti-sparking structure design, the key lies in that each device-side charging electrode (2602) has angle adaptation capability and anti-sparking function. Each device-side charging electrode (2602) is divided into two upper and lower pieces. The front end of each piece is designed with an anti-sparking contact resistor (2603), and the back of each piece has an angle adaptation structure. When the vehicle-side charging electrode (803) is inserted, the 45-degree inclined surface at the front end of the vehicle-side charging electrode (803) first contacts the anti-sparking contact resistor (2603) installed on the 45-degree inclined surface at the front end of the device-side charging electrode (2602), and then transitions to the upper and lower planes of the vehicle-side charging electrode (803) and the device-side charging electrode (2602). The upper and lower planes are in contact, thereby avoiding sparks when the charging electrodes are in direct contact. Since the upper and lower planes of the vehicle-mounted charging electrode (803) cannot be absolutely horizontal, there must be a certain angle of inclination deviation. Under the action of the squeezing force of the vehicle-mounted charging electrode (803) and the elastic force of the spring (2605), the inclination angle of the device-end charging electrode (2602) is adaptively adjusted along with the inclination angle deviation of the vehicle-mounted charging electrode (803), so that the upper and lower contact surfaces of the charging electrode can fully contact, ensuring reliable contact without false contact. At the same time, the device-end charging electrode (2602) is designed with a larger length in the horizontal direction, which can allow the vehicle-mounted charging electrode (803) to have a certain deviation in the horizontal direction. The specific implementation is as follows:

[0054] The double contact surface angle adaptive and anti-spark structure mainly includes: a charging electrode support frame (2601), a device-end charging electrode (2602), an anti-spark contact resistor (2603), a vertical guide column (2604), a spring (2605), an adaptive ball joint guide rod (2606), a vehicle-end charging electrode (803), an insulating fixing frame (802), and a linear electric cylinder (801).

[0055] The charging electrode support frame (2601) is fixed on the device bracket (27), and the vertical guide column (2604) is fixed on the charging electrode support frame (2601). The vertical guide column (2604) provides a vertical movement guide for the device-end charging electrode (2602); the spring (2605) is sleeved on the vertical guide column (2604) and the adaptive ball joint guide rod (2606), and is in a compressed state between the charging electrode support frame (2601) and the device-end charging electrode (2602), providing elastic force for the device-end charging electrode (2602) to achieve self-adaptation and reliable contact of the contact surface angle; one end of the adaptive ball joint guide rod (2606) is connected to the device-end charging electrode (2602) and the other end is connected to the vertical guide column (2604). The adaptive ball joint guide rod (2606) ) The end connected to the device-end charging electrode (2602) is subjected to the squeezing force of the vehicle-end charging electrode (803) and the elastic force of the spring (2605), so that the device-end charging electrode (2602) can freely follow the angle change of the vehicle-end charging electrode (803) around the ball joint to make adaptive adjustments to ensure that the upper and lower contact surfaces can fully contact each other. At the same time, the device-end charging electrode (2602) is designed with a larger length in the horizontal direction, which can allow the vehicle-end charging electrode (803) to have a certain deviation in the horizontal direction. The anti-spark contact resistor (2603) is fixed on the 45-degree inclined surface at the front end of the device-end charging electrode (2602), so that it first contacts the 45-degree inclined surface at the front end of the vehicle-end charging electrode (803), and then contacts the plane between the charging electrodes to prevent contact sparking.

[0056] The vehicle-mounted charging electrode (803) is fixed on an insulating fixing frame (802), the insulating fixing frame (802) is connected and fixed to a front end push rod of a linear electric cylinder (801), the linear electric cylinder (801) is fixed to the intelligent unmanned vehicle (2), and the vehicle-mounted charging electrode (803) is driven to extend and retract through the extension and retraction of the linear electric cylinder (801).

[0057] The entire process is as follows: the vehicle-mounted charging component fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) extends to slowly extend the vehicle-mounted charging electrode (803). When the vehicle-mounted charging electrode (803) is inserted, the 45-degree inclined surface at the front end of the vehicle-mounted charging electrode (803) first contacts the anti-sparking contact resistor (2603) installed on the 45-degree inclined surface at the front end of the device-end charging electrode (2602), and then transitions to the upper and lower planes of the vehicle-mounted charging electrode (803) contacting the upper and lower planes of the device-end charging electrode (2602), thereby avoiding sparks when the charging electrodes are in direct contact. Since the upper and lower planes of the vehicle-mounted charging electrode (803) cannot be absolutely horizontal, there must be a certain angle of inclination deviation. Under the action of the squeezing force of the vehicle-mounted charging electrode (803) and the elastic force of the spring (2605), the inclination angle of the device-end charging electrode (2602) is adaptively adjusted along with the inclination angle deviation of the vehicle-mounted charging electrode (803), so that the upper and lower contact surfaces of the charging electrode can fully contact, ensuring reliable contact without false contact. At the same time, the device-end charging electrode (2602) is designed with a larger length in the horizontal direction, which can allow the vehicle-end charging electrode (803) to have a certain deviation in the horizontal direction.

[0058] 2) The key to the structural design of the automatic protective baffle (7) is to realize the automatic opening and closing of the protective baffle (7) through the visual sensor device (6), the servo transmission structure, the main control unit (28), etc. When the automatic charging device (1) needs to charge the intelligent unmanned vehicle (2), the protective baffle (7) automatically opens, and when the charging is completed, the protective baffle (7) automatically closes. The specific implementation is as follows:

[0059] The structure of the automatic protective baffle (7) mainly includes: a servo motor (29), a first synchronous pulley (11), a second synchronous pulley (16), a synchronous belt (15), a sealing rubber strip (17), a protective baffle (7), a slider (24), a guide rail (22), a lower end travel switch (25), an upper end travel switch (19), a visual sensor device (6), etc.

[0060] The first synchronous pulley (11) and the second synchronous pulley (16) are respectively fixed on the second housing (4), and the two are connected via a synchronous belt (15). The servo motor (29) is connected to the first synchronous pulley (11). The guide rail (22) is fixed to the second housing (4). The protective baffle (7) is connected and fixed to the slider (24). The slider (24) is connected to the guide rail (22) and can slide on the guide rail (22). The lower end travel switch (25) is fixed to the second housing (4) and is located at a position where the protective baffle (7) is in a closed state. The upper end travel switch (19) is fixed to the second housing (4) and is located at a position where the protective baffle (7) is in an open state. The sealing rubber strip (17) is fixed to the second housing (4) to play a sealing role. The synchronous belt (15) is connected to the protective baffle (7) to drive the protective baffle (7) to automatically open and close. The visual sensor device (6) is fixed at the middle position of the top of the second housing (4);

[0061] The whole process is as follows: when the visual sensing device (6) recognizes that there is an intelligent unmanned vehicle (2) to be charged, under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and opens the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the upper end travel switch (19), the protective baffle (7) has been opened in place, and the servo motor (29) stops working. At this time, the device-side charging component (26) and the display and setting component (23) are exposed. When the battery is fully charged, the system automatically detects that the battery is fully charged and stops charging. The vehicle-mounted charging component fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) shortens to retract the vehicle-mounted charging electrode (803) into the interior of the intelligent unmanned vehicle (2) and drives away. The visual sensing device (6) recognizes that the intelligent unmanned vehicle (2) has driven away. Under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and closes the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the lower end travel switch (25), the protective baffle (7) is closed in place, and the servo motor (29) stops working, completely protecting the device-side charging component (26) and the display and setting component (23).

[0062] 3) The key to the design of the automatic fire extinguishing system is to design an automatic fire extinguishing structure that can effectively extinguish fires inside and outside the automatic charging device (1), protect the equipment, and prevent the fire from spreading. The specific implementation is as follows:

[0063] The design of the automatic fire extinguishing system mainly includes: an automatic fire extinguishing device (18), a main control unit (28), a smoke detection device (21), a visual sensing device (6), a built-in automatic fire extinguishing nozzle (20), an external automatic fire extinguishing nozzle (5), etc.

[0064] The automatic fire extinguishing device (18) is fixed on the second housing (4), the smoke detection device (21) is fixed on the top of the second housing (4), the internal automatic fire extinguishing nozzle (20) is fixed on the inner side of the top of the second housing (4), the external automatic fire extinguishing nozzle (5) is fixed on the outer side of the top of the second housing (4), the visual sensing device (6) is fixed at the center of the outer side of the top of the second housing (4), and the main control unit (28) is fixed on the equipment bracket (27), and the equipment bracket (27) is fixed on the second housing (4).

[0065] The whole process is as follows: if a fire occurs due to a fault during the automatic charging process, the internal smoke detection device (21) and the external visual sensor device (6) can respectively detect the internal or external fire and transmit the detection signal to the main control unit (28). The main control unit (28) instructs the automatic charging management unit (30) to disconnect the charging output and stop charging. At the same time, the main control unit (28) instructs the automatic fire extinguishing device (18) to extinguish the fire through the built-in automatic fire extinguishing nozzle (20) and the external automatic fire extinguishing nozzle (5).

[0066] 4) The key to the design of a structure with preset adjustment of charging height is that the height-adjustable structure is a purely mechanical structure with a simple structure. The height can be preset and adjusted in advance for intelligent unmanned vehicles (2) of different heights. It can be applied to any type of intelligent unmanned vehicle (2) equipped with an on-board charging component within the range of minimum height to maximum height. The specific implementation is as follows:

[0067] The charging height adjustable structure comprises: a lifting commutator (9), a lifting lead screw (10), a lead screw nut (12), a bearing seat (14), a first housing (3), a second housing (4), etc.

[0068] The lifting commutator (9) is fixed to the bottom end of the first housing (3), the bearing seat (14) is fixed to the top end of the first housing (3), the lead screw nut (12) is fixed to the second housing (4), the lead screw nut (12) is sleeved on the lifting lead screw (10), the upper end of the lifting lead screw (10) is connected to the bearing seat (14), and the lower end is connected to the lifting commutator (9), and the charging height of the automatic charging device (1) can be preset by rotating the lifting commutator (9) with a special tool.

[0069] The whole process is as follows: for intelligent unmanned vehicles (2) of different height types, when the installation height of the on-board charging component is different, the charging height of the automatic charging device (1) can be preset and adjusted for the same type of intelligent unmanned vehicles (2), and the lifting commutator (9) is rotated by a special tool to drive the lifting lead screw (10) to rotate, so that the lead screw nut (12) drives the second shell (4) to rise or fall, thereby realizing the preset adjustment of the charging height of the automatic charging device (1). At the same time, the lifting commutator (9) has a self-locking function, and the second shell (4) can be kept at a corresponding height without using other limiting measures, so that it can be applicable to any type of intelligent unmanned vehicle (2) equipped with an on-board charging component within the range of minimum height to maximum height. Example

[0070] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the present invention provides an automatic charging device for an intelligent unmanned vehicle, comprising: a first housing (3), a second housing (4), an external automatic fire extinguishing nozzle (5), a visual sensor device (6), a protective baffle (7), a lifting commutator (9), a lifting lead screw (10), a first synchronous pulley (11), a lead screw nut (12), a heat dissipation fan (13), a bearing seat (14), a synchronous belt (15), a second synchronous pulley (16), a sealing rubber strip (17), an automatic fire extinguishing device (18), an upper end travel switch (19), and a built-in Automatic fire extinguishing nozzle (20), smoke detection device (21), guide rail (22), display and setting component (23), slider (24), charging electrode support frame (2601), device end charging electrode (2602), anti-spark contact resistor (2603), vertical guide column (2604), spring (2605), adaptive ball joint guide rod (2606), lower end travel switch (25), device bracket (27), main control unit (28), servo motor (29), automatic charging management unit (30).

[0071] The vehicle-mounted charging assembly (8) comprises: a vehicle-mounted charging electrode (803), an insulating fixing frame (802), and a linear electric cylinder (801).

[0072] The lifting commutator (9) is fixed to the bottom end of the first housing (3); the bearing seat (14) is fixed to the top end of the first housing (3); the screw nut (12) is fixed to the second housing (4); the screw nut (12) is sleeved on the lifting screw (10); the upper end of the lifting screw (10) is connected to the bearing seat (14), and the lower end is connected to the lifting commutator (9); the charging height of the automatic charging device (1) can be preset by rotating the lifting commutator (9) with a special tool; the heat dissipation fan (13) is fixed to the second housing (4) to discharge the heat inside the automatic charging device (1); the first synchronous pulley (11) and the second synchronous pulley (16) are respectively fixed to the second housing (4), and the two are connected by a synchronous belt (1 5); the servo motor (29) is connected to the first synchronous pulley (11); the guide rail (22) is fixed to the second housing (4); the slider (24) is connected to the guide rail (22) and can slide on the guide rail (22); the protective baffle (7) is connected and fixed to the slider (24); the lower end travel switch (25) is fixed to the second housing (4) and is located at a position where the protective baffle (7) is in a closed state; the upper end travel switch (19) is fixed to the second housing (4) and is located at a position where the protective baffle (7) is in an open state; the sealing rubber strip (17) is fixed to the second housing (4); the synchronous belt (15) is connected to the protective baffle (7) to drive the protective baffle (7) to automatically open and automatically close; the automatic fire extinguishing device ( 18) is fixed on the second housing (4); the smoke detection device (21) is fixed on the top of the second housing (4); the internal automatic fire extinguishing nozzle (20) is fixed on the inner side of the top of the second housing (4), and the external automatic fire extinguishing nozzle (5) is fixed on the outer side of the top of the second housing (4); the visual sensing device (6) is fixed at the center position of the outer side of the top of the second housing (4); the device bracket (27) is fixed on the second housing (4); the main control unit (28) is fixed on the device bracket (27); the display and setting component (23) is fixed on the device bracket (27) for displaying and setting relevant parameters of the automatic charging device (1); the charging electrode support frame (2601) of the device-side charging component (26) is fixed on the device bracket ( 27); a vertical guide column (2604) is fixed on the charging electrode support frame (2601); one end of the adaptive ball joint guide rod (2606) is connected to the device end charging electrode (2602) and the other end is connected to the vertical guide column (2604); a spring (2605) is sleeved on the vertical guide column (2604) and is located between the charging electrode support frame (2601) and the device end charging electrode (2602) in a compressed state, providing elastic force for the device end charging electrode (2602) to achieve self-adaptive contact and reliable contact of the contact surface; an anti-spark contact resistor (2603) is fixed on the 45-degree inclined plane at the front end of the device end charging electrode (2602); and an automatic charging management unit (30) is fixed on the first housing (3);The vehicle-mounted charging electrode (803) is fixed on an insulating fixing frame (802), the insulating fixing frame (802) is connected and fixed to the front end of the linear electric cylinder (801), and the linear electric cylinder (801) is fixed on the intelligent unmanned vehicle (2);

[0073] When the intelligent unmanned vehicle (2) equipped with the vehicle-mounted charging component reaches the automatic charging area accurately through its own navigation positioning system and the auxiliary limit adjustment device, the visual sensor device (6) recognizes that the intelligent unmanned vehicle (2) is to be charged. Under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and opens the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the upper end travel switch (19), the protective baffle (7) has been fully opened, and the servo motor (29) stops working. At this time, the device-side charging component (26) and the display and setting component (23) are exposed. The vehicle-mounted charging assembly fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) extends to slowly extend the vehicle-mounted charging electrode (803). The 45-degree inclined surface at the front end of the vehicle-mounted charging electrode (803) first contacts the anti-sparking contact resistor (2603), and then transitions to the upper and lower planes of the vehicle-mounted charging electrode (803) contacting the upper and lower planes of the device-end charging electrode (2602). The device-end charging electrode (2602) has an angle adaptive capability under the action of the vertical guide column (2604), the spring (2605), the adaptive ball joint guide rod (2606), etc., and can adaptively match according to the inclination angle of the contact plane of the vehicle-mounted charging electrode (803) to ensure that the two working planes are fully in contact. Then, the intelligent unmanned vehicle (2) starts to be charged under the comprehensive control of the main control unit (28) and the automatic charging management unit (30). When the battery is fully charged, the system automatically detects that the battery is fully charged and stops charging. The vehicle-mounted charging component fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) shortens to retract the vehicle-mounted charging electrode (803) into the interior of the intelligent unmanned vehicle (2) and drives away. The visual sensing device (6) recognizes that the intelligent unmanned vehicle (2) has driven away, and under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and closes the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the lower end travel switch (25), the protective baffle (7) has been closed in place, and the servo motor (29) stops working, completely protecting the device-end charging component (26) and the display and setting component (23).

[0074] If a fire occurs due to a fault during the automatic charging process, the internal smoke detection device (21) and the external visual sensor device (6) can respectively detect the internal or external fire and transmit the detection signal to the main control unit (28). The main control unit (28) instructs the automatic charging management unit (30) to disconnect the charging output and stop charging. At the same time, the main control unit (28) instructs the automatic fire extinguishing device (18) to extinguish the fire through the built-in automatic fire extinguishing nozzle (20) and the external automatic fire extinguishing nozzle (5).

[0075] For intelligent unmanned vehicles (2) of different heights, when the heights of the on-board charging components are different, the charging height of the automatic charging device (1) can be preset and adjusted for the same type of intelligent unmanned vehicles (2), so that it can be applied to any type of intelligent unmanned vehicles (2) equipped with on-board charging components within the range of minimum height to maximum height. The lifting commutator (9) is rotated by a special tool to drive the lifting lead screw (10) to rotate, so that the lead screw nut (12) drives the second housing (4) to rise or fall, thereby realizing the preset adjustment of the charging height of the automatic charging device (1). At the same time, the lifting commutator (9) has a self-locking function, and the second housing (4) can be kept unchanged at the corresponding height without using other limiting measures.

[0076] The core of the present invention is the dual contact surface angle adaptive and anti-fire structure design, the automatic protection baffle (7) system structure design, the automatic fire extinguishing system design, and the charging height preset adjustment structure design, which are as follows:

[0077] 1) Double contact surface angle adaptation and anti-sparking structure design, the key lies in that each device-side charging electrode (2602) has angle adaptation capability and anti-sparking function. Each device-side charging electrode (2602) is divided into two upper and lower pieces. The front end of each piece is designed with an anti-sparking contact resistor (2603), and the back of each piece has an angle adaptation structure. When the vehicle-side charging electrode (803) is inserted, the 45-degree inclined surface at the front end of the vehicle-side charging electrode (803) first contacts the anti-sparking contact resistor (2603) installed on the 45-degree inclined surface at the front end of the device-side charging electrode (2602), and then transitions to the upper and lower planes of the vehicle-side charging electrode (803) and the device-side charging electrode (2602). The upper and lower planes are in contact, thereby avoiding sparks when the charging electrodes are in direct contact. Since the upper and lower planes of the vehicle-mounted charging electrode (803) cannot be absolutely horizontal, there must be a certain angle of inclination deviation. Under the action of the squeezing force of the vehicle-mounted charging electrode (803) and the elastic force of the spring (2605), the inclination angle of the device-end charging electrode (2602) is adaptively adjusted along with the inclination angle deviation of the vehicle-mounted charging electrode (803), so that the upper and lower contact surfaces of the charging electrode can fully contact, ensuring reliable contact without false contact. At the same time, the device-end charging electrode (2602) is designed with a larger length in the horizontal direction, which can allow the vehicle-mounted charging electrode (803) to have a certain deviation in the horizontal direction. The specific implementation is as follows:

[0078] The double contact surface angle adaptive and anti-spark structure mainly includes: charging electrode support frame (2601), device-end charging electrode (2602), anti-spark contact resistor (2603), vertical guide column (2604), spring (2605), adaptive ball joint guide rod (2606), vehicle-end charging electrode (803), insulating fixing frame (802), linear electric cylinder (801), etc.

[0079] The charging electrode support frame (2601) is fixed on the device bracket (27), and the vertical guide column (2604) is fixed on the charging electrode support frame (2601). The vertical guide column (2604) provides a vertical movement guide for the device-end charging electrode (2602); the spring (2605) is sleeved on the vertical guide column (2604) and the adaptive ball joint guide rod (2606), and is in a compressed state between the charging electrode support frame (2601) and the device-end charging electrode (2602), providing elastic force for the device-end charging electrode (2602) to achieve self-adaptation and reliable contact of the contact surface angle; one end of the adaptive ball joint guide rod (2606) is connected to the device-end charging electrode (2602) and the other end is connected to the vertical guide column (2604). The adaptive ball joint guide rod (2606) ) The end connected to the device-end charging electrode (2602) is subjected to the squeezing force of the vehicle-end charging electrode (803) and the elastic force of the spring (2605), so that the device-end charging electrode (2602) can freely follow the angle change of the vehicle-end charging electrode (803) around the ball joint to make adaptive adjustments to ensure that the upper and lower contact surfaces can fully contact each other. At the same time, the device-end charging electrode (2602) is designed with a larger length in the horizontal direction, which can allow the vehicle-end charging electrode (803) to have a certain deviation in the horizontal direction. The anti-spark contact resistor (2603) is fixed on the 45-degree inclined surface at the front end of the device-end charging electrode (2602), so that it first contacts the 45-degree inclined surface at the front end of the vehicle-end charging electrode (803), and then contacts the plane between the charging electrodes to prevent contact sparking.

[0080] The vehicle-mounted charging electrode (803) is fixed on an insulating fixing frame (802), the insulating fixing frame (802) is connected and fixed to a front end push rod of a linear electric cylinder (801), the linear electric cylinder (801) is fixed to the intelligent unmanned vehicle (2), and the vehicle-mounted charging electrode (803) is driven to extend and retract through the extension and retraction of the linear electric cylinder (801).

[0081] The entire process is as follows: the vehicle-mounted charging component fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) extends to slowly extend the vehicle-mounted charging electrode (803). When the vehicle-mounted charging electrode (803) is inserted, the 45-degree inclined surface at the front end of the vehicle-mounted charging electrode (803) first contacts the anti-sparking contact resistor (2603) installed on the 45-degree inclined surface at the front end of the device-end charging electrode (2602), and then transitions to the upper and lower planes of the vehicle-mounted charging electrode (803) contacting the upper and lower planes of the device-end charging electrode (2602), thereby avoiding sparks when the charging electrodes are in direct contact. Since the upper and lower planes of the vehicle-mounted charging electrode (803) cannot be absolutely horizontal, there must be a certain angle of inclination deviation. Under the action of the squeezing force of the vehicle-mounted charging electrode (803) and the elastic force of the spring (2605), the inclination angle of the device-end charging electrode (2602) is adaptively adjusted along with the inclination angle deviation of the vehicle-mounted charging electrode (803), so that the upper and lower contact surfaces of the charging electrode can fully contact, ensuring reliable contact without false contact. At the same time, the device-end charging electrode (2602) is designed with a larger length in the horizontal direction, which can allow the vehicle-end charging electrode (803) to have a certain deviation in the horizontal direction.

[0082] 2) The key to the structural design of the automatic protective baffle (7) is to realize the automatic opening and closing of the protective baffle (7) through the visual sensor device (6), the servo transmission structure, the main control unit (28), etc. When the automatic charging device (1) needs to charge the intelligent unmanned vehicle (2), the protective baffle (7) automatically opens, and when the charging is completed, the protective baffle (7) automatically closes. The specific implementation is as follows:

[0083] The structure of the automatic protective baffle (7) mainly includes: a servo motor (29), a first synchronous pulley (11), a second synchronous pulley (16), a synchronous belt (15), a sealing rubber strip (17), a protective baffle (7), a slider (24), a guide rail (22), a lower end travel switch (25), an upper end travel switch (19), a visual sensor device (6), etc.

[0084] The first synchronous pulley (11) and the second synchronous pulley (16) are respectively fixed on the second housing (4), and the two are connected via a synchronous belt (15). The servo motor (29) is connected to the first synchronous pulley (11). The guide rail (22) is fixed to the second housing (4). The protective baffle (7) is connected and fixed to the slider (24). The slider (24) is connected to the guide rail (22) and can slide on the guide rail (22). The lower end travel switch (25) is fixed to the second housing (4) and is located at a position where the protective baffle (7) is in a closed state. The upper end travel switch (19) is fixed to the second housing (4) and is located at a position where the protective baffle (7) is in an open state. The sealing rubber strip (17) is fixed to the second housing (4) to play a sealing role. The synchronous belt (15) is connected to the protective baffle (7) to drive the protective baffle (7) to automatically open and close. The visual sensor device (6) is fixed at the middle position of the top of the second housing (4);

[0085] The whole process is as follows: when the visual sensing device (6) recognizes that there is an intelligent unmanned vehicle (2) to be charged, under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and opens the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the upper end travel switch (19), the protective baffle (7) has been opened in place, and the servo motor (29) stops working. At this time, the device-side charging component (26) and the display and setting component (23) are exposed. When the battery is fully charged, the system automatically detects that the battery is fully charged and stops charging. The vehicle-mounted charging component fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) shortens to retract the vehicle-mounted charging electrode (803) into the interior of the intelligent unmanned vehicle (2) and drives away. The visual sensing device (6) recognizes that the intelligent unmanned vehicle (2) has driven away. Under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and closes the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the lower end travel switch (25), the protective baffle (7) is closed in place, and the servo motor (29) stops working, completely protecting the device-side charging component (26) and the display and setting component (23).

[0086] 3) The key to the design of the automatic fire extinguishing system is to design an automatic fire extinguishing structure that can effectively extinguish fires inside and outside the automatic charging device (1), protect the equipment, and prevent the fire from spreading. The specific implementation is as follows:

[0087] The design of the automatic fire extinguishing system mainly includes: an automatic fire extinguishing device (18), a main control unit (28), a smoke detection device (21), a visual sensing device (6), a built-in automatic fire extinguishing nozzle (20), an external automatic fire extinguishing nozzle (5), etc.

[0088] The automatic fire extinguishing device (18) is fixed on the second housing (4), the smoke detection device (21) is fixed on the top of the second housing (4), the internal automatic fire extinguishing nozzle (20) is fixed on the inner side of the top of the second housing (4), the external automatic fire extinguishing nozzle (5) is fixed on the outer side of the top of the second housing (4), the visual sensing device (6) is fixed at the center of the outer side of the top of the second housing (4), and the main control unit (28) is fixed on the equipment bracket (27), and the equipment bracket (27) is fixed on the second housing (4).

[0089] The whole process is as follows: if a fire occurs due to a fault during the automatic charging process, the internal smoke detection device (21) and the external visual sensor device (6) can respectively detect the internal or external fire and transmit the detection signal to the main control unit (28). The main control unit (28) instructs the automatic charging management unit (30) to disconnect the charging output and stop charging. At the same time, the main control unit (28) instructs the automatic fire extinguishing device (18) to extinguish the fire through the built-in automatic fire extinguishing nozzle (20) and the external automatic fire extinguishing nozzle (5).

[0090] 4) The key to the design of a structure with preset adjustment of charging height is that the height-adjustable structure is a purely mechanical structure with a simple structure. The height can be preset and adjusted in advance for intelligent unmanned vehicles (2) of different heights. It can be applied to any type of intelligent unmanned vehicle (2) equipped with an on-board charging component within the range of minimum height to maximum height. The specific implementation is as follows:

[0091] The charging height adjustable structure comprises: a lifting commutator (9), a lifting lead screw (10), a lead screw nut (12), a bearing seat (14), a first housing (3), a second housing (4), etc.

[0092] The lifting commutator (9) is fixed to the bottom end of the first housing (3), the bearing seat (14) is fixed to the top end of the first housing (3), the lead screw nut (12) is fixed to the second housing (4), the lead screw nut (12) is sleeved on the lifting lead screw (10), the upper end of the lifting lead screw (10) is connected to the bearing seat (14), and the lower end is connected to the lifting commutator (9), and the charging height of the automatic charging device (1) can be preset by rotating the lifting commutator (9) with a special tool.

[0093] The whole process is as follows: for intelligent unmanned vehicles (2) of different height types, when the installation height of the on-board charging component is different, the charging height of the automatic charging device (1) can be preset and adjusted for the same type of intelligent unmanned vehicles (2), and the lifting commutator (9) is rotated by a special tool to drive the lifting lead screw (10) to rotate, so that the lead screw nut (12) drives the second shell (4) to rise or fall, thereby realizing the preset adjustment of the charging height of the automatic charging device (1). At the same time, the lifting commutator (9) has a self-locking function, and the second shell (4) can be kept at a corresponding height without using other limiting measures, so that it can be applicable to any type of intelligent unmanned vehicle (2) equipped with an on-board charging component within the range of minimum height to maximum height.

[0094] In the automatic charging device of the present invention, the contact electrode part adopts the form of upper and lower double contact surface clamping. The charging electrode contact surface realizes angle adaptation through structures such as adaptive ball joint guide rod, spring, vertical guide column, etc. Compared with the single contact surface, the double contact surface clamping design has a large contact force and a large contact area. When the vehicle-mounted charging electrode is inserted, foreign matter on the surface of the contact electrode can also be removed. It has high reliability and can withstand a larger charging current, so as to solve the problem of poor contact that is prone to single-sided contact.

[0095] In the automatic charging device of the present invention, an anti-spark contact resistor is designed at the front end of the charging electrode. The charging electrode at the device end and the charging electrode at the vehicle end first contact with the anti-spark contact resistor to form a short circuit before they are fully in contact. After that, the contact surfaces of the charging electrodes are in full contact with each other, effectively avoiding sparking and ablation when the electrodes are in direct contact, so as to solve the problem of sparking when the charging electrodes are just in contact.

[0096] The automatic charging device of the present invention is designed with a smoke detection device, an automatic fire extinguishing device, a built-in automatic fire extinguishing nozzle, an external automatic fire extinguishing nozzle, a visual sensing device, etc. The automatic fire extinguishing device can extinguish fires of both internal equipment and external equipment to solve the problem of automatic fire extinguishing of the automatic charging device and prevent fires.

[0097] The automatic charging device of the present invention is designed with an automatic door opening and closing protection system. When the visual sensor recognizes that an unmanned vehicle is coming to charge, the automatic door opening and closing protection system automatically opens. When the battery is fully charged, the corresponding charging device is reset and the automatic door opening and closing protection system automatically closes, effectively preventing dust and rain, thereby solving the problem of no protection at the electrode opening of the automatic charging device.

[0098] The automatic charging device of the present invention realizes height adjustment of the automatic charging device through simple mechanical structures such as lifting commutator, lead screw, lead screw nut, bearing seat, etc. The height adjustment can be preset in advance for different unmanned vehicles and different electrode heights to solve the problem of poor height adaptability of the automatic charging device when charging different unmanned vehicles.

[0099] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic charging device for an intelligent unmanned vehicle, characterized in that: The automatic charging device comprises: a first housing (3), a second housing (4), an external automatic fire extinguishing nozzle (5), a visual sensing device (6), a protective baffle (7), a lifting commutator (9), a lifting lead screw (10), a first synchronous pulley (11), a lead screw nut (12), a bearing seat (14), a synchronous belt (15), a second synchronous pulley (16), an automatic fire extinguishing device (18), an upper end travel switch (19), a built-in automatic fire extinguishing nozzle (20), a smoke detection device (21), a guide rail (22), a display and setting component (23), a slider (24), a lower end travel switch (25), a device end charging component (26), a device bracket (27), a main control unit (28), a servo motor (29) and an automatic charging management unit (30); The lifting commutator (9) is fixed to the bottom end of the first housing (3); the bearing seat (14) is fixed to the top end of the first housing (3); the lead screw nut (12) is fixed to the inside of the second housing (4); the lead screw nut (12) is sleeved on the lifting lead screw (10); the upper end of the lifting lead screw (10) is connected to the bearing seat (14), and the lower end is connected to the lifting commutator (9); the charging height of the automatic charging device (1) can be preset by rotating the lifting commutator (9) with a special tool; The first synchronous pulley (11) and the second synchronous pulley (16) are respectively fixed inside the second housing (4), and are connected to each other via a synchronous belt (15); the servo motor (29) is connected to the first synchronous pulley (11); The guide rail (22) is fixed inside the second housing (4); the slider (24) is connected to the guide rail (22) and can slide on the guide rail (22); the protective baffle (7) is connected and fixed to the slider (24); the lower end travel switch (25) is fixed inside the second housing (4) and is located at a position where the protective baffle (7) is in a closed state; the upper end travel switch (19) is fixed inside the second housing (4) and is located at a position where the protective baffle (7) is in an open state; the synchronous belt (15) is connected to the protective baffle (7) to drive the protective baffle (7) to automatically open and close; The automatic fire extinguishing device (18) is fixed to the top of the second housing (4); the smoke detection device (21) is fixed to the top of the second housing (4); the internal automatic fire extinguishing nozzle (20) is fixed to the inside of the top of the second housing (4), and the external automatic fire extinguishing nozzle (5) is fixed to the outside of the top of the second housing (4); the visual sensing device (6) is fixed to the center of the outside of the top of the second housing (4); The device bracket (27) is fixed inside the second housing (4); the main control unit (28) is fixed on the device bracket (27); the display and setting component (23) is fixed on the device bracket (27) and is used to display and set relevant parameters of the automatic charging device (1); The device-side charging component (26) is fixed on the device bracket (27) and is used to dock with the vehicle-side charging component (8) on the intelligent unmanned vehicle (2) to charge the intelligent unmanned vehicle (2); The automatic charging management unit (30) is fixed to the inner bottom of the first housing (3); in, The device-side charging assembly (26) comprises: a charging electrode support frame (2601), a device-side charging electrode (2602), an anti-sparking contact resistor (2603), a vertical guide column (2604), a spring (2605) and an adaptive ball-jointed guide rod (2606); the charging electrode support frame (2601) is fixed on the device bracket (27); the vertical guide column (2604) is fixed inside the charging electrode support frame (2601); the adaptive ball-jointed guide rod (2606) is fixed to ... One end is connected to the device-end charging electrode (2602) and the other end is connected to the vertical guide column (2604); the spring (2605) is sleeved on the vertical guide column (2604) and is located between the charging electrode support frame (2601) and the device-end charging electrode (2602) in a compressed state, providing elastic force for the device-end charging electrode (2602) to adapt to the contact surface angle and ensure reliable contact; the anti-spark contact resistor (2603) is fixed on the 45-degree inclined plane at the front end of the device-end charging electrode (2602).

2. The automatic charging device for an intelligent unmanned vehicle according to claim 1, characterized in that: The automatic charging device further comprises a heat dissipation fan (13), which is fixed inside the second housing (4) and is used to discharge heat inside the automatic charging device (1).

3. The automatic charging device for an intelligent unmanned vehicle according to claim 1, characterized in that: The automatic charging device further comprises a sealing rubber strip (17), wherein the sealing rubber strip (17) is fixed inside the second housing (4) and is used for sealing.

4. The automatic charging device for an intelligent unmanned vehicle according to claim 1, characterized in that: The vehicle-mounted charging assembly (8) comprises: a linear electric cylinder (801), an insulating fixing frame (802) and a vehicle-mounted charging electrode (803); the vehicle-mounted charging electrode (803) is fixed on the insulating fixing frame (802), the insulating fixing frame (802) is connected and fixed to the front end of the linear electric cylinder (801), and the linear electric cylinder (801) is fixed on the intelligent unmanned vehicle (2).

5. The automatic charging device for an intelligent unmanned vehicle as claimed in claim 4, characterized in that: When the intelligent unmanned vehicle (2) equipped with the vehicle-mounted charging component reaches the automatic charging area accurately through its own navigation positioning system and the auxiliary limit adjustment device, the visual sensor device (6) recognizes that the intelligent unmanned vehicle (2) is to be charged. Under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and opens the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the upper end travel switch (19), the protective baffle (7) has been fully opened, and the servo motor (29) stops working. At this time, the device-side charging component (26) and the display and setting component (23) are exposed.

6. The automatic charging device for an intelligent unmanned vehicle as claimed in claim 5, characterized in that: The vehicle-end charging component (8) fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) extends to slowly extend the vehicle-end charging electrode (803). The 45-degree inclined surface at the front end of the vehicle-end charging electrode (803) first contacts the anti-sparking contact resistor (2603), and then transitions to the upper and lower planes of the vehicle-end charging electrode (803) contacting the upper and lower planes of the device-end charging electrode (2602). The device-end charging electrode (2602) has an angle adaptive capability under the action of the vertical guide column (2604), the spring (2605), and the adaptive ball joint guide rod (2606), and can adaptively match according to the inclination angle of the contact plane of the vehicle-end charging electrode (803) to ensure that the two working planes are fully in contact.

7. The automatic charging device for an intelligent unmanned vehicle as claimed in claim 6, characterized in that: Under the integrated control of the main control unit (28) and the automatic charging management unit (30), the intelligent unmanned vehicle (2) begins to be charged; when the battery is fully charged, the system automatically detects that the battery is fully charged and stops charging; the vehicle-mounted charging component (8) fixed on the intelligent unmanned vehicle (2) starts to move, and the linear electric cylinder (801) shortens and retracts the vehicle-mounted charging electrode (803) into the interior of the intelligent unmanned vehicle (2) and drives away; the visual sensing device (6) recognizes that the intelligent unmanned vehicle (2) has driven away, and under the control of the main control unit (28), the servo motor (29) drives the first synchronous pulley (11) and the second synchronous pulley (16) to start working, and closes the protective baffle (7) through the synchronous belt drive. When the protective baffle (7) touches the lower end travel switch (25), the protective baffle (7) is closed in place, and the servo motor (29) stops working, completely protecting the device-side charging component (26) and the display and setting component (23).

8. The automatic charging device for an intelligent unmanned vehicle as claimed in claim 7, characterized in that: If a fire occurs due to a fault during the automatic charging process, the internal smoke detection device (21) and the external visual sensor device (6) detect the internal or external fire respectively, and transmit the detection signal to the main control unit (28). The main control unit (28) instructs the automatic charging management unit (30) to disconnect the charging output and stop charging. At the same time, the main control unit (28) instructs the automatic fire extinguishing device (18) to extinguish the fire through the built-in automatic fire extinguishing nozzle (20) and the external automatic fire extinguishing nozzle (5).

9. The automatic charging device for an intelligent unmanned vehicle as claimed in claim 7, characterized in that: For intelligent unmanned vehicles (2) of different heights, when the heights of the on-board charging components (8) are different, the charging height of the automatic charging device (1) can be preset and adjusted for the same type of intelligent unmanned vehicles (2), so that it can be applied to any type of intelligent unmanned vehicles (2) equipped with on-board charging components within a range from a minimum height to a maximum height; the lifting commutator (9) is rotated by a special tool to drive the lifting lead screw (10) to rotate, so that the lead screw nut (12) drives the second housing (4) to rise or fall, thereby realizing the preset adjustment of the charging height of the automatic charging device (1); at the same time, the lifting commutator (9) has a self-locking function, and the second housing (4) can be kept unchanged at a corresponding height without using other limiting measures.

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