Vehicle positioning method suitable for automatic charging electric motor coach

Abstract

The invention relates to the technical field of electric motor coach charging, and discloses a vehicle positioning method suitable for an automatic charging electric motor coach, comprising the following steps: S1, installing a laser positioner at the head of the electric motor coach; s2, driving the electric motor coach to a charging area, accurately parking the electric motor coach at a charging position manually, and setting a temporary identifier; s3, a ground mark is arranged at a proper position of the ground, the laser positioner is turned on, and the projection cursor is adjusted to coincide with the ground mark; s4, parking the vehicle and the electric motor coach according to the temporary identifier, and turning on a laser locator on the vehicle to enable a projection cursor to coincide with the ground identifier; and S6, during operation, the laser positioner is turned on, a projection cursor of the laser positioner is made to coincide with the ground identifier, and then positioning is completed. In conclusion, laser projection and ground identification are used for positioning the vehicle, operation is simpler, compatibility is higher, site construction cost is lower, and meanwhile social roads are more friendly.

Description

Technical Field

[0001] The invention relates to the technical field of electric bus charging, and in particular to a vehicle positioning method suitable for automatically charging electric buses. Background Art

[0002] At present, one of the most widely used fast charging methods for pure electric buses in the bus industry is the combination of a top-mounted power receiving device and a fixed charging bow, see GB / T 40425.1; this charging method requires the driver to accurately park the vehicle at a specific position under the charging bow, with an error of no more than ±220mm front, back, left and right; once it deviates from the charging area, the charging may fail at best, or the charging bow may get stuck, and the movable mechanism may not be able to retract the electrode.

[0003] The current mainstream positioning method is to install double speed bumps on the ground to clamp the wheels. The driver needs to locate the left and right positions according to the ground guide line, and then clamp the wheels into the double speed bumps to complete the charging positioning. However, the left and right positioning requires the driver to observe the positioning mark, which may result in errors. In addition, different models have different sizes, and the roof fast charging equipment may have slight position differences, and the positioning is incompatible, making it difficult to arrange the positioning speed bumps. In addition, the speed bumps are installed on the ground, which is inconvenient to arrange if the charging position is on a public road. In addition, if the tire is not completely stuck in the groove, the vehicle will slide and move during the charging process, which poses a safety risk.

[0004] In addition, there are also automatic positioning methods such as using image recognition, lidar, satellite RTK positioning, etc., but these methods will complicate the structure, increase the complexity of the vehicle system, and reduce stability; and the positioning system cost is relatively high, causing the cost of the vehicle to increase. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the existing electric buses are not accurately positioned during charging, thus causing the charging failure.

[0006] In order to solve the above technical problems, the technical solution of the present invention is to provide a vehicle positioning method applicable to an automated charging electric bus, comprising the following steps:

[0007] S1. Install a mounting base at the front of the electric bus, and then install a laser locator on the mounting base;

[0008] S2. Drive the electric bus to the charging area, and park the electric bus precisely at the charging position through manual positioning, and set a temporary sign at the parking position;

[0009] S3. Set a ground mark at a suitable position on the ground, turn on the laser locator, and adjust the projection cursor of the laser locator to coincide with the ground mark;

[0010] S4, park the electric bus of the same model as in S2 according to the temporary mark, and turn on the laser locator on it so that the projection cursor coincides with the ground mark;

[0011] S5, repeat S4, and adjust the projection cursors of all electric bus laser locators of the same model to coincide with the ground mark;

[0012] S6. During operation, the electric bus drives into the charging position, turns on the laser locator, and makes the projection cursor of the laser locator coincide with the ground mark, thus completing the positioning and the vehicle starts charging.

[0013] Optionally, step S6 includes,

[0014] S61, the approximate area where the electric bus drives to the bottom of the charging pantograph;

[0015] S62, the charging bow reads the corresponding vehicle information by scanning the RFID tag on the roof, and configures WiFi to connect to the vehicle WiFi module;

[0016] S63: After the WiFi connection is successful, the vehicle determines whether there is a no-travel instruction. If the WiFi connection is successful but there is no no-travel instruction, the laser locator is turned on.

[0017] S64, the driver operates the electric bus to park until the projection cursor of the laser locator coincides with the ground mark, which means that the electric bus has parked in place;

[0018] S65, enter the pantograph charging process, the charging equipment sends a prohibition instruction to the electric bus, the laser locator is turned off, and the electric bus starts charging;

[0019] S66: Charging is completed, the charging bow no longer sends a no-drive command, the laser locator is turned on, the vehicle leaves the RFID tag identification area, the WiFi is disconnected, and the laser locator is turned off.

[0020] Optionally, in S66, if the charging bow no longer sends a no-drive command but there is still a WiFi connection, the laser locator is turned on to allow the driver to adjust the positioning.

[0021] Optionally, in step S3, if there are multiple different vehicle models, the corresponding models are indicated on the ground signs of different vehicle models, and the ground signs are staggered.

[0022] Optionally, the ground mark is in the shape of a field, the projection cursor of the laser locator is in the shape of a cross, and the projection cursor coincides with the cross in the middle of the ground mark.

[0023] In summary, the present invention uses laser projection and ground marking to locate the vehicle. Compared with the speed bump positioning solution, the present invention has simpler operation, higher compatibility, lower site construction cost, and is also more friendly to social roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the use scheme of the present invention;

[0025] Figure 2 This is a flow chart of positioning and charging of an electric bus during operation of the present invention;

[0026] Figure 3 This is a schematic diagram of the ground marking structure of the present invention;

[0027] Figure 4 This is a schematic diagram of the projection cursor structure of the present invention;

[0028] In the figure: 1. Ground marking; 2. Projection cursor; 3. Laser locator. DETAILED DESCRIPTION

[0029] The following combination Figure 1-4 The present invention is described in further detail.

[0030] The present invention discloses a vehicle positioning method suitable for an automated charging electric passenger car, referring to Figure 1 and Figure 2 , including the following steps:

[0031] S1, installing a mounting base at the front of the electric bus, and then installing a laser locator 3 on the mounting base;

[0032] Specifically, the mounting base should be able to firmly fix the laser locator 3 on the vehicle, and should be able to adjust the pitch angle and horizontal angle and ensure that after the adjustment is completed, the angle of the laser locator 3 will not change during driving due to vibration, impact, etc.;

[0033] The laser locator 3 should meet the requirements for outdoor vehicle use, such as protection level not less than IP67, UV resistance, etc.;

[0034] S2. Drive the electric bus to the charging area, and park the electric bus precisely at the charging position through manual positioning, and set a temporary mark at the parking position, such as setting tape on the ground at the wheel or the edge of the vehicle body;

[0035] S3, setting a ground mark 1 at a suitable position on the ground, turning on the laser locator 3, and adjusting the projection cursor 2 of the laser locator 3 to coincide with the ground mark 1;

[0036] Specifically, if different ground signs are set for different models, the corresponding models are indicated on the ground signs 1 of different models, and the ground signs 1 are staggered, or different models use the same ground sign 1, so that the projection cursors 2 of different models overlap with the same ground sign 1;

[0037] S4, parking the electric bus of the same model as that in S2 according to the temporary mark, and turning on the laser locator 3 on it, so that the projection cursor 2 coincides with the ground mark 1;

[0038] S5, repeat S4, and adjust the projection cursors 2 of all electric bus laser locators 3 of the same model to coincide with the ground mark 1;

[0039] S6, during operation, the electric bus enters the charging position, turns on the laser locator 3, and makes the projection cursor 2 of the laser locator 3 coincide with the ground mark 1, that is, the positioning is completed, and the vehicle starts charging;

[0040] S61, the approximate area where the electric bus drives to the bottom of the charging pantograph;

[0041] S62, the charging bow reads the corresponding vehicle information by scanning the RFID tag on the roof, and configures WiFi to connect to the vehicle WiFi module;

[0042] S63. After the WiFi connection is successful, the vehicle determines whether there is a no-travel instruction. During the charging process, the charging bow will send a no-travel instruction to the vehicle through the WiFi-CAN signal to avoid the bow being pulled due to accidental start of the vehicle after the electrodes are connected. If the WiFi is connected but there is no no-travel instruction, turn on the laser locator 3.

[0043] S64, the driver operates the electric bus to park until the projection cursor 2 of the laser locator 3 coincides with the ground mark 1, which means that the electric bus has parked in place;

[0044] S65, enter the pantograph charging process, the charging equipment sends a prohibition instruction to the electric bus, the laser locator is turned off, and the electric bus starts charging;

[0045] S66, charging is completed, the charging bow no longer sends a no-go instruction, the laser locator 3 is turned on, the vehicle leaves the RFID tag recognition area, the WiFi is disconnected, and the laser locator 3 is turned on. If the charging bow no longer sends a no-go instruction, but there is still a WiFi connection, the laser locator 3 is turned on to allow the driver to adjust the positioning.

[0046] Example

[0047] In this embodiment, refer to Figure 3 and Figure 4 The ground mark 1 is in the shape of a field, and its frame length is 440mm. The projection cursor 2 of the laser locator 3 is in the shape of a cross. The lengths of the two line segments should not be shorter than 500mm. When positioning, the projection cursor 2 coincides with the cross in the middle of the ground mark 1. In other embodiments, the shapes of the ground mark 1 and the projection cursor 2 are not limited to these two. Any pattern that can make the two coincide is acceptable. If the electric bus is equipped with a liftable suspension, it is necessary to ensure that the body height is consistent during positioning.

[0048] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A vehicle positioning method suitable for an automated charging electric bus, characterized in that: The following steps are involved: S1, installing a mounting base at the front of the electric bus, and then installing a laser locator (3) on the mounting base; S2. Drive the electric bus to the charging area, and park the electric bus precisely at the charging position through manual positioning, and set a temporary sign at the parking position; S3, setting a ground mark (1) at a suitable position on the ground, turning on a laser locator (3), and adjusting a projection cursor (2) of the laser locator (3) to coincide with the ground mark (1); S4, parking the electric bus of the same model as that in S2 according to the temporary mark, and turning on the laser locator (3) on the electric bus so that the projection cursor (2) coincides with the ground mark (1); S5, repeat S4, and adjust the projection cursors (2) of all electric bus laser locators (3) of the same model to coincide with the ground mark (1); S6. During operation, the electric bus enters the charging position, turns on the laser locator (3), and makes the projection cursor (2) of the laser locator (3) coincide with the ground mark (1), thus completing the positioning and starting the charging of the vehicle.

2. The vehicle positioning method applicable to an automated charging electric bus according to claim 1, characterized in that: Step S6 comprises, S61, the approximate area where the electric bus drives to the bottom of the charging pantograph; S62, the charging bow reads the corresponding vehicle information by scanning the RFID tag on the roof, and configures WiFi to connect to the vehicle WiFi module; S63, after the WiFi connection is successful, the vehicle determines whether there is a no-travel instruction. If the WiFi connection is successful but there is no no-travel instruction, the laser locator is turned on (3); S64, the driver operates the electric bus to park until the projection cursor (2) of the laser locator (3) coincides with the ground mark (1), indicating that the electric bus has parked in place; S65, enter the pantograph charging process, the charging equipment sends a prohibition instruction to the electric bus, the laser locator is turned off, and the electric bus starts charging; S66, charging is completed, the charging bow no longer sends a prohibition instruction, the laser locator (3) is turned on, the vehicle leaves the RFID tag identification area, the WiFi is disconnected, and the laser locator (3) is turned off.

3. The vehicle positioning method applicable to an automated charging electric bus according to claim 2, characterized in that: In S66, if the charging bow no longer sends a prohibition instruction, but there is still a WiFi connection, the laser locator (3) is turned on to allow the driver to adjust the positioning.

4. The vehicle positioning method applicable to an automated charging electric bus according to claim 1, characterized in that: In step S3, if there are multiple different types of vehicles, the corresponding models are indicated on the ground signs (1) of the different types of vehicles, and the ground signs (1) are staggered.

5. The vehicle positioning method applicable to an automated charging electric bus according to claim 1, characterized in that: The ground mark (1) is in the shape of a field, the projection cursor (2) of the laser locator (3) is in the shape of a cross, and the projection cursor (2) coincides with the cross in the middle of the ground mark (1).

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