Wheel type Al navigation mobile charging trolley

Abstract

The invention provides a wheel type Al navigation mobile charging trolley which comprises a trolley body, the trolley body comprises a drive-by-wire chassis, an automatic Al navigation driving module, a power battery module, a vehicle-mounted industrial personal computer and a vehicle control panel, and the automatic Al navigation driving module comprises a multi-line laser radar, a GPS navigation device, a depth binocular camera, a front single-line laser radar, a rear single-line laser radar and a controller. A wheel type front axle and a chassis power supply module are sequentially arranged in the drive-by-wire chassis from front to back; and the wheel type rear axle and the chassis power supply module are respectively connected with a vehicle-mounted industrial personal computer, a controller and a vehicle control panel through a drive-by-wire chassis controller. The multi-line laser radar, the GPS navigation device, the depth binocular camera, the front single-line laser radar, the rear single-line laser radar, the controller and the vehicle-mounted industrial personal computer are adopted for exemplarily guiding and controlling the line-controlled chassis to move, and driving actions such as moving, turning and braking of the whole vehicle can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of charging trolleys, and in particular to a wheeled Al navigation mobile charging trolley. Background Art

[0002] With the continuous popularization of new energy vehicles, the charging link of electric vehicles is an important issue that the electric vehicle industry needs to solve, and the market mainstream has an increasing demand for charging piles. The existing charging method is that the vehicle looks for the charging pile, and in this way, there are often situations where fully charged vehicles or irrelevant vehicles occupy the charging positions. The emergence of mobile charging vehicles has changed "the vehicle looking for the charging pile" to "the charging pile looking for the vehicle", greatly improving the charging flexibility and alleviating the shortage of charging positions. However, the existing mobile charging vehicles have the following technical defects: the layout is not scientific, the difficulty of maintenance and repair is large, and the operation cost is increased.

[0003] Therefore, how to design a wheeled Al navigation mobile charging trolley with a small volume and capable of well reducing the difficulty of maintenance and repair has become an urgent problem to be solved. Summary of the Invention

[0004] Aiming at the problems existing in the prior art, the present invention provides a wheeled Al navigation mobile charging trolley to solve at least one of the above technical problems.

[0005] The technical solution of the present invention is: a wheeled Al navigation mobile charging trolley, including a trolley body, the trolley body includes a wire-controlled chassis, a thermal management system module, an automatic Al navigation driving module, a lighting module, a power battery module, an in-vehicle industrial computer, and a vehicle control panel. The automatic Al navigation driving module includes a multi-line lidar, a GPS navigation device, a depth binocular camera, front and rear single-line lidars, a controller, and an IMU inertial navigation controller; the power battery module is connected to a discharge gun; an upper mounting component is jointly arranged outside the wire-controlled chassis and the frame structure; the controller and the IMU inertial navigation controller are located inside the wire-controlled chassis, and the front and rear single-line lidars are respectively fixed on the front and rear end faces of the wire-controlled chassis; a wheeled front axle, a chassis power module, and a wheeled rear axle are sequentially arranged in the wire-controlled chassis from front to back. The chassis power module is respectively connected to the in-vehicle industrial computer, the controller, and the vehicle control panel through a wire-controlled chassis controller, and the vehicle control panel is connected to a cloud platform; a front axle steering component is arranged on the wheeled front axle, and a rear axle drive motor is arranged on the wheeled rear axle. The wire-controlled chassis controller is respectively connected to the front axle steering component and the rear axle drive motor; the front axle steering component controls the driving direction of the wire-controlled chassis; the rear axle drive motor drives the movement of the wire-controlled chassis, and the controller is connected to the automatic Al navigation driving module for guiding and controlling the wire-controlled chassis to drive the whole vehicle to move.

[0006] The present invention uses a multi-line lidar, a GPS navigation device, a depth binocular camera, front and rear single-line lidars, a controller, and an in-vehicle industrial computer to exemplarily guide a steer-by-wire chassis to move, and can drive the whole vehicle to move, turn, brake and other driving actions. The front and rear single-line lidars can give an alarm before collision. The steer-by-wire chassis also includes a wheeled front axle, a wheeled rear axle, a front axle steering assembly, and a rear axle drive motor, which can control the working states of the wheeled front axle, the wheeled rear axle, the front axle steering assembly, and the rear axle drive motor according to preset programs or instructions from an autonomous driving chip to control the movement of the whole vehicle. The vehicle control panel can control the on / off through a switching device. The vehicle control panel is wirelessly communicatively connected to a cloud platform, which is used to realize the human-machine interaction between the user and the cloud platform and monitor the working state of the steer-by-wire chassis, enabling the mobile charging vehicle to achieve charging in the way of the charging pile finding the vehicle. By using the interaction between the cloud platform and the mobile charging vehicle and autonomous driving technology, the human participation is greatly reduced. The vehicle is small in size and can enter narrow areas such as underground garages and narrow-width streets for charging services, achieving fast charging, significantly reducing the charging waiting time, improving the automation level of vehicle charging, and reducing the operation cost. Brief Description of the Drawings

[0007] Figure 1 It is the front view of the internal structure of the present invention.

[0008] Figure 2 It is the left three-dimensional view of the present invention.

[0009] Figure 3 It is the right three-dimensional view of the present invention.

[0010] Figure 4 It is the schematic diagram of the internal structure of the steer-by-wire chassis of the present invention.

[0011] Figure 5 It is the three-dimensional view of the internal structure of the vehicle body of the present invention.

[0012] Figure 6 It is the schematic diagram of the internal electrical connection structure of the vehicle of the present invention.

[0013] In the figure: 1. Car body; 2. Upper assembly; 3. Wired chassis; 4. Cloud platform; 5. External vehicle to be charged; 6. External charging pile; 101. Multi-line lidar; 102. GPS navigation device; 103. Depth binocular camera; 104. Front and rear single-line lidar; 105. Controller; 106. Upper engine cover; 107. Vehicle control panel; 108. Power battery charging port; 109. Discharge gun; 110. Gun wire fixing seat; 111. LED display screen; 201. Vent; 202. Side turn signal; 203. Display; 204. Wired chassis maintenance port; 205. Front headlight; 206. Front turn signal; 301. Wheel type front axle; 302. Wheel type rear axle; 303. Front axle steering component; 304. Electric brake assembly; 305. Chassis power module; 306. Wired chassis controller; 307. IMU inertial navigation controller; 308. Brake controller; 309. Rear axle drive motor; 310. Rear integrated lamp group; 311. Hydraulic shock absorber; 312. Spring shock absorber; 401. Thermal management system module; 402. DC converter control integrated module assembly; 403. Power battery component; 404. Vehicle-mounted industrial computer. Detailed implementation mode

[0014] The present invention will be further described below with reference to the accompanying drawings.

[0015] Refer to Figure 1-6 , the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions of the present invention. Therefore, they do not have technical substance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of clear narration, and are not used to limit the scope of implementation of the present invention. The change or adjustment of their relative relationship, without substantial change in technical content, should also be regarded as the scope of implementation of the present invention.

[0016] Example 1. A wheeled Al navigation mobile charging cart, refer to Figure 1 、 Figure 6, including a car body 1, the car body 1 includes a drive-by-wire chassis 3, a thermal management system module 401, an automatic Al navigation and driving module, a lighting module, a power battery module, an on-vehicle industrial computer 404, and a vehicle control panel 107. The automatic Al navigation and driving module includes a multi-line lidar 101, a GPS navigation device 102, a depth binocular camera 103, front and rear single-line lidars 104, a controller 105, and an IMU inertial navigation controller 307; the power battery module is connected to a discharge gun 109; an upper mounting assembly 2 is jointly arranged outside the drive-by-wire chassis 3 and the frame structure; the controller 105 and the IMU inertial navigation controller 307 are located inside the drive-by-wire chassis 3, and the front and rear single-line lidars 104 are respectively fixed on the front and rear end faces of the drive-by-wire chassis 3; a wheeled front axle 301, a chassis power module 305, and a wheeled rear axle 302 are sequentially arranged inside the drive-by-wire chassis 3 from front to back. The chassis power module 305 is respectively connected to the on-vehicle industrial computer 404, the controller 105, and the vehicle control panel 107 through a drive-by-wire chassis controller 306, and the vehicle control panel 107 is connected to a cloud platform 4; a front axle steering assembly 303 is arranged on the wheeled front axle 301, and a rear axle drive motor 309 is arranged on the wheeled rear axle 302. The drive-by-wire chassis controller 306 is respectively connected to the front axle steering assembly 303 and the rear axle drive motor 309; the front axle steering assembly 303 controls the driving direction of the drive-by-wire chassis 3; the rear axle drive motor 309 drives the movement of the drive-by-wire chassis 3, and the controller 105 is connected to the automatic Al navigation and driving module for guiding and controlling the drive-by-wire chassis 3 to drive the whole vehicle to move.The present invention uses a multi-line lidar, a depth binocular camera, and front and rear single-line lidars to collect distance and reflection intensity information. Combining the rotation or swing of the lidars, a three-dimensional map around the vehicle is generated. Combining with a GPS navigation device to achieve positioning and navigation, a controller and an in-vehicle industrial computer are used to exemplarily guide the wire-controlled chassis to move, which can drive the whole vehicle to move, turn, brake and other driving actions; the front and rear single-line lidars can alarm before collision, and the chassis power module provides power. By connecting with the signal line of the wire-controlled chassis controller, it provides power for the wire-controlled chassis controller; the discharge gun is used to externally receive the vehicle to be charged, and the power battery assembly provides a charging power source for the vehicle to be charged; the wire-controlled chassis also includes a wheeled front axle, a wheeled rear axle, a front axle steering assembly, and a rear axle drive motor. The signal line of the wire-controlled chassis controller is connected to the front axle steering group and the rear axle drive motor, and can be controlled according to a preset program or the instructions of an autonomous driving chip. Through the wheeled front axle and the wheeled rear axle, the wire-controlled chassis moves forward and backward to control the movement of the whole vehicle (forward, backward and turning). The vehicle control panel can control the on-off through a switch device. The vehicle control panel is wirelessly connected to the cloud platform, which is used to realize the human-machine interaction between the user and the cloud platform and monitor the working state of the wire-controlled chassis, enabling the mobile charging trolley to achieve pile-to-vehicle charging. Utilizing the interaction between the cloud platform and the mobile charging trolley and autonomous driving technology, the manual participation is greatly reduced. It has a small volume and can enter narrow areas such as underground garages and narrow-width streets for charging services, achieving fast charging, significantly reducing the charging waiting time, improving the automation level of vehicle charging, and reducing the operation cost.

[0017] Embodiment 2: On the basis of Embodiment 1, referring to Figure 4 , Figure 5, the power battery module includes a DC converter control integrated module assembly 402 and a power battery assembly 403; a rectangular frame structure is provided on the wire-controlled chassis 3, and the frame structure is a two-layer structure. Two stacked power battery assemblies 403 are arranged on the lower layer of the two-layer structure, and a thermal management system module 401 and a DC converter control integrated module assembly 402 are arranged on the upper layer of the two-layer structure. The thermal management system module 401 is connected to the inlet and outlet interfaces of the power battery assembly 403 for temperature adjustment of each power battery; a vehicle-mounted industrial computer 404 is arranged at the lower part of the rear end face of the frame structure, and the vehicle-mounted industrial computer 404 is connected to the wire-controlled chassis controller 306; the wire-controlled chassis controller 306 is connected to the IMU inertial navigation controller 307. Front wheels are respectively arranged at both ends of the wheeled front axle 301, and rear wheels are respectively arranged at both ends of the wheeled rear axle 302; the wire-controlled chassis controller 306 is connected to the electric brake assembly 304 through the brake controller 308, and the electric brake assembly 304 controls the braking of the wire-controlled chassis 3. The present invention uses a rectangular frame structure to place the power battery assembly, the thermal management system module, and the DC converter control integrated module assembly; the thermal management system module is connected to the inlet and outlet interfaces of the power battery assembly for temperature adjustment of each power battery; the power battery assembly, the power battery charging port, and the discharge gun are respectively connected to the DC converter control integrated module assembly wire harness to form a charging and discharging system. Switch devices can also be arranged on each power supply circuit, charging circuit, and supplementary power circuit to control the on and off of the circuit; exemplarily, the control end of the switch device can be connected to the vehicle control panel of the management component, and the on and off of the switch device can be controlled by the vehicle control panel of the management component; the signal line of the wire-controlled chassis controller is connected to the IMU inertial navigation controller, and the wire-controlled chassis can realize autonomous driving along a specified path; the electric brake assembly, the brake controller, the wire-controlled chassis controller, and the controller are connected, and the braking of the wire-controlled chassis can be controlled according to a preset program or the instruction of the autonomous driving chip.

[0018] Embodiment 3: On the basis of Embodiment 2, hydraulic shock absorbers 311 and spring shock absorbers 312 are respectively arranged on the wheeled front axle 301 and the wheeled rear axle 302. The present invention uses hydraulic shock absorbers and spring shock absorbers respectively arranged on the wheeled front axle and the wheeled rear axle to keep the vehicle stable when the vehicle runs in an outdoor scene, passes through potholes, speed bumps, and uphill slopes.

[0019] Embodiment 4: On the basis of Embodiment 2, refer to Figure 2, the upper assembly 2 includes an upper machine cover 106 which wraps around the frame structure. On the rear end face of the upper machine cover 106, a vehicle control panel 107, a gun line fixing seat 110, a rear integrated light group 310, and several front and rear single-line lidars 104 arranged at intervals are successively provided from top to bottom. On both sides of the vehicle control panel 107, a power battery charging port 108 and a discharge gun 109 are respectively provided; the rear integrated light group 310 is an integrated light group of a turn signal, a signal light, and a brake light. In the present invention, the power battery charging port, the discharge gun, and the DC converter control integrated module assembly are connected; the vehicle control panel can control the movement of the wire-controlled chassis; the signal line of the wire-controlled chassis controller is connected to the rear integrated light group, and the braking light action of the wire-controlled chassis can be realized; the discharge gun is used to externally receive the vehicle to be charged, and the power battery assembly provides a charging power source for the vehicle to be charged; when the power battery assembly is out of power, the power battery charging port can charge the power battery assembly through an external charging pile gun line.

[0020] Embodiment 5. On the basis of Embodiment 4, refer to Figure 3 , the lighting module includes a front headlight 205, a front turn signal 206, and side turn signals 202 on both sides; on the front end face of the upper machine cover 106, a depth binocular camera 103, a ventilation opening 201, an LED display screen 111, a front headlight 205, a front turn signal 206, and several front and rear single-line lidars 104 arranged at intervals are successively provided from top to bottom. The LED display screen 111 is connected to the vehicle-mounted industrial computer 404. In the present invention, the LED display screen is adopted to prompt the vehicle to be in autonomous driving; the front headlight and the front turn signal are both arranged on the wire-controlled chassis, and the signal line of the wire-controlled chassis controller is connected to the front headlight and the front turn signal, and the lighting actions of the front headlight and the front turn signal of the wire-controlled chassis can be realized.

[0021] Embodiment 6. On the basis of Embodiment 5, on both the left and right end faces of the upper machine cover 106, side turn signals 202 and a wire-controlled chassis maintenance opening 204 are successively provided from top to bottom. On one side of the wire-controlled chassis maintenance opening 204, a side turn signal 202 is also provided. In the middle of the right end face of the upper machine cover 106, a display 203 is provided, and in the middle of the left end face of the upper machine cover 106, a LOGO is provided. The display 203 is connected to the vehicle-mounted industrial computer 404. In the present invention, the wire-controlled chassis maintenance opening is arranged on the wire-controlled chassis; two groups of side turn signals are respectively arranged on the upper machine cover and the wire-controlled chassis; the display can be used to display advertisements to generate income.

[0022] Embodiment Seven: On the basis of Embodiment Six, the upper machine cover 106 includes a rainproof structure, which is a herringbone structure on the top surface. A multi-line lidar 101 is provided in the middle of the top surface of the herringbone structure. The multi-line lidar 101 is close to the front end surface of the upper machine cover 106, and GPS navigation devices 102 are respectively arranged on the left and right sides of the multi-line lidar 101. In the present invention, a multi-line lidar and GPS navigation devices are arranged on the top surface of the upper machine cover. The multi-line lidar collects distance and reflection intensity information, and combines the rotation or swing of the lidar to generate a three-dimensional map around the vehicle, and realizes positioning and navigation in combination with the GPS navigation device.

[0023] Embodiment Eight: On the basis of Embodiment Six, the vehicle-mounted industrial computer 404 is located inside the upper machine cover 106. The multi-line lidar 101, GPS navigation device 102, depth binocular camera 103, and front and rear single-line lidars 104 are respectively connected to the DC converter control integrated module assembly 402 and the vehicle-mounted industrial computer �04. In the present invention, the multi-line lidar, GPS navigation device, depth binocular camera, and front and rear single-line lidars are respectively connected to the DC converter control integrated module assembly and the vehicle-mounted industrial computer. The vehicle-mounted industrial computer performs environmental modeling on the information collected by the lidar and depth binocular camera, and realizes positioning and navigation in combination with the GPS navigation device.

[0024] Embodiment Nine: On the basis of Embodiment Eight, the DC converter control integrated module assembly 402 is connected to an external vehicle to be charged 5 through a discharge gun 109; the DC converter control integrated module assembly 402 is respectively connected to the cloud platform 4 and the vehicle-mounted industrial computer 404 through the vehicle control panel 107; the DC converter control integrated module assembly 402 is connected to an external charging pile 6 through the power battery charging port 108. In the present invention, an external vehicle to be charged issues an order through the cloud platform. The automatic Al navigation driving module in the upper mounting assembly interacts with the wire-controlled chassis controller through the vehicle-end industrial computer, drives the wire-controlled chassis to drive in front of the external vehicle to be charged, and manually plugs and unplug the discharge gun for charging; at the same time, when the power battery assembly is out of power, the automatic Al navigation driving module in the upper mounting assembly interacts with the wire-controlled chassis controller through the vehicle-end industrial computer, drives the wire-controlled chassis to drive in front of the external charging pile, manually connects the power battery charging port to the external charging pile, and charges the power battery assembly; at the same time, manually plug and unplug the external charging pile, and charge the external vehicle to be charged through the external charging pile.

[0025] Embodiment Ten: On the basis of Embodiment Nine, the vehicle-mounted industrial computer 404, the automatic Al navigation driving module, the thermal management system module 401, and the DC converter control integrated module assembly 402 are connected through a controller area network. In the present invention, the vehicle-mounted industrial computer, the automatic Al navigation driving module, the thermal management system module, and the DC converter control integrated module assembly are connected through a controller area network to realize wheeled Al navigation mobile control.

[0026] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A wheeled Al navigation mobile charging trolley, comprising a trolley body, characterized in that: The car body includes a steer-by-wire chassis, a thermal management system module, an automatic AI navigation and driving module, a lighting module, a power battery module, an on-vehicle industrial computer, and a vehicle control panel. The automatic AI navigation and driving module includes a multi-line lidar, a GPS navigation device, a depth binocular camera, front and rear single-line lidars, a controller, and an IMU inertial navigation controller; the power battery module is connected to a discharge gun; an upper-mounted component is provided outside the steer-by-wire chassis and the frame structure; the controller and the IMU inertial navigation controller are located inside the steer-by-wire chassis, and the front and rear single-line lidars are respectively fixed on the front and rear end faces of the steer-by-wire chassis; inside the steer-by-wire chassis, a wheeled front axle, a chassis power module, and a wheeled rear axle are arranged in sequence from front to back. The chassis power module is connected to the on-vehicle industrial computer, the controller, and the vehicle control panel respectively through the steer-by-wire chassis controller, and the vehicle control panel is connected to the cloud platform; a front axle steering component is provided on the wheeled front axle, and a rear axle drive motor is provided on the wheeled rear axle. The steer-by-wire chassis controller is respectively connected to the front axle steering component and the rear axle drive motor; the front axle steering component controls the driving direction of the steer-by-wire chassis; the rear axle drive motor drives the movement of the steer-by-wire chassis, and the controller is connected to the automatic AI navigation and driving module for guiding and controlling the steer-by-wire chassis to drive the whole vehicle to move.

2. The wheeled Al navigation mobile charging trolley according to claim 1, characterized in that: The power battery module includes a DC converter control integrated module component and a power battery component; a rectangular frame structure is provided on the steer-by-wire chassis. The frame structure is a two-layer structure. Several power battery components are arranged on the lower layer of the two-layer structure, and the thermal management system module and the DC converter control integrated module component are arranged on the upper layer of the two-layer structure. The thermal management system module is connected to the inlet and outlet interfaces of the power battery components for temperature regulation of each power battery; the on-vehicle industrial computer is arranged at the lower part of the rear end face of the frame structure, and the on-vehicle industrial computer is connected to the steer-by-wire chassis controller; the steer-by-wire chassis controller is connected to the IMU inertial navigation controller. Front wheels are respectively arranged at both ends of the wheeled front axle, and rear wheels are respectively arranged at both ends of the wheeled rear axle; the steer-by-wire chassis controller is connected to the electric brake assembly through the brake controller, and the electric brake assembly controls the braking of the steer-by-wire chassis.

3. The wheeled Al navigation mobile charging trolley according to claim 2, characterized in that: Hydraulic shock absorbers and spring shock absorbers are respectively provided on the wheeled front axle and the wheeled rear axle to keep the vehicle stable when passing through potholes, speed bumps, and uphill slopes.

4. The wheeled Al navigation mobile charging trolley according to claim 2, wherein: The upper-mounted component includes an upper machine cover. The upper machine cover wraps outside the frame structure. On the rear end face of the upper machine cover, a vehicle control panel, a gun line fixing seat, a rear integrated light group, and several front and rear single-line lidars arranged at intervals are arranged from top to bottom in sequence. Power battery charging ports and discharge guns are respectively arranged on both sides of the vehicle control panel; the rear integrated light group is an integrated light group of a turn signal, a signal lamp, and a brake lamp.

5. The wheeled Al navigation mobile charging trolley according to claim 4, characterized in that: The lighting module includes a front headlight, a front turn signal, and side turn signals on both sides; on the front end face of the upper machine cover, a depth binocular camera, a ventilation opening, an LED display screen, a front headlight, a front turn signal, and several front and rear single-line lidars arranged at intervals are arranged from top to bottom in sequence. The LED display screen is connected to the on-vehicle industrial computer.

6. The wheeled Al navigation mobile charging trolley according to claim 5, characterized in that: On both left and right side end faces of the upper machine cover, side turn signals and a maintenance opening for the wire-controlled chassis are sequentially arranged from top to bottom. A side turn signal is also arranged on one side of the maintenance opening for the wire-controlled chassis. A display is arranged in the middle of the right end face of the upper machine cover, and a LOGO is arranged in the middle of the left end face of the upper machine cover. The display is connected to the vehicle-mounted industrial computer.

7. The wheeled Al navigation mobile charging trolley according to claim 6, characterized in that: A multi-line lidar is arranged in the middle of the top surface of the upper machine cover. The multi-line lidar is close to the front end face of the upper machine cover, and GPS navigation devices are respectively arranged on the left and right sides of the multi-line lidar.

8. The wheeled Al navigation mobile charging trolley according to claim 6, characterized in that: The vehicle-mounted industrial computer is located inside the upper machine cover. The multi-line lidar, GPS navigation device, depth binocular camera, and front and rear single-line lidars are respectively connected to the DC converter control integrated module assembly and the vehicle-mounted industrial computer.

9. The wheeled Al navigation mobile charging trolley according to claim 8, wherein: The DC converter control integrated module assembly is connected to an external vehicle to be charged through a discharge gun; the DC converter control integrated module assembly is respectively connected to the cloud platform and the vehicle-mounted industrial computer through the vehicle control panel; the DC converter control integrated module assembly is connected to an external charging pile through the power battery charging port.

10. A wheeled Al navigation mobile charging trolley according to claim 9, characterized in that: The vehicle-mounted industrial computer, the automatic Al navigation driving module, the thermal management system module, and the DC converter control integrated module assembly are connected via a controller area network.

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