A charging device and a control method thereof

Abstract

The application relates to the technical field of vehicle charging, in particular to a charging device and a control method thereof. The charging device comprises a charging box, a charging gun wire, a charging gun, a first suspension rod, a second suspension rod, a suspension wire harness, a wire harness storage device, a first driving device and a control device. The charging gun is connected with the charging box through the charging gun wire. The first suspension rod is rotatably connected with the charging box, and the second suspension rod is rotatably connected with the second suspension rod. The suspension wire harness is routed along the first suspension rod and the second suspension rod, and one end of the suspension wire harness is connected with the charging gun wire. The other end of the suspension wire harness and part of the wire harness are stored in the wire harness storage device. The first driving device is drivingly connected with the wire harness storage device. The control device is used for controlling the first driving device to operate, so that the suspension wire harness is released or stored. The control device and the driving device are arranged to provide power assistance, so that the pulling force of the charging gun wire is reduced, and the user's use comfort is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle charging, in particular to a charging device and a control method thereof. BACKGROUND

[0002] With the popularity of electric vehicles, charging piles for charging electric vehicles are gradually built in public places such as parking lots and residential areas; but if the charging gun line of the charging pile is in contact with the ground for a long time, the outer skin of the charging gun line is easy to be exposed, which leads to damage of the charging gun line; in the prior art, there is a structure for suspending the charging gun line to avoid the charging gun line contacting the ground, but in the process of pulling the charging gun line, the user is easy to pull too hard or too soft, which leads to poor user experience. SUMMARY

[0003] In view of the above problems of the prior art, the purpose of the present application is to reduce the pulling force of the charging gun line by setting a control device and a driving device to assist, thereby improving the user's comfort.

[0004] In order to solve the above problems, the present application provides a charging device, comprising a charging box, a charging gun line, a charging gun, a first suspension rod, a second suspension rod, a suspension wire harness, a wire harness storage device, a first driving device and a control device, the charging gun is connected with the charging box through the charging gun line;

[0005] The first suspension rod is rotatably connected with the charging box, and the second suspension rod is rotatably connected with the second suspension rod;

[0006] The suspension wire harness is routed along the first suspension rod and the second suspension rod, one end of the suspension wire harness is connected with the charging gun line; the other end of the suspension wire harness and part of the wire harness are stored in the wire harness storage device; the first driving device is drivingly connected with the wire harness storage device;

[0007] The control device is used for controlling the first driving device to run, so as to release or store the suspension wire harness.

[0008] In the embodiment of the present application, the second suspension rod is provided with a lighting device, and the control device is further used for adjusting the illumination color of the lighting device.

[0009] In the embodiment of the present application, the charging device further comprises a second driving device, and the second driving device is drivingly connected with the first suspension rod;

[0010] The control device is used for controlling the second driving device to run, so as to rotate the first suspension rod relative to the charging box.

[0011] In the embodiment of the present application, the charging device further comprises a fixed base fixed with the charging box and a rotating surface rotating relative to the fixed base;

[0012] The first suspension rod is fixedly connected with the rotating surface at one end close to the charging box, and the first driving device is drivingly connected with the rotating surface.

[0013] In the embodiment of the present application, the charging device further comprises a third driving device drivingly connected with the second suspension rod;

[0014] The control device is configured to control the third driving device to rotate the second suspension rod relative to the first suspension rod.

[0015] In the embodiment of the present application, the first suspension rod is provided with a first rotating shaft at one end close to the charging box, and is provided with a second rotating shaft at one end close to the second suspension rod; the second suspension rod is fixedly connected with the second rotating shaft at one end close to the first suspension rod;

[0016] The third driving device is drivingly connected with the first rotating shaft, and the first rotating shaft rotates synchronously with the second rotating shaft.

[0017] In the embodiment of the present application, the first suspension rod and the second suspension rod are provided with an angle detection device and an angular velocity detection device therebetween;

[0018] The angle detection device is configured to detect the relative angle between the first suspension rod and the second suspension rod, and the angular velocity detection device is configured to detect the relative rotation rate between the first suspension rod and the second suspension rod.

[0019] The control device is further configured to adjust the operation of the first driving device based on the relative angle and the relative rotation rate.

[0020] In the embodiment of the present application, the second suspension rod is provided with a tension detection device, and the tension detection device is electrically connected with the control device;

[0021] The tension detection device is configured to detect tension information of the suspension wire harness.

[0022] The control device is further configured to adjust the operation of the first driving device based on the tension information.

[0023] In the embodiment of the present application, the second suspension rod is provided with a projection device, and the control device is further configured to control the projection operation of the projection device or adjust the image projected by the projection device.

[0024] In another aspect, the embodiments of the present application also provide a control method of a charging device, which is applied to the charging device in the embodiments of the present application, and the method comprises:

[0025] In the case that the first suspension rod moves to the preset position, the first driving device is controlled to operate to release the suspended wire harness in the wire harness storage device;

[0026] Current angle information between the first suspension rod and the second suspension rod is obtained;

[0027] In the case that the current angle information represents that the angle between the first suspension rod and the second suspension rod is greater than or equal to a preset angle, current tension information of the suspended wire harness is obtained;

[0028] The driving voltage of the first driving device is adjusted based on the current tension information.

[0029] Due to the above technical solutions, the charging device provided by the embodiments of the present application has the following beneficial effects:

[0030] By setting the first suspension rod, the second suspension rod and the suspended wire harness, the charging gun wire can be suspended by the suspended wire harness, so as to avoid the charging gun wire being in contact with the ground for a long time and being rubbed with the ground during being pulled, thereby avoiding the outer surface of the charging gun wire from being damaged, further avoiding causing safety accidents such as electric leakage, and further improving the reliability of the charging device.

[0031] By setting the first driving device and the wire harness storage device, in the case that the charging gun wire is pulled, the control device can drive the first driving device to operate to release the suspended wire harness, thereby assisting the user, so as to improve the user's comfort; meanwhile, the first driving device can be driven to operate to store the suspended wire harness, thereby avoiding the charging gun wire being in contact with the ground for a long time, and improving the reliability of the charging device. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0033] Figure 1 is a partial structure schematic diagram of a charging device provided by the embodiments of the present application;

[0034] Figure 2 is a connection structure schematic diagram of a second suspension rod in a charging device provided by the embodiments of the present application;

[0035] Figure 3 is a control flow diagram of a charging device in the process of charging expansion provided by an embodiment of the present application;

[0036] Figure 4 is a control flow diagram of a charging device in the process of charging storage provided by an embodiment of the present application;

[0037] Figure 5 is a control flow diagram of a control method of a charging device provided by an embodiment of the present application;

[0038] Figure 6 is a hardware framework structure diagram corresponding to the control method of the charging device provided by an embodiment of the present application.

[0039] wherein, 1-charging box, 2-first suspension rod, 3-second suspension rod, 4-suspension wire harness, 5-wire harness storage device, 6-first driving device, 7-second driving device, 8-fixed base, 9-rotation surface, 10-third driving device, 11-first rotation shaft, 12-second rotation shaft, 13-angle detection device, 14-angular velocity detection device, 15-suspension device. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0041] The terms "one embodiment" or "an embodiment" as may be used herein as referring to a particular feature, structure, or characteristic including, without limitation, an implementation as can be implemented to produce a device, or a method or process as can be implemented to produce a device, should be understood that structures, features or characteristics as are described herein can be included in any embodiments of methods or devices, and functions finding use in both structures and methodology. Therefore, as used herein, the terms "one embodiment" or "an embodiment" are not to be construed as setting forth a single feature or characteristic only to be utilized in a single embodiment. Rather, the use of the terms "one embodiment" or "an embodiment" is not so limited, and it is understood that one or more features or characteristics from an embodiment can be incorporated into an embodiment of a device or method as can be produced or implemented.

[0042] In combination Figure 1 , a charging device is introduced, which includes a charging box 1, a charging gun wire, a charging gun, a first suspension rod 2, a second suspension rod 3, a suspension wire harness 4, a wire harness storage device 5, a first driving device 6 and a control device. The charging gun is connected with the charging box 1 through the charging gun wire. The first suspension rod 2 is rotatably connected with the charging box 1, and the second suspension rod 3 is rotatably connected with the second suspension rod 3. The suspension wire harness 4 is routed along the first suspension rod 2 and the second suspension rod 3, and one end of the suspension wire harness 4 is connected with the charging gun wire. The other end of the suspension wire harness 4 and part of the wire harness are stored in the wire harness storage device 5. The first driving device 6 is drivingly connected with the wire harness storage device 5. The control device is used for controlling the first driving device 6 to operate, so that the suspension wire harness 4 is released or stored.

[0043] In the embodiment of the present application, the wire harness storage device 5 is used for storing the suspension wire harness 4. In the process of operation of the first driving device 6, the suspension wire harness 4 in the wire harness storage device 5 is released or the suspension wire harness 4 outside the wire harness storage device 5 is stored.

[0044] In the specific embodiment of the present application, the suspension wire harness 4 is arranged in the first suspension rod 2 and the second suspension rod 3.

[0045] In the specific embodiment of the present application, the suspension wire harness 4 is connected with the charging gun wire through a suspension device 15. Specifically, the charging gun wire passes through the suspension device 15.

[0046] In the specific embodiment of the present application, the first suspension rod 2, the second suspension rod 3, the suspension wire harness 4, the wire harness storage device 5 and the first driving device 6 are arranged on the top of the charging box 1.

[0047] In some embodiments of the present application, the first driving device 6 can be a driving motor.

[0048] In some embodiments of the present application, the control device is configured to control the first driving device 6 to release the suspension harness 4 in the wire harness storage device 5 when the first suspension rod 2 moves to the preset position; and adjust the driving voltage of the first driving device 6 based on the relative angle between the first suspension rod 2 and the second suspension rod 3, the preset angle, and the tension information of the suspension harness 4, so as to adjust the release speed of the suspension harness 4; the tension information represents the tension generated after the suspension harness 4 is pulled.

[0049] In some embodiments of the present application, when the charging gun wire is pulled, the first suspension rod 2 of the charging device is preferentially rotated until it moves to the preset position; then the second suspension rod 3 rotates relative to the first suspension rod 2 to adapt to the pulling of the charging gun wire and expand the pulling range of the charging gun wire; during the movement of the second suspension rod 3 relative to the first suspension rod 2, the control device can drive the first driving device 6 to operate synchronously to adapt to the pulling force of the charging gun wire.

[0050] In some embodiments of the present application, the movement of the first suspension rod 2 to the preset position represents the end of the movement process of the first suspension rod 2, and the first suspension rod 2 is in an unfolded state.

[0051] In some embodiments of the present application, the preset position can be that the first suspension rod 2 rotates 110°-130° relative to the charging box 1, and preferably, the preset position is that the first suspension rod 2 rotates 120° relative to the charging box 1.

[0052] In some embodiments of the present application, the control device is configured to obtain the tension information of the suspension harness 4 when the relative angle between the first suspension rod 2 and the second suspension rod 3 is greater than or equal to the preset angle; and adjust the driving voltage of the first driving device 6 based on the tension information of the suspension harness 4, so as to match the release speed of the suspension harness 4 with the tension information of the suspension harness 4; specifically, when the tension value corresponding to the tension information is within a preset range, the greater the tension value corresponding to the tension information, the higher the release speed of the suspension harness 4 by increasing the driving voltage of the first driving device 6; when the tension value corresponding to the tension information is greater than a preset tension value, the operation of the first driving device 6 is stopped, and the suspension harness 4 stops being stored.

[0053] In some embodiments of the present application, the preset range of the tension value corresponding to the tension information of the suspension harness 4 is between 2N and 8N.

[0054] In some embodiments of the present application, the control device is configured to control the lighting device to emit the first preset light when the tension value corresponding to the tension information is greater than the preset range.

[0055] In specific embodiments of the present application, the preset angle can be 35°-45°, preferably, the preset angle can be 40°.

[0056] In specific embodiments of the present application, by matching the release speed of the suspension wire bundle 4 with the tension information of the suspension wire bundle 4, it is possible to avoid excessive pulling force from causing damage to the first suspension rod 2 and the second suspension rod 3, thereby improving the reliability of the charging device.

[0057] In specific embodiments of the present application, the first suspension rod 2 and the second suspension rod 3 are arranged at the top of the charging box 1.

[0058] In embodiments of the present application, by arranging the first suspension rod 2, the second suspension rod 3 and the suspension wire bundle 4, the charging gun wire can be suspended by the suspension wire bundle 4, thereby avoiding the charging gun wire from being in contact with the ground for a long time and avoiding the charging gun wire from being rubbed against the ground during being pulled, thereby avoiding damage to the outer surface of the charging gun wire, and further avoiding causing safety accidents such as electric leakage, thereby improving the reliability of the charging device.

[0059] In embodiments of the present application, by arranging the first driving device 6 and the wire bundle storage device 5, in the case that the charging gun wire is pulled, the control device can drive the first driving device 6 to operate to release the suspension wire bundle 4 and provide assistance to the user, thereby improving the user's comfort; at the same time, the first driving device 6 can also be driven to operate to store the suspension wire bundle 4, thereby avoiding the charging gun wire from being in contact with the ground for a long time, and improving the reliability of the charging device.

[0060] In specific embodiments of the present application, the control device is further configured to control the first driving device 6 to operate to store the suspension wire bundle 4 in the case that the charging gun is disconnected from the vehicle.

[0061] In specific embodiments of the present application, the disconnection of the charging gun from the vehicle indicates the end of the charging phase.

[0062] In specific embodiments of the present application, in the case that the charging phase ends, the suspension wire bundle 4 is automatically stored, thereby avoiding the charging gun wire from being in contact with the ground for a long time, avoiding the charging gun wire from being rubbed against the ground, avoiding damage to the outer surface of the charging gun wire, and further avoiding causing safety accidents such as electric leakage, thereby improving the reliability of the charging device.

[0063] In specific embodiments of the present application, the control device is further configured to adjust the operation of the first driving device 6 in the case that the storage length of the suspension wire bundle 4 does not match the target length, so that the suspension wire bundle 4 repeatedly releases and stores until the storage length matches the target length.

[0064] In the embodiments of the present application, the storage length refers to the actual detected length of the suspension wire harness 4 during storage, and the target length refers to the length of the suspension wire harness 4 that is theoretically stored during storage.

[0065] In the embodiments of the present application, the first driving device 6 is a driving motor, and the wire harness storage device 5 includes a storage shaft, and the suspension wire harness 4 is stored in the wire harness storage device 5 in a manner of being wound on the storage shaft in a coil.

[0066] In the embodiments of the present application, the calculation formula of the target length is:

[0067]

[0068] Among them, the target length, the shaft diameter of the storage shaft, the number of rotations of the first driving device 6.

[0069] In the embodiments of the present application, the storage length is determined by a length detection device, and preferably, the first suspension rod is provided with a length detection device, which can be a displacement sensor or a grating ruler.

[0070] In the embodiments of the present application, the mismatch between the storage length and the target length of the suspension wire harness 4 indicates that the suspension wire harness 4 is wound during storage, and thus the actual storage length of the suspension wire harness 4 does not match the target length.

[0071] In the embodiments of the present application, by repeatedly releasing and storing the suspension wire harness 4 in the case of winding, automatic unwinding is realized, and thus the charging device is prevented from being stuck due to the storage of the suspension wire harness 4, and the reliability of the charging device is improved.

[0072] In the embodiments of the present application, the first driving device 6 can be a rotary motor, and specifically, the forward rotation of the rotary motor releases the suspension wire harness 4, and the reverse rotation of the rotary motor stores the suspension wire harness 4; the control device is used to control the rotation direction of the rotary motor, so as to repeatedly release and / or store the suspension wire harness 4.

[0073] In the embodiments of the present application, the second suspension rod 3 is provided with an illuminating device, and the control device is further used to adjust the illumination color of the illuminating device.

[0074] In the embodiments of the present application, the illuminating device is used to indicate the state of the charging device.

[0075] In the embodiments of the present application, the control device is used to adjust the illumination color of the illuminating device based on the current state of the charging device.

[0076] In specific embodiments of the present application, the control device is configured to control the first driving device 6 to stop running and control the lighting device to emit the first preset light when the tension information of the suspended wire harness 4 is greater than the preset tension. Preferably, the first preset light can be red light or orange light. The tension information of the suspended wire harness 4 greater than the preset tension indicates that the pulling force on the charging gun wire is too large.

[0077] In specific embodiments of the present application, the charging device further comprises a voice broadcast device, and the control device is further configured to control the operation of the voice broadcast device.

[0078] In specific embodiments of the present application, the control device is configured to control the voice broadcast device to emit an alarm voice when the tension information of the suspended wire harness 4 is greater than the preset tension.

[0079] In specific embodiments of the present application, the control device is further configured to control the lighting device to emit the second preset light when the charging gun is connected to the vehicle. Preferably, the second preset light can be yellow light or blue light. The connection of the charging gun to the vehicle indicates that the charging device is charging the vehicle.

[0080] In specific embodiments of the present application, the control device is further configured to control the lighting device to emit the third preset light when the charging gun is inserted into the charging box 1. Preferably, the third preset light can be green light or white light. The insertion of the charging gun into the charging box 1 indicates that the charging device is in standby state.

[0081] In embodiments of the present application, by arranging the lighting device on the second suspension rod 3, the charging device state display convenience can be improved, thereby facilitating the user to perform corresponding operations based on the charging device state, and thereby improving the charging device convenience. In addition, arranging the lighting device on the second suspension rod 3 reduces the device volume of the charging device and reduces the cost of the charging device.

[0082] In embodiments of the present application, the charging device further comprises a second driving device 7, and the second driving device 7 is drivingly connected with the first suspension rod 2. The control device is configured to control the second driving device 7 to operate to rotate the first suspension rod 2 relative to the charging box 1.

[0083] In specific embodiments of the present application, the second driving device 7 is configured to drive the first suspension rod 2 to rotate relative to the charging box 1.

[0084] In specific embodiments of the present application, the control device is further configured to control the second driving device 7 to drive the first suspension rod 2 to rotate relative to the charging box 1 when the charging gun is pulled out of the charging box 1 until the first suspension rod 2 moves to a preset position.

[0085] In the embodiments of the present application, the control device is further configured to control the second driving device 7 to drive the first suspension rod 2 to rotate relative to the charging box 1 to make the first suspension rod 2 return to the initial position from the preset position when the charging gun is disconnected from the vehicle and the relative angle between the second suspension rod 3 and the first suspension rod 2 is less than the preset angle. The disconnection of the charging gun from the vehicle and the relative angle between the second suspension rod 3 and the first suspension rod 2 being less than the preset angle indicates that the second suspension rod 3 is returned to the original position. The initial position is the position of the first suspension rod 2 in the standby state of the charging device.

[0086] In the embodiments of the present application, the second driving device 7 is arranged to actively control the rotation of the first suspension rod 2, thereby avoiding the disorderly movement of the first suspension rod 2 caused by the large pulling force of the charging gun wire and the structural damage caused by the disorderly movement, and improving the reliability of the charging device.

[0087] Reference Figure 2 In the embodiments of the present application, the charging device further comprises a fixed base 8 and a rotating surface 9 fixed to the charging box 1, and the rotating surface 9 rotates relative to the fixed base 8. The end of the first suspension rod 2 close to the charging box 1 is fixedly connected to the rotating surface 9, and the first driving device 6 is drivingly connected to the rotating surface 9.

[0088] In the embodiments of the present application, the fixed base 8 and the rotating surface 9 form a hollow rotating platform, and the end of the first suspension rod 2 is provided with a mounting base fixed to the rotating surface 9.

[0089] In the embodiments of the present application, the fixed base 8 and the rotating surface 9 are arranged in the charging box 1.

[0090] In the embodiments of the present application, the fixed base 8 and the rotating surface 9 are arranged in the charging box 1.

[0091] In the embodiments of the present application, the charging device further comprises a third driving device 10 drivingly connected to the second suspension rod 3, and the control device is configured to control the third driving device 10 to rotate the second suspension rod 3 relative to the first suspension rod 2.

[0092] In the embodiments of the present application, the third driving device 10 is configured to drive the second suspension rod 3 to rotate relative to the first suspension rod 2.

[0093] In the embodiments of the present application, the control device is further configured to adjust the driving voltage of the third driving device 10 based on the relative rotation rate between the first suspension rod 2 and the second suspension rod 3 when the relative angle between the first suspension rod 2 and the second suspension rod 3 is less than the preset angle.

[0094] In the embodiment of the present application, the third driving device 10 is arranged to actively control the second suspension rod 3, thereby avoiding the unordered movement of the second suspension rod 3 caused by the large pulling force of the charging gun wire, avoiding the structural damage caused by the unordered movement, and further improving the reliability of the charging equipment.

[0095] In the embodiment of the present application, the driving voltage of the third driving device 10 is adjusted based on the rotation rate between the first suspension rod 2 and the second suspension rod 3, wherein the rotation rate between the first suspension rod 2 and the second suspension rod 3 is affected by the pulling force of the charging gun wire, thereby matching the active control process of the second suspension rod 3 with the passive pulling process of the second suspension rod 3, and further improving the reliability of the charging equipment.

[0096] In the embodiment of the present application, the first end of the first suspension rod 2 close to the charging box 1 is provided with a first rotating shaft 11, and the second end of the first suspension rod 2 close to the second suspension rod 3 is provided with a second rotating shaft 12; the first end of the second suspension rod 3 close to the first suspension rod 2 is fixedly connected with the second rotating shaft 12; the third driving device 10 is drivingly connected with the first rotating shaft 11, and the first rotating shaft 11 and the second rotating shaft 12 rotate synchronously.

[0097] In the embodiment of the present application, the first rotating shaft 11 and the second rotating shaft 12 can realize synchronous rotation through gears, belts or chains.

[0098] In the embodiment of the present application, the first rotating shaft 11 and the second rotating shaft 12 are arranged to realize the relative rotation between the second suspension rod 3 and the first suspension rod 2, thereby reducing the structure volume for driving the second suspension rod 3 to rotate, and further reducing the volume and cost of the charging equipment.

[0099] In the embodiment of the present application, the angle detection device 13 and the angular velocity detection device 14 are arranged between the first suspension rod 2 and the second suspension rod 3; the angle detection device 13 is used to detect the relative angle between the first suspension rod 2 and the second suspension rod 3; the angular velocity detection device 14 is used to detect the relative rotation rate between the first suspension rod 2 and the second suspension rod 3; and the control device is further used to adjust the operation of the first driving device 6 based on the relative angle and the relative rotation rate.

[0100] In the embodiment of the present application, the angle detection device 13 can be an angle detection sensor, and preferably, the angle detection device 13 is a Hall sensor.

[0101] In the embodiment of the present application, the angular velocity detection device 14 can be a gyroscope.

[0102] In the embodiment of the present application, the control device can be used to adjust the duty cycle of the driving voltage of the third driving device 10 based on the relative angle and the relative rotation rate between the first suspension rod 2 and the second suspension rod 3.

[0103] In specific embodiments of the present application, the control device can control the duty cycle of the driving voltage of the third driving device 10 using a PID control algorithm.

[0104] In specific embodiments of the present application, in the case where the current angle between the first suspension rod 2 and the second suspension rod 3 is less than the maximum rotation angle, the current rotation angular velocity between the second suspension rod 3 and the first suspension rod 2 can be determined using the following formula:

[0105]

[0106]

[0107] wherein, is the current rotation angular velocity between the second suspension rod 3 and the first suspension rod 2; represents the angle difference corresponding to the current time node, wherein, ; represents the maximum rotation angle between the first suspension rod 2 and the second suspension rod 3; represents the current angle between the first suspension rod 2 and the second suspension rod 3; is the first preset coefficient, which is affected by the response speed of the charging device; is the second preset coefficient, which is used to eliminate steady-state error; is the third preset coefficient, which is used to suppress overshoot and oscillation; is the voltage control period.

[0108] In specific embodiments of the present application, the voltage control period can be 10 ms.

[0109] In specific embodiments of the present application, in the case where the current angle between the first suspension rod 2 and the second suspension rod 3 is greater than or equal to the maximum rotation angle, the maximum rotation angle is determined as the current angle between the first suspension rod 2 and the second suspension rod 3.

[0110] In specific embodiments of the present application, in the case where the current rotation angular velocity between the second suspension rod 3 and the first suspension rod 2 calculated based on the above formula is less than the maximum rotation angular velocity, and the current rotation rate between the second suspension rod 3 and the first suspension rod 2 is less than the maximum rate, the duty cycle of the driving voltage of the third driving device 10 is determined based on the following formula:

[0111]

[0112] wherein, is the duty cycle of the driving voltage of the third driving device 10, represents the rotation rate difference corresponding to the current time node; wherein, ; is the maximum rate, is a current rotation rate; is a first preset coefficient, the first preset coefficient is affected by a response speed of the charging device; is a second preset coefficient, the second preset coefficient is used to eliminate a steady-state error; is a third preset coefficient, the third preset coefficient is used to suppress overshoot and oscillation; is a voltage control period.

[0113] In the embodiment of the present application, when the current rotation angular velocity between the second suspension rod 3 and the first suspension rod 2 is greater than or equal to the maximum rotation angular velocity, the duty ratio of the driving voltage of the third driving device 10 is determined as a preset value; preferably, the preset value is 0.

[0114] In the embodiment of the present application, when the current rotation angular velocity between the second suspension rod 3 and the first suspension rod 2 is less than the maximum rotation angular velocity, and the current rotation rate between the second suspension rod 3 and the first suspension rod 2 is greater than or equal to the maximum rate, the maximum rate is determined as the current rotation rate; and the duty ratio of the driving voltage of the third driving device 10 is calculated through the above formula .

[0115] In the embodiment of the present application, by arranging the angle detection device 13 and the angular velocity detection device 14 between the first suspension rod 2 and the second suspension rod 3, the detection accuracy of the angle change between the first suspension rod 2 and the second suspension rod 3 is improved, so that the first suspension rod 2 and the second suspension rod 3 can be actively controlled through the angle change between the first suspension rod 2 and the second suspension rod 3, so that the movement process between the first suspension rod 2 and the second suspension rod 3 is matched with the pulling force of the charging gun wire, and the reliability of the charging device is improved.

[0116] In the embodiment of the present application, the second suspension rod 3 is provided with a tension detection device, and the tension detection device is electrically connected with the control device; the tension detection device is used to detect tension information of the suspension wire harness 4; and the control device is further used to adjust the operation of the first driving device 6 based on the tension information.

[0117] In the embodiment of the present application, the tension detection device can be a tension detection sensor, specifically, it can be a strain gauge type sensor which calculates the tension by measuring the resistance change caused by the stress deformation of the material, or a piezoelectric type sensor which calculates the tension by using the linear relationship between the charge output of the piezoelectric material and the tension received.

[0118] In the embodiment of the present application, by arranging the tension detection device, the tension of the suspension wire harness 4 is monitored, specifically, the tension of the suspension wire harness 4 can represent the pulling force of the charging gun wire, so that the control device can adjust the release rate or the storage rate of the suspension wire harness 4 based on the tension information of the suspension wire harness 4, so that the storage or release of the suspension wire harness 4 matches the actual application scene, and the reliability of the charging device is improved.

[0119] In the embodiment of the present application, the second suspension rod 3 is provided with a projection device, and the control device is further configured to control the operation of the projection device or adjust the image projected by the projection device.

[0120] In the embodiment of the present application, the image can be a preset interesting image or a preset advertising image. Specifically, the control device is configured to obtain a target image from the cloud and store the target image in the storage space of the charging device. In the case that the projection device is running, the target image is projected.

[0121] In the embodiment of the present application, by providing the projection device on the second suspension rod 3, the interesting of the charging device can be improved by the projection device, and the operating cost of the charging device can be reduced.

[0122] In the embodiment of the present application, the second suspension rod 3 is further provided with a heat dissipation device.

[0123] In the embodiment of the present application, the heat dissipation device is configured to dissipate heat for the lighting device and the projection device.

[0124] In the embodiment of the present application, the lighting device and the projection device are integrally arranged on the second suspension rod 3.

[0125] Reference Figures 3-4 The working process and working principle of the charging device provided by the embodiment of the present application are introduced as follows:

[0126] The unfolding process before charging: in the case that the charging gun of the charging device is pulled out from the charging box 1, the second driving device 7 is controlled to operate, so that the first suspension rod 2 is operated to the preset position; in the case that the first suspension rod 2 is operated to the preset position, the operation of the second driving device 7 is stopped, and the first driving device 6 and the third driving device 10 are controlled to operate synchronously; in the case that the relative angle between the first suspension rod 2 and the second suspension rod 3 is greater than the preset angle, the tension information of the suspension wire bundle 4 is obtained; based on the tension information of the suspension wire bundle 4, the driving voltage of the first driving device 6 is adjusted, so that the release speed of the suspension wire bundle 4 matches the tension information of the suspension wire bundle 4; in the case that the tension value corresponding to the tension information is greater than the preset range, the lighting device emits the first preset light. In the process that the second suspension rod 3 rotates relative to the first suspension rod 2, the relative rotation rate between the first suspension rod 2 and the second suspension rod 3 is monitored and obtained, in the case that the relative angle between the first suspension rod 2 and the second suspension rod 3 is less than the preset angle, the driving voltage of the third driving device 10 is adjusted based on the relative rotation rate between the first suspension rod 2 and the second suspension rod 3, until the relative angle between the second suspension rod 3 and the first suspension rod 2 is a target angle, and the target angle is greater than the preset angle; preferably, the preset angle is 40°, and the target angle is 90°.

[0127] When the angle between the second suspension rod 3 and the first suspension rod 2 reaches 90°, the third driving device 10 stops running, and the pulling force of the charging gun line is matched by adjusting the running of the first driving device 6; when the angle between the second suspension rod 3 and the first suspension rod 2 reaches 90°, the projection device is controlled to run; after the charging gun is connected with the vehicle, the first driving device 6 is controlled to stop running.

[0128] The charging process: when the charging gun is connected with the vehicle, the illumination device is controlled to emit the second preset light; during the running of the projection device, the image projected by the projection device can also be adjusted.

[0129] The storage process after the charging is completed: when the charging gun is disconnected with the vehicle, the first driving device 6 is controlled to run to store the suspension wire bundle 4, and then the running of the first driving device 6 is stopped; when the storage length of the suspension wire bundle 4 does not match the target length, the running of the first driving device 6 is adjusted to repeatedly release and store the suspension wire bundle 4 until the storage length matches the target length, and then the running of the first driving device 6 is stopped again; the storage length refers to the actual detected length of the suspension wire bundle 4 during the storage process, and the target length refers to the theoretically stored length of the suspension wire bundle 4 during the storage process; during the storage process of the suspension wire bundle 4, the tension information of the suspension wire bundle 4 is obtained; when the tension value of the suspension wire bundle 4 is greater than a preset range, the first driving device 6 is controlled to stop running, and the illumination device is controlled to emit the first preset light; the running of the projection device is closed.

[0130] When the suspension device 15 of the suspension wire bundle 4 abuts against the second suspension rod 3, the third driving device 10 is controlled to run until the relative angle between the second suspension rod 3 and the first suspension rod 2 is the initial angle. When the relative angle between the second suspension rod 3 and the first suspension rod 2 is the initial angle, the running of the third driving device 10 is stopped, and the second driving device 7 is controlled to run to rotate the first suspension rod 2 to the initial position relative to the charging box 1, and then the running of the second driving device 7 is stopped; this process is opposite to the unfolding process of the first suspension rod 2 and the second suspension rod 3, and will not be described in detail here.

[0131] The standby process: when the charging gun is inserted into the charging box 1, the illumination device is controlled to emit the third preset light.

[0132] The charging equipment provided by the embodiments has the following beneficial effects:

[0133] By arranging the first suspension rod 2, the second suspension rod 3 and the suspension wire bundle 4, the charging gun line can be suspended by the suspension wire bundle 4, so that the charging gun line is prevented from being in contact with the ground for a long time and from being rubbed against the ground during the pulling process, the outer surface of the charging gun line is prevented from being damaged, and then safety accidents such as electric leakage are avoided, and the reliability of the charging equipment is improved.

[0134] By setting the first driving device 6 and the wire harness storage device 5, in the case that the charging gun wire is pulled, the control device can drive the first driving device 6 to operate to release the suspended wire harness 4, assist the user, thereby improving the user's comfort; meanwhile, the first driving device 6 can also be driven to operate to store the suspended wire harness 4, thereby avoiding the charging gun wire from being in contact with the ground for a long time, and improving the reliability of the charging equipment.

[0135] Reference Figure 5 The following introduces a control method of a charging equipment in an embodiment of the present application, which is applied to the charging equipment in the embodiment of the present application. Specifically, a control device of the charging equipment is used to execute the control method. The method comprises the following steps:

[0136] S1001, in the case that the first suspension rod 2 moves to a preset position, the first driving device 6 is controlled to operate to release the suspended wire harness 4 in the wire harness storage device 5.

[0137] S1002, current angle information between the first suspension rod 2 and the second suspension rod 3 is acquired.

[0138] S1003, in the case that the current angle information represents that the angle between the first suspension rod 2 and the second suspension rod 3 is greater than or equal to a preset angle, current tension information of the suspended wire harness 4 is acquired.

[0139] S1004, the driving voltage of the first driving device 6 is adjusted based on the current tension information.

[0140] In the embodiment of the present application, the control method of the charging equipment further comprises the following steps:

[0141] S2001, in response to a power-off instruction, the first driving device 6 is controlled to operate to store the suspended wire harness 4 in the wire harness storage device 5; the power-off instruction represents that the charging gun is disconnected from the vehicle.

[0142] S2002, current storage length and target storage length of the suspended wire harness 4 are acquired.

[0143] S2003, in the case that the current storage length and the target storage length do not match, the first driving device 6 is controlled to operate to release the suspended wire harness 4 in the wire harness storage device 5.

[0144] S2004, in the case that the suspended wire harness 4 in the wire harness storage device 5 is released by a preset length, the first driving device 6 is controlled to operate to store the suspended wire harness 4 in the wire harness storage device 5.

[0145] Repeat execution: S2002-S2004, until the current storage length and the target storage length match.

[0146] In the embodiment of the present application, after S2001, the control method of the charging device further comprises:

[0147] S3001, monitoring current tension information of the suspension wire harness 4.

[0148] S3002, in the case where the tension value corresponding to the current tension information is greater than or equal to the preset tension value, controlling the first driving device 6 to stop running; the tension value corresponding to the current tension information being greater than or equal to the preset tension value indicates that the charging gun line is currently subjected to a larger pulling force.

[0149] S3003, controlling the lighting device to emit a preset warning light; the preset warning light is a first preset light.

[0150] In the embodiment of the present application, the control method of the charging device further comprises:

[0151] In response to the gun insertion instruction, controlling the lighting device to emit a preset standby light; the gun insertion instruction represents an instruction for inserting the charging gun into the charging box 1; the preset standby light is a third preset light.

[0152] In the embodiment of the present application, after S1002, the control method of the charging device further comprises:

[0153] In response to the gun extraction instruction, controlling the second driving device 7 to drive the first suspension rod 2 to rotate relative to the charging box 1, so as to move the first suspension rod 2 to a preset position; the gun extraction instruction represents an instruction for extracting the charging gun from the charging box 1.

[0154] In the embodiment of the present application, the control method of the charging device further comprises:

[0155] S4001, in the case where the current angle information represents that the angle between the first suspension rod 2 and the second suspension rod 3 is less than a preset angle, obtaining a current rotation rate between the first suspension rod 2 and the second suspension rod 3.

[0156] S4002, in the case where the current rotation rate is greater than a preset rotation rate, adjusting the driving voltage of the third driving device 10 based on the current angle information and the preset angle information.

[0157] In the embodiment of the present application, S4002 comprises:

[0158] S5001, in the case where the current rotation rate is greater than the preset rotation rate, determining angle error information based on the current angle information and the preset angle information.

[0159] S5002, performing duty cycle calculation based on the angle error information to obtain a target duty cycle corresponding to the driving voltage of the third driving device 10.

[0160] S5003. Adjust the driving voltage of the third drive device 10 based on the target duty cycle.

[0161] This application also provides an electronic device, which includes a processor and a memory. The memory stores at least one instruction or at least one program. The processor loads and executes the at least one instruction or at least one program to implement the control method of the charging device as described above.

[0162] Memory is used to store software programs and modules. The processor executes these stored software programs and modules to perform various functional applications and data processing. Memory can primarily consist of a program storage area and a data storage area. The program storage area stores the operating system, application programs required for functionality, etc.; the data storage area stores data created based on device usage, etc. Furthermore, memory can include high-speed random access memory (RAM) and non-volatile memory, such as at least one hard disk drive, flash memory, or other volatile solid-state storage devices. Correspondingly, memory can also include a memory controller to provide the processor with access to the memory.

[0163] The methods and embodiments provided in this application can be executed in electronic devices such as mobile terminals, computer terminals, servers, or similar computing devices. Figure 6 This is the electronic device provided in the embodiments of this application. For example... Figure 6 As shown, the electronic device 900 can vary considerably due to differences in configuration or performance. It may include one or more Central Processing Units (CPUs) 910 (CPUs 910 may include, but are not limited to, microprocessors such as MCUs or programmable logic devices such as FPGAs), a memory 930 for storing data, and one or more storage media 920 (e.g., one or more mass storage devices) for storing application programs 923 or data 922. The memory 930 and storage media 920 may be temporary or persistent storage. The program stored in the storage media 920 may include one or more modules, each module may include a series of instruction operations on the electronic device. Furthermore, the CPU 910 may be configured to communicate with the storage media 920 and execute the series of instruction operations in the storage media 920 on the electronic device 900. Electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input / output interfaces 940, and / or one or more operating systems 921, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0164] The input / output interface 940 can be configured to receive or transmit data via a network. The network can include a wireless network provided by a communication provider of the electronic device 900. In an example, the input / output interface 940 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In an example, the input / output interface 940 can be a radio frequency (RF) module that is configured to communicate with the Internet through a wireless manner.

[0165] Those of ordinary skill in the art can understand that, Figure 6 The illustrated structure is merely schematic and does not limit the structure of the electronic device described above. For example, the electronic device 900 can further include more or less components than those shown, or have a different configuration of components than those shown. Figure 6 The illustrated structure is merely schematic and does not limit the structure of the electronic device described above. For example, the electronic device 900 can further include more or less components than those shown, or have a different configuration of components than those shown. Figure 6 The illustrated structure is merely schematic and does not limit the structure of the electronic device described above. For example, the electronic device 900 can further include more or less components than those shown, or have a different configuration of components than those shown.

[0166] The embodiments of the present application also provide a storage medium in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the control method of the charging device as described above.

[0167] The above description has sufficiently disclosed the specific embodiments of the present application. It should be noted that any modification made by those skilled in the art to the specific embodiments of the present application does not deviate from the protection scope of the present application. Accordingly, the protection scope of the present application is not limited to the above specific embodiments.

Claims

1. A charging device, characterized by, The charging box (1), the charging gun line, the charging gun, the first suspension rod (2), the second suspension rod (3), the suspension wire harness (4), the wire harness storage device (5), the first driving device (6), the second driving device (7), the third driving device (10) and the control device are connected; The first suspension rod (2) is rotatably connected with the charging box (1), and the second suspension rod (3) is rotatably connected with the first suspension rod (2); the second driving device (7) is drivingly connected with the first suspension rod (2); The second suspension rod (3) is provided with a tension detection device, and the tension detection device is electrically connected with the control device; the tension detection device is used for detecting tension information of the suspension wire harness (4); the control device is also used for adjusting operation of the first driving device (6) based on the tension information; the third driving device (10) is drivingly connected with the second suspension rod (3); The suspension wire harness (4) is routed along the first suspension rod (2) and the second suspension rod (3), one end of the suspension wire harness (4) is connected with the charging gun line; the other end of the suspension wire harness (4) and part of the wire harness are stored in the wire harness storage device (5); the first driving device (6) is drivingly connected with the wire harness storage device (5); The control device is used for controlling the first driving device (6) to operate, so that the suspension wire harness (4) is released or stored; the control device is used for controlling the second driving device (7) to operate, so that the first suspension rod (2) rotates relative to the charging box (1); the control device is used for controlling the third driving device (10) to operate, so that the second suspension rod (3) rotates relative to the first suspension rod (2).

2. The charging device according to claim 1, characterized in that, The second suspension rod (3) is provided with an illumination device, and the control device is also used for adjusting illumination color of the illumination device.

3. The charging apparatus according to claim 1, characterized by, A fixed base (8) fixed with the charging box (1) and a rotating surface (9) are further included, and the rotating surface (9) rotates relative to the fixed base (8); One end of the first suspension rod (2) close to the charging box (1) is fixedly connected with the rotating surface (9), and the first driving device (6) is drivingly connected with the rotating surface (9).

4. The charging apparatus according to claim 1, characterized by, One end of the first suspension rod (2) close to the charging box (1) is provided with a first rotating shaft (11), and one end of the first suspension rod (2) close to the second suspension rod (3) is provided with a second rotating shaft (12); one end of the second suspension rod (3) close to the first suspension rod (2) is fixedly connected with the second rotating shaft (12); The third driving device (10) is drivingly connected with the first rotating shaft (11), and the first rotating shaft (11) rotates synchronously with the second rotating shaft (12).

5. The charging apparatus according to claim 1, characterized by, The first suspension rod (2) and the second suspension rod (3) are provided with an angle detection device (13) and an angular velocity detection device (14). The angle detection device (13) is configured to detect the relative angle between the first suspension rod (2) and the second suspension rod (3); and the angular velocity detection device (14) is configured to detect the relative rotation rate between the first suspension rod (2) and the second suspension rod (3). The control device is further configured to adjust the operation of the first driving device (6) based on the relative angle and the relative rotation rate.

6. The charging apparatus according to claim 1, characterized by, The second suspension rod (3) is provided with a projection device, and the control device is further configured to control the operation of the projection device or adjust the image projected by the projection device.

7. A control method of a charging device, characterized by, The method is applied to the charging device according to any one of claims 1-6, and the method comprises: In the case that the first suspension rod (2) moves to a preset position, the first driving device (6) is controlled to operate to release the suspension wire harness (4) in the wire harness storage device (5); Current angle information between the first suspension rod (2) and the second suspension rod (3) is acquired; In the case that the current angle information represents that the angle between the first suspension rod (2) and the second suspension rod (3) is greater than or equal to a preset angle, current tension information of the suspension wire harness (4) is acquired; The driving voltage of the first driving device (6) is adjusted based on the current tension information.

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