Vehicle emergency evacuation system and method for new energy vehicle charging test room

Abstract

The invention provides a vehicle emergency evacuation system and method for a new energy vehicle charging test room. The vehicle emergency evacuation system comprises an environment monitoring module, a vehicle moving robot system module, a charging wire harness cut-off module, a test room control module and a control box module. The environment monitoring module collects environment parameters of a test room and state parameters of a test vehicle in real time. The vehicle moving robot system module serves as an execution mechanism and is responsible for transferring a test vehicle from a test position to a safe area. The charging wire harness cut-off module is used for cutting off the connection between the vehicle and the charging equipment before evacuation; the laboratory control module serves as a laboratory power supply and a roller shutter door control switch; the control box module provides an operation interface, which is convenient for workers to carry out control, manual operation and state monitoring. The system has the beneficial effects that the environment state can be monitored in real time, automatic linkage control is realized, a redundant backup mechanism is provided, and the safety protection capability of the laboratory is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of safety protection of new energy vehicle laboratory, in particular to a vehicle emergency evacuation system and method for new energy vehicle charging laboratory. BACKGROUND

[0002] With the rapid development of new energy vehicle industry, the research and development and testing demand of new energy vehicle charging technology are increasing day by day. The safety protection of new energy vehicle charging laboratory is particularly important as the core place for carrying out charging performance, battery safety and other tests. During the test in the laboratory, the test vehicle may cause battery thermal runaway due to charging overload, battery aging, short circuit and other problems, and then produce high temperature, smoke, flammable gas and even explosion. If the test vehicle cannot be evacuated from the laboratory in time, it will lead to the expansion of the accident range, causing equipment damage, personnel casualties and other serious consequences.

[0003] Problems existing in the prior art: The safety protection measures of the existing new energy vehicle charging laboratory are mostly focused on passive protection such as fire extinguishing and smoke exhaust, and lack of active evacuation system for test vehicles. Some laboratories rely on manual pushing of vehicles to evacuate, but manual operation is low in efficiency and poor in safety in emergency. A few laboratories set up simple track conveying devices, but they cannot realize automatic linkage control combined with environmental monitoring, and cannot reliably operate in extreme conditions such as power interruption and equipment failure, so they are difficult to meet the demand of emergency evacuation. SUMMARY

[0004] Therefore, the present application aims to provide a vehicle emergency evacuation system and method for new energy vehicle charging laboratory to solve at least one of the above problems existing in the prior art.

[0005] To achieve the above purpose, the technical scheme of the present application is as follows: In a first aspect, the present application provides a vehicle emergency evacuation system for new energy vehicle charging laboratory, comprising an environmental monitoring module, a car moving robot system module, a charging wire harness cutting module, a laboratory control module and a control box module. The environmental monitoring module, the car moving robot system module and the charging wire harness cutting module are connected with the laboratory control module; the environmental monitoring module, the car moving robot system module, the charging wire harness cutting module and the laboratory control module are connected with the control box module. The environment monitoring module is used for collecting the environmental parameters inside the new energy vehicle charging test room and the battery state parameters of the test vehicle in real time; the car moving robot system module is used for contacting the bottom of the test vehicle and lifting the vehicle, and cooperates with movement to realize the translation and steering of the vehicle; the charging wire harness cutting module is used for realizing the quick disconnection function of the charging wire harness; the test room control module is used for controlling the power supply of the test room and the vehicle access roll-up door; and the control box module is used for receiving and displaying the parameter data transmitted by the environment monitoring module, and displaying the action state of each system through the system state indicator light; The car moving robot system module comprises a car moving robot and a robot path. The car moving robot comprises a moving chassis, a lifting mechanism, a robot control unit, a communication module, an optical scanner, a Hall sensor and a camera; the moving chassis is equipped with driving wheels and steering wheels, the lifting mechanism is installed on the moving chassis, and the lifting mechanism comprises a mechanical lifting lifting support rod and a support plate. The robot path comprises a steel seal two-dimensional code and a magnetic guide line, the steel seal two-dimensional code is arranged according to intervals along the moving path of the car moving robot on the ground, and the magnetic guide line has a low-frequency current and is arranged on the moving path of the car moving robot on the ground.

[0006] Further, the moving chassis is used to realize the movement and steering of the robot; the lifting mechanism is used to lift the test vehicle; the robot control unit is used to receive the instructions of the test room control module to control the movement of the moving chassis and the lifting mechanism; the communication module is used for data communication with the test room control module and transmits the camera image; the optical scanner is used to detect the steel seal two-dimensional code on the moving path to identify the deviation state of the vehicle and the path; the Hall sensor is used to sense the deviation of the magnetic guide line path to realize the path correction and navigation function; and the camera is used to shoot the road surface state in front of the car moving robot to assist the step-by-step operation function.

[0007] Further, the environment monitoring module comprises a multi-point temperature sensor, a smoke sensor, a combustible gas sensor and a battery state collector. The multi-point temperature sensor is uniformly arranged near the test room top, side wall and track conveying module; the smoke sensor is installed on the test room top and above the charging equipment; the combustible gas sensor is arranged near the battery compartment of the test vehicle; and the battery state collector communicates with the battery management system of the test vehicle through a wired mode. The multi-point temperature sensor is used to collect temperature data in different areas; the smoke sensor is used to detect the smoke concentration; the combustible gas sensor is used to detect the combustible gas concentration; and the battery state collector is used to obtain the real-time state parameters of the battery.

[0008] Further, the car moving robot system module further comprises a robot remote controller; The robot remote controller supports wireless control signal and video signal transmission. The robot remote controller is used for controlling the one-key automatic path finding work or manual remote control of the car moving robot.

[0009] Further, the charging harness cutting module comprises a mechanical cutting mechanism, an electrical disconnecting unit and a state detection assembly. The mechanical cutting mechanism comprises a cylinder and a double compression copper plate, the cylinder is connected with the double compression copper plate, and the double compression copper plate is connected with the harness circuit; the electrical disconnecting unit comprises an electromagnetic relay, the electromagnetic relay is connected with the charging circuit; the state detection assembly comprises a proximity sensor, the proximity sensor is used for detecting the connection state of the charging harness and feeding back the state information to the laboratory control module in real time.

[0010] Further, the laboratory control module comprises a laboratory power management switch, a laboratory roller shutter door control switch and a laboratory roller shutter door motor control module. The laboratory power management switch is used for one-key disconnecting the power switches of all electrical equipment in the laboratory; the laboratory roller shutter door control switch is used for one-key lifting the vehicle access roller shutter door of the laboratory; and the laboratory roller shutter door motor control module is used for controlling the rotating speed of the roller shutter door motor.

[0011] Further, the control box module comprises an emergency start button, an emergency stop button, a reset button, a state indicating lamp and a touch display screen; the state indicating lamp comprises a charging harness cutting state indicating lamp, a roller shutter door lifting state indicating lamp and a car moving robot motion state indicating lamp. The emergency start button is used for manually triggering an emergency evacuation instruction; the emergency stop button is used for stopping all actions of the system in an emergency; the reset button is used for resetting the system after the emergency state is removed; the state indicating lamp is used for indicating the running state of the system; and the touch display screen is used for displaying environmental parameters, vehicle state and evacuation progress information.

[0012] Further, the sound and light alarm module and the video monitoring module are further comprised, and the sound and light alarm module and the video monitoring module are connected with the laboratory control module. The sound and light alarm module is used for emitting a sound and light alarm signal when the emergency evacuation instruction is triggered; and the video monitoring module is used for collecting video images of the interior of the laboratory and the safety area in real time.

[0013] In a second aspect, based on the same aspect, the application further provides a vehicle emergency evacuation method for a new energy vehicle charging laboratory, comprising the following steps: S1, the environmental monitoring module collects the environmental parameters and the state parameters of the test vehicle in the laboratory in real time, and transmits the parameters to the laboratory control module; the control box module collects and arranges the parameters and displays them; the car moving robot is in standby state and is parked in the designated parking area; S2, if the environmental monitoring module detects that the environmental parameters or the vehicle state parameters exceed the safety threshold, an emergency evacuation instruction is triggered, and the next step S3 is executed; otherwise, jump to step S1 for execution; S3, if it is determined that the system is one-key control, the system automatically executes steps S4 to S7; if it is determined that the system is step-by-step control, steps S4 to S7 are executed by clicking the switch in turn; S4, the laboratory control module controls the sound and light alarm module to start and issue a sound and light alarm signal; S5, the laboratory control module controls the power-off of the laboratory electrical equipment and the action and speed of the roller shutter door rising; S6, the control box module sends an instruction to the charging wire harness cutting module, first controls the electrical disconnect unit to cut off the charging circuit, and then controls the mechanical cutting mechanism to cut off the charging wire harness; S7, the charging wire harness cutting module feeds back a cutting completion signal to the laboratory control module; S8, if it is determined that the automatic operation mode, the system automatically executes steps S9 to S12; if it is determined that the remote control operation mode, the robot remote control sends an instruction to the car moving robot system module, and then steps S9 to S12 are executed; S9, start the car moving robot, and move to the test vehicle below along the set path based on the PID control algorithm; S10, the car moving robot lifts the test vehicle to a set height through the lifting mechanism; S11, the car moving robot cooperates to transfer the test vehicle to a safe area along the set path based on the PID control algorithm; S12, after reaching the safe area, the car moving robot lowers the lifting mechanism and places the test vehicle in a safe position; S13, the laboratory control module records the relevant data of the evacuation process.

[0014] Further, in step S9 or step S11, the PID control algorithm includes a position closed-loop PID control algorithm and a speed closed-loop PID control algorithm.

[0015] Compared with the prior art, the vehicle emergency evacuation system and method for the new energy vehicle charging laboratory of the application has the following beneficial effects: (1) The system can quickly and safely evacuate the test vehicle to a safe area in case of an emergency in the new energy vehicle charging test laboratory, which effectively improves the safety protection level of the test laboratory and has high practical value.

[0016] (2) The vehicle transfer is achieved by using a vehicle moving robot system module. Compared with the traditional track-type evacuation system, it has higher flexibility and can adapt to different types of vehicles and complex laboratory layouts.

[0017] (3) The system realizes a fully automated emergency evacuation process. From the detection of the emergency to the transfer of the vehicle to the safe area, no manual intervention is required, which improves the evacuation efficiency and reduces the risk of casualties.

[0018] (4) The charging harness cutting module adopts a mechanical cutting method to ensure that the connection between the vehicle and the charging equipment can be safely and reliably cut off before evacuation.

[0019] (5) The system combines stamped QR codes and magnetic wires, which improves the navigation accuracy and reliability of the vehicle moving robot and ensures that the vehicle can reach the safe area accurately and safely.

[0020] (6) A control box module was set up, providing a manual operation interface. When the automatic control system malfunctions, staff can manually trigger or stop the evacuation operation, which improves the reliability of the system.

[0021] (7) The system can monitor the laboratory environment and vehicle status in real time, and provide comprehensive status information through the status display screen and video monitoring module, so that staff can understand the situation in a timely manner and make decisions. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Fig. 1 This is a schematic diagram of the overall process described in an embodiment of the present invention; Fig. 2 This is a schematic diagram illustrating the collaborative operation of a robot and a roller shutter door as described in an embodiment of the present invention. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0024] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0025] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances.

[0026] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0027] As shown in Figs. 1-2 A vehicle emergency evacuation system and method for new energy vehicle charging laboratory.

[0028] A vehicle emergency evacuation system for new energy vehicle charging laboratory, comprising an environment monitoring module, a car moving robot system module, a charging wire harness cutting module, a laboratory control module and a control box module.

[0029] The environmental monitoring module is used for real-time collection of environmental parameters in the new energy vehicle charging test room and battery state parameters of the test vehicle, to provide a basis for emergency condition determination. The environmental parameters include test room temperature, smoke concentration, and flammable gas concentration. The battery state parameters include battery temperature, voltage, cell voltage difference, and thermal runaway early warning signal. The car moving robot system module serves as an execution mechanism, responsible for moving the test vehicle from the test position to the safe area. The car moving robot system module can contact the bottom of the test vehicle and lift the vehicle, and can move cooperatively to realize the translation and steering of the vehicle. The car moving robot can realize one-key automatic moving and manual step-by-step moving. The charging wire harness cutting module is used to realize the quick disconnection function of the charging wire harness. In the case of vehicle emergency, one-key physical disconnection of the charging circuit can be realized. The test room control module is connected with the environmental monitoring module, the car moving robot system module, and the charging wire harness cutting module. The test room control module controls the test room power supply and the vehicle access roller shutter door. In the case of emergency evacuation, the test room power supply can be cut off by one key, and the roller shutter door can also be controlled to rise and fall. The control box module is connected with the environmental monitoring module, the car moving robot system module, the charging wire harness cutting module, and the test room control module. It is used to receive and display the parameter data transmitted by the environmental monitoring module, and displays the action state of each system through the system state indicator light. It is provided with system control buttons (one-key action button, high-voltage system emergency stop switch, charging wire harness cutting button, and roller shutter door start switch). The system can work automatically in sequence through the one-key action button, or can be controlled step by step through the control switches of each part.

[0030] The specific implementation is as follows: A1, environmental monitoring module The environmental monitoring module includes multi-point temperature sensors, smoke sensors, flammable gas sensors, and battery state collectors. The multi-point temperature sensors are evenly arranged near the test room top, side wall, and track conveying module, and adopt optical fiber temperature sensors or thermocouple sensors to collect temperature data of different areas and monitor the temperature changes of different areas of the test room in real time. The smoke sensors are installed on the top of the test room and above the charging equipment to detect smoke concentration. The smoke sensors adopt photoelectric smoke sensors and can quickly detect smoke in the test room. The flammable gas sensors are arranged near the battery compartment of the test vehicle and adopt electrochemical sensors to detect the concentration of flammable gases such as hydrogen and methane. The battery state collector communicates with the BMS (battery management system) of the test vehicle through the CAN bus to obtain real-time state parameters of the battery (such as battery temperature, charging current, and charging voltage).

[0031] A2, car moving robot system module The car-moving robot system module includes a robot remote control, a car-moving robot, and a robot path. The car-moving robot includes a mobile chassis, a lifting mechanism, a robot control unit, a communication module, an optical scanner, a Hall sensor, and a camera. The robot path includes a stamped QR code and a magnetic wire.

[0032] The mobile chassis is equipped with drive wheels and steering wheels for robot movement and steering. Its omnidirectional wheel design allows for all-around movement and steering. A lifting mechanism, mounted on the mobile chassis, includes mechanical lifting struts and a support plate. Driven by the mechanical struts, it lifts the support plate, thus raising the test vehicle. The robot control unit controls the movement of the mobile chassis and lifting mechanism. Employing a microprocessor, it receives and executes instructions from the laboratory control module. The communication module uses wireless communication technology to enable data transmission between robots and between the robot and the laboratory control module. It also features camera image transmission, sending video signals to the remote control display. An optical scanner detects the stamped QR codes on the movement path to identify vehicle and path deviation. A Hall effect sensor detects magnetic guide path deviation, enabling path correction and navigation. A camera captures images of the road surface in front of the robot, supporting manual step-by-step operation.

[0033] A3, Robot Path The robot path is a route planning system for the safe evacuation of vehicles from the laboratory. It enables the robot to enter the laboratory, move to the vehicle chassis, move the vehicle out of the laboratory, and then move to a safe processing area. The robot path consists of a stamped QR code and magnetic guide wires, providing navigation for the robot.

[0034] Stamped QR codes are placed at intervals along the movement path on the ground. The robot can navigate by scanning the QR codes using a front-mounted scanning device. Magnetic conductors carrying low-frequency current are placed on the ground along the movement path, generating an alternating magnetic field around them. Hall effect sensors on the bottom of the robot can detect the strength and phase changes of the magnetic field to determine its relative position to the magnetic conductor in real time (such as whether it has deviated from the course), thus achieving precise navigation. The stamped QR codes and magnetic conductors together form the robot's path, with magnetic conductor navigation as the primary method and stamped QR codes as a secondary method, achieving a redundant and safe design.

[0035] A4. Charging harness cutting module The charging harness cutting-off module is installed at the harness outlet of the charging device, and includes a mechanical cutting-off mechanism, an electrical cutting-off unit and a state detection assembly. The mechanical cutting-off mechanism is composed of a gas cylinder and double compression copper plates. The charging harness passes through the compression copper plate electrodes to realize the conduction of the harness circuit. In an emergency, the gas cylinder contracts, and the upper compression copper plate is quickly lifted to cut off the charging harness. The electrical cutting-off unit adopts a high-capacity electromagnetic relay, which can cut off the charging circuit before the mechanical cutting-off, to ensure the safety of the cutting-off process. The state detection assembly adopts a proximity sensor, which can detect the connection state of the charging harness and feed back the state information to the laboratory control module in real time.

[0036] A5, laboratory control module The laboratory control module includes a laboratory power management switch, a laboratory roller shutter door control switch and a laboratory roller shutter door motor control module.

[0037] The laboratory power management switch is used to disconnect the power supply of all electrical equipment in the laboratory at one key. In an emergency in the laboratory, the power supply can be cut off.

[0038] The laboratory roller shutter door control switch is used to raise the vehicle access roller shutter door of the laboratory at one key. In an emergency in the laboratory, the roller shutter door can be raised through the switch, and the robot can freely enter and pull out the test vehicle.

[0039] The laboratory roller shutter door motor control module is used to control the speed of the roller shutter door motor, so as to control the raising speed of the roller shutter door. When the robot enters the laboratory, the height of the roller shutter door is higher than the height of the robot itself. When the robot and the lifted vehicle are withdrawn from the laboratory, the height of the roller shutter door is much higher than the top of the lifted vehicle, to avoid the ignition of the roller shutter door by a flame.

[0040] A6, control box module The control box module is installed at the entrance of the laboratory and in the monitoring room, and includes an operation panel and a touch display screen. The operation panel is provided with an emergency start button, an emergency stop button and a reset button, which are used for manual operation by workers. The state indicating lamp includes a charging harness cutting-off state indicating lamp, a roller shutter door raising state indicating lamp and a robot movement state indicating lamp, which indicate the running state of the system through different colors: green indicates normal, and yellow indicates fault. The touch display screen can display environmental parameters, vehicle state and evacuation progress in real time, to facilitate the workers to monitor the running state of the system.

[0041] In addition, the system can further include an audible and light alarm module and a video monitoring module. The audible and light alarm module is electrically connected with the laboratory control module, and when an emergency evacuation instruction is triggered, an intense audible and light alarm signal is sent to remind personnel inside and outside the laboratory to pay attention to safety; the video monitoring module is electrically connected with the laboratory control module and is composed of multiple high-definition cameras, and can collect video images of the inside of the laboratory and the safety area in real time, facilitating remote monitoring of the evacuation process by the staff.

[0042] A vehicle emergency evacuation method for a new energy vehicle charging laboratory, comprising the following steps: S1, the environmental monitoring module collects the environmental parameters of the laboratory and the state parameters of the test vehicle in real time, and transmits the parameters to the laboratory control module; the control box module collects and arranges the parameters and displays them; the car moving robot is in standby state and parked in the designated parking area; S2, if the environmental monitoring module detects that the environmental parameters or the vehicle state parameters exceed the safety threshold, an emergency evacuation instruction is triggered, and the next step S3 is executed; otherwise, step S1 is executed; S3, if it is determined that the system is one-key control, the system automatically executes steps S4 to S7; if it is determined that the system is step-by-step control, steps S4 to S7 are executed by clicking the switches in sequence; the determination basis is mainly the abnormal state of the test vehicle battery, if the test laboratory technician or the environmental monitoring system determines that the abnormal state is serious and the personnel need to evacuate as soon as possible, the one-key control of the system is started, otherwise the step-by-step control of the system is executed; S4, the laboratory control module controls the audible and light alarm module to start and send an audible and light alarm signal; S5, the laboratory control module controls the actions and speed of the power-off of the laboratory electrical equipment and the rising of the roller shutter door; S6, the control box module sends an instruction to the charging wire bundle cutting module, first controls the electrical disconnecting unit to cut off the charging circuit, and then controls the mechanical cutting mechanism to cut off the charging wire bundle; S7, the charging wire bundle cutting module feeds back a cutting completion signal to the laboratory control module; S8, if it is determined that the automatic operation mode is selected, the system automatically executes steps S9 to S12; if it is determined that the remote control operation mode is selected, the robot remote controller sends an instruction to the car moving robot system module, and then steps S9 to S12 are executed; S9, the car moving robot is started and moves to the underbody of the test vehicle based on a PID control algorithm along a set path; S10, the car moving robot lifts the test vehicle to a set height through a lifting mechanism; S11, the car moving robot cooperates to transfer the test vehicle to a safety area along a set path based on a PID control algorithm; S12, after reaching the safety area, the car moving robot lowers the lifting mechanism and places the test vehicle in a safe position; S13, the laboratory control module records the relevant data of the evacuation process.

[0043] The specific implementation of the control algorithm is as follows: The car moving robot needs to realize position tracking and speed regulation, and the core adopts a PID control algorithm.

[0044] C1, position closed-loop PID control (path tracking) Used to control the precise movement of the car moving robot along the path (magnetic guide wire and steel two-dimensional code belt), and to eliminate the deviation between the actual position and the target position.

[0045] Deviation definition: Let the target position at the kth moment be r(k), and the actual position detected by the optical scanner or Hall sensor be y(k), then the expression of the position deviation is as follows: e(k)=r(k)-y(k); Position loop PID control output: The position PID algorithm is adopted, and the output directly controls the steering angle or displacement of the drive wheel, and the expression is as follows: ; In the formula, : Position loop proportional coefficient (main response speed, typical value 0.8-2.5); : Position loop integral coefficient (eliminate static deviation, typical value 0.05-0.2); : Position loop differential coefficient (suppress overshoot, typical value 0.1-1.0); T : Control period (sampling time, usually 0.01-0.1 seconds); : Position deviation at the (k-1)th moment; : Position deviation at the kth moment; : Position deviation at the i-th sampling moment.

[0046] C2, speed closed-loop PID control (movement stability) Deviation definition: Let the target speed at the kth moment be , and the actual speed detected by the wheel speed encoder be v(k), then the expression of the speed deviation is as follows: ; speed loop PID control output The incremental PID algorithm is adopted, and the output quantity is the PWM duty cycle increment of the driving motor, and the expression is as follows: ; The expression of the final control quantity is: ; In the formula, : speed loop proportional coefficient (typical value 0.3-1.2); : speed loop integral coefficient (typical value 0.01-0.1); : speed loop differential coefficient (typical value 0.05-0.5); , : speed deviation of the previous 1, 2 times; : control output at the k-1 time.

[0047] Collaborative control algorithm of robot and roller shutter door: Control algorithm of robot movement: The expression of robot outdoor movement is as follows: L1=V1×T1; In the formula, L1 is the distance of robot outdoor movement, V1 is the speed of robot outdoor movement, and T1 is the time of robot outdoor movement, which is also the time of roller shutter door rising before the robot enters the indoor.

[0048] When the robot moves from the roller shutter door to the car in the indoor, the expression of the distance L2 of the robot indoor movement is as follows: L2=V2×T2; In the formula, V2 is the speed of the robot moving from the roller shutter door to the car in the indoor, and T2 is the time of the robot moving from the roller shutter door to the car in the indoor.

[0049] The expression of robot lifting movement is as follows: h1+△h1=V3×T3; In the formula, h1 is the height from the car bottom to the robot, △h1 is 3cm~8cm, V3 is the speed of robot lifting, and T3 is the time of robot lifting.

[0050] When the robot moves from the car to the roller shutter door in the indoor, the expression of the distance L2 of the robot indoor movement is as follows: L2=V4×T4; In the formula, V4 is the speed of the robot moving from the car to the roller shutter door in the indoor, and T4 is the time of the robot moving from the car to the roller shutter door in the indoor.

[0051] Control algorithm of roller shutter door rising: Before the robot enters the indoor, the expression of the roller shutter door rising height is as follows: H1=V5×T1=M+△h2; In the formula, H1 is the height of the roller shutter door rising before the robot enters the indoor, V5 is the speed of the roller shutter door rising, M is the height of the robot itself, and △h2≥2cm.

[0052] Before the robot withdraws from the indoor, the expression of the roller shutter door rising height is as follows: H2=V5×(T1+T2+T3+T4)=M+N+h1+△h1+△h3; In the formula, H2 is the height of the roller shutter door rising before the robot withdraws from the indoor, V5 is the speed of the roller shutter door rising, T1 is the time of the robot moving outdoors, also the time of the roller shutter door rising before the robot enters the indoor, T2 is the time of the robot moving from the roller shutter door to the car in the indoor, T3 is the time of the robot lifting, T4 is the time of the robot moving from the car to the roller shutter door in the indoor, M is the height of the robot itself, N is the height of the car body itself, h1 is the height from the car bottom to the robot, △h1 is 3cm~8cm, and △h3≥50cm.

[0053] As shown in Fig. 2 Fig. 1, a is a roller shutter door, and b is a robot, and based on the collaborative control algorithm, the collaborative working process of the robot and the roller shutter door includes: 1. When the robot is ready to enter the indoor, the roller shutter door needs to be raised to a position slightly higher than the height of the robot, and both need to be started synchronously.

[0054] 2. When the robot moves the car out, the height of the roller shutter door needs to be greater than the height of the car after being lifted, and should be raised as high as possible to avoid the flame igniting the roller shutter door.

[0055] Advantages and beneficial effects of the present application: (1) The system can quickly and safely evacuate the test vehicle to a safe area in the event of an emergency in the new energy vehicle charging test room, effectively improving the safety protection level of the test room, and having high practical value.

[0056] (2) The vehicle transfer is realized by using the car moving robot system module, which has higher flexibility compared with the traditional track type evacuation system, and can adapt to different types of vehicles and complex test room layouts.

[0057] (3) The system realizes a fully automated emergency evacuation process, from emergency detection to vehicle transfer to a safe area without manual intervention, improving evacuation efficiency and reducing personnel casualty risk.

[0058] (4) The charging wire harness cutting module adopts a mechanical cutting method to ensure that the connection between the vehicle and the charging device can be safely and reliably cut off before evacuation.

[0059] (5) The system combines steel seal two-dimensional code and magnetic guide wire to improve the navigation accuracy and reliability of the tow robot, ensuring that the vehicle can accurately and safely reach the safety area.

[0060] (6) The control box module is provided to provide a manual operation interface. When the automatic control system fails, the staff can manually trigger or stop the evacuation operation, improving the reliability of the system.

[0061] (7) The system can monitor the laboratory environment and vehicle status in real time, and provide comprehensive status information through the status display screen and video monitoring module, so that the staff can understand the situation in time and make decisions.

[0062] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle emergency evacuation system for a new energy vehicle charging laboratory, characterized in that: The environment monitoring module, the car-moving robot system module, the charging harness cutting module, the laboratory control module and the control box module are connected with each other. The environment monitoring module, the car-moving robot system module and the charging harness cutting module are connected with the laboratory control module; and the environment monitoring module, the car-moving robot system module, the charging harness cutting module and the laboratory control module are connected with the control box module. The environment monitoring module is used for collecting the environmental parameters and the battery state parameters of the test vehicle in the new energy vehicle charging laboratory in real time; the car-moving robot system module is used for contacting the bottom of the test vehicle and lifting the vehicle, and is used for moving cooperatively to realize the translation and steering of the vehicle; the charging harness cutting module is used for realizing the quick cutting function of the charging harness; the laboratory control module is used for controlling the power supply of the laboratory and the rolling door for the vehicle; and the control box module is used for receiving and displaying the parameter data transmitted by the environment monitoring module, and displaying the action state of each system through the system state indicator. The charging harness cutting module comprises a mechanical cutting mechanism, an electrical disconnecting unit and a state detection assembly. The mechanical cutting mechanism comprises a cylinder and a double-pressing copper plate, the cylinder is connected with the double-pressing copper plate, and the double-pressing copper plate is used for conducting the harness circuit; the electrical disconnecting unit comprises an electromagnetic relay, and the electromagnetic relay is used for conducting the charging circuit; and the state detection assembly comprises a proximity sensor, which is used for detecting the connection state of the charging harness and feeding back the state information to the laboratory control module in real time.

2. The vehicle emergency evacuation system for a new energy vehicle charging test room according to claim 1, characterized in that: The car-moving robot system module comprises a car-moving robot and a robot path. The car-moving robot comprises a mobile chassis, a lifting mechanism, a robot control unit, a communication module, an optical scanner, a Hall sensor and a camera; the mobile chassis is provided with driving wheels and steering wheels, the lifting mechanism is installed on the mobile chassis, and the lifting mechanism comprises a mechanical lifting lifting support rod and a support plate; The robot path comprises a steel seal two-dimensional code and a magnetic guide line, the steel seal two-dimensional code is arranged at intervals along the moving path of the car-moving robot on the ground, and the magnetic guide line is provided with a low-frequency current and is arranged on the moving path of the car-moving robot on the ground.

3. The vehicle emergency evacuation system for new energy vehicle charging test room according to claim 2, characterized in that: The mobile chassis is used for realizing the movement and steering of the robot; the lifting mechanism is used for lifting the test vehicle; the robot control unit is used for receiving the instructions of the laboratory control module and controlling the movement of the mobile chassis and the lifting mechanism; the communication module is used for data communication with the laboratory control module and for transmitting the camera image; the optical scanner is used for detecting the steel seal two-dimensional code on the moving path and identifying the deviation state of the vehicle and the path; the Hall sensor is used for sensing the deviation of the magnetic guide line path, realizing the path correction and navigation function; and the camera is used for shooting the road surface state in front of the car-moving robot and assisting the step-by-step operation function.

4. The vehicle emergency evacuation system for new energy vehicle charging test room according to claim 1, characterized in that: The environment monitoring module comprises a multi-point temperature sensor, a smoke sensor, a combustible gas sensor and a battery state collector. The multi-point temperature sensor is arranged uniformly on the top of the test chamber, the side wall and the vicinity of the track conveying module; the smoke sensor is installed on the top of the test chamber and above the charging device; the combustible gas sensor is arranged close to the battery cabin of the test vehicle; the battery state collector communicates with the battery management system of the test vehicle through a wired mode; The multi-point temperature sensor is used for collecting temperature data of different areas; the smoke sensor is used for detecting smoke concentration; the combustible gas sensor is used for detecting combustible gas concentration; and the battery state collector is used for acquiring real-time state parameters of the battery.

5. The vehicle emergency evacuation system for new energy vehicle charging test room according to claim 1, characterized in that: The car moving robot system module further comprises a robot remote controller; The robot remote controller supports wireless control signal and video signal transmission; The robot remote controller is used for controlling the one-key automatic path finding work or manual remote control of the car moving robot.

6. The vehicle emergency evacuation system for new energy vehicle charging test room according to claim 1, characterized in that: The test chamber control module comprises a test chamber power management switch, a test chamber roller shutter door control switch and a test chamber roller shutter door motor control module; The test chamber power management switch is used for one-keyly disconnecting the power switches of all electrical equipment in the test chamber; the test chamber roller shutter door control switch is used for one-keyly lifting the roller shutter door for the test vehicle to enter and exit the test chamber; and the test chamber roller shutter door motor control module is used for controlling the rotating speed of the roller shutter door motor.

7. The vehicle emergency evacuation system for new energy vehicle charging test room according to claim 1, characterized in that: The control box module comprises an emergency start button, an emergency stop button, a reset button, state indicator lights and a touch display screen; the state indicator lights comprise a charging wire harness cut-off state indicator light, a roller shutter door lifting state indicator light and a car moving robot motion state indicator light; The emergency start button is used for manually triggering an emergency evacuation instruction; the emergency stop button is used for stopping all actions of the system in an emergency; the reset button is used for resetting the system after the emergency state is removed; the state indicator lights are used for indicating the running state of the system; and the touch display screen is used for displaying environmental parameters, vehicle states and evacuation progress information.

8. The vehicle emergency evacuation system for new energy vehicle charging test room according to claim 1, characterized in that: Further comprising an audible and visual alarm module and a video monitoring module, both of which are connected with the test chamber control module; The audible and visual alarm module is used for emitting audible and visual alarm signals when the emergency evacuation instruction is triggered; and the video monitoring module is used for collecting video images of the inside of the test chamber and the safety area in real time.

9. The vehicle emergency evacuation method for new energy vehicle charging test room is applied to the vehicle emergency evacuation system for new energy vehicle charging test room in any of claims 1-8, characterized in that: The method comprises the following steps: S1, the environmental monitoring module collects environmental parameters of the test chamber and state parameters of the test vehicle in real time, and transmits the parameters to the test chamber control module; the control box module collects and displays the parameters; and the car moving robot is in a standby state and is parked in a designated parking area; S2, if the environmental monitoring module detects that the environmental parameters or the vehicle state parameters exceed the safety threshold, an emergency evacuation instruction is triggered, and the next step S3 is executed; otherwise, step S1 is executed; S3, if it is determined that the system is controlled in one key, the system automatically executes steps S4 to S7; if it is determined that the system is controlled step by step, steps S4 to S7 are executed by sequentially clicking the switches; S4, the test chamber control module controls the audible and visual alarm module to start and emit audible and visual alarm signals; S5, the test chamber control module controls the actions and speed of the power-off of the electrical equipment in the test chamber and the lifting of the roller shutter door; S6, the control box module sends an instruction to the charging harness cutting module to control the electrical disconnect unit to cut off the charging circuit first, and then control the mechanical cutting mechanism to cut off the charging harness; S7, the charging harness cutting module feeds back a cutting completion signal to the laboratory control module; S8, if it is determined that the automatic operation mode, the system automatically executes steps S9 to S12; if it is determined that the remote control operation mode, the robot remote control sends an instruction to the car mover robot system module, and then steps S9 to S12 are executed; S9, start the car mover robot, and move to the test vehicle below along the set path based on the PID control algorithm; S10, the car mover robot lifts the test vehicle to the set height through the lifting mechanism; S11, the car mover robot cooperates to transfer the test vehicle to the safe area along the set path based on the PID control algorithm; S12, after reaching the safe area, the car mover robot lowers the lifting mechanism and places the test vehicle in the safe position; S13, the laboratory control module records the relevant data of the evacuation process; In step S9 or step S11, the PID control algorithm includes a position closed-loop PID control algorithm and a speed closed-loop PID control algorithm. 10.The vehicle emergency evacuation method for a new energy vehicle charging test room of claim 9, wherein: In step S9, the car mover robot is started, and moves to the test vehicle below along the set path based on the PID control algorithm, including: When the robot is ready to enter the indoor, the roller shutter door is raised to a position higher than the set height of the robot, and both need to be started synchronously; In step S11, the car mover robot cooperates to transfer the test vehicle to the safe area along the set path based on the PID control algorithm, including: When the robot moves the car out, the roller shutter door height is greater than the height after the car is lifted.

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