Road rescue device for power shortage of wireless charging new energy automobile

Abstract

The invention relates to the technical field of wireless charging new energy vehicles, in particular to a road rescue device for power shortage of a wireless charging new energy vehicle. In order to solve the problem that a wireless charging rescue device capable of being applied to a road environment is lacked in the prior art, namely, the road rescue device for the wireless charging new energy automobile lack of power comprises a carrying automobile, a mechanical arm and a control system; a high-capacity battery module is arranged in the middle of the carrying vehicle, a storage compartment is arranged at the rear end of the carrying vehicle, a charging transmitting module is arranged at the tail end of the mechanical arm, and the mechanical arm and the charging transmitting module can be automatically stored in the storage compartment; a laser radar scanning module is arranged on the rear side face of the charging transmitting module, and a laser distance sensor and a machine vision module are arranged on the top face of the charging transmitting module. According to the device, rapid and flexible rescue of the power-lack new energy automobile in complex scenes such as expressways and field environments is achieved, and a traditional trailer mode is replaced.

Description

Technical Field

[0001] This invention relates to the field of wireless charging new energy vehicle technology, specifically to a roadside assistance device for wireless charging new energy vehicles when the battery is low. Background Technology

[0002] Wireless charging technology for new energy vehicles is convenient, efficient, and safe. With its rapid development, wireless charging vehicles are gradually entering the market. Battery depletion is a common malfunction in new energy vehicles. When a wirelessly charging vehicle experiences a battery depletion on the road, towing is typically used for assistance, which suffers from slow response times, cumbersome on-site operations, high manpower and financial investment, and long rescue cycles. Existing wireless charging devices for new energy vehicles are mostly designed for fixed locations, requiring the vehicle to drive to the charging station and adjust the relative position of the receiving module to achieve efficient wireless charging. For example, patent CN202411602754.4 provides a wireless inductive outdoor charging platform for new energy vehicles, which solves the inconvenience of manual plugging and unplugging, but still requires the vehicle to actively drive into the designated charging platform area, making it impossible to assist vehicles with battery depletion on the road. Summary of the Invention

[0003] This invention addresses the lack of a wireless charging rescue device applicable to road environments, specifically a wireless charging road rescue device for new energy vehicles with low battery levels.

[0004] This invention is achieved using the following technical solution:

[0005] A wireless charging roadside assistance device for new energy vehicles with low battery power includes a vehicle, a robotic arm, and a control system integrated into the vehicle.

[0006] A large-capacity battery module is located in the middle of the transport vehicle, and a storage compartment is located at the rear of the transport vehicle. A charging transmitter module is located at the end of the robotic arm. The large-capacity battery module is used to power the robotic arm, the control system, and the charging transmitter module. (As is known to those skilled in the art, the robotic arm needs to maintain power connection during the extension and retraction process. Power is usually achieved by using a slip ring structure, and the power is transmitted to the charging transmitter module at the end through wires laid inside the robotic arm.) The robotic arm and the charging transmitter module can be automatically stored in the storage compartment. The charging transmitter module can be extended under the wireless charging new energy vehicle through the robotic arm. The charging transmitter module is compatible with the power receiving module on the wireless charging new energy vehicle after it is depleted of power.

[0007] The rear side of the charging transmitter module is equipped with a lidar scanning module. The lidar scanning module is used to perform three-dimensional scanning of the wireless charging new energy vehicle after it is depleted of power and acquire high-precision point cloud data. The lidar scanning module transmits the acquired high-precision point cloud data to the control system. The control system uses a point cloud processing algorithm to fit the spatial pose of the main feature plane of the front of the wireless charging new energy vehicle after it is depleted of power in real time, and uses the geometric center of the feature plane as a reference to calculate the predicted position of the power receiving module. This allows the relative position between the charging transmitter module and the power receiving module to be initially obtained, thereby controlling the robotic arm to move towards the bottom of the wireless charging new energy vehicle after it is depleted of power, and realizing the initial positioning of the charging transmitter module.

[0008] The top surface of the charging transmitter module is equipped with a laser distance sensor and a machine vision module. The laser distance sensor is used to measure the vertical distance between the charging transmitter module and the receiving module and transmit the collected data to the control system. The control system controls the movement of the robotic arm based on the vertical distance between the charging transmitter module and the receiving module to achieve vertical positioning between the charging transmitter module and the receiving module. The machine vision module is used to acquire a complete image of the receiving module and transmit the acquired image to the control system. Based on the spatial geometric relationship of the acquired image, the control system synchronously calculates the center position of the receiving module, and then calculates the deviation value between the center positions of the charging transmitter module and the receiving module. Based on the deviation value, the control system controls the movement of the robotic arm to achieve center alignment between the charging transmitter module and the receiving module.

[0009] The specific steps during the rescue are as follows:

[0010] First, the rescue device described in this invention is placed in front of the wireless charging new energy vehicle after it has lost power. The storage compartment is opened, and the control system controls the robotic arm to rotate out and initially unfold, starting the initial positioning stage of the charging transmitter module. That is, the laser radar scanning module performs a three-dimensional scan of the wireless charging new energy vehicle after it has lost power and obtains high-precision point cloud data. The laser radar scanning module transmits the high-precision point cloud data to the control system. The control system uses the point cloud processing algorithm to fit the spatial pose of the main feature plane of the front of the wireless charging new energy vehicle after it has lost power in real time based on the high-precision point cloud data, and uses the geometric center of the feature plane as a reference to calculate the estimated position of the power receiving module. Thus, the relative position between the charging transmitter module and the power receiving module is initially obtained, thereby controlling the robotic arm to move towards the bottom of the wireless charging new energy vehicle after it has lost power, realizing the initial positioning of the charging transmitter module.

[0011] Then, the charging transmitter module is precisely positioned. This involves measuring the vertical distance between the charging transmitter module and the receiving module using a laser distance sensor and transmitting the collected data to the control system. The control system then controls the movement of the robotic arm based on the vertical distance between the charging transmitter module and the receiving module, thus achieving the vertical distance positioning between them. A complete image of the receiving module is captured by a machine vision module and transmitted to the control system. Based on the spatial geometric relationship of the captured image, the control system simultaneously calculates the center position of the receiving module, and then calculates the deviation between the center positions of the charging transmitter module and the receiving module. The control system then controls the movement of the robotic arm based on this deviation, thus aligning the center of the charging transmitter module with the center of the receiving module and achieving fine-tuning of their poses.

[0012] Finally, after charging is complete, the control system controls the robotic arm (which can be manually controlled or automatically controlled according to the charging status) to be stored in the storage compartment. The joints of the robotic arm are folded or extended to restore the robotic arm to its initial compact storage form, so that the upper arm, rotating arm, forearm, and wrist extension arm are in a "parallel stacked" state, thus ending the rescue operation.

[0013] Furthermore, three laser distance sensors are used, with two positioned on the left and right sides of the rear end of the top surface of the charging transmitter module, and the third positioned in the middle of the left-right direction at the front end of the top surface. The control system determines the parallelism and vertical distance between the charging transmitter module and the receiving module based on the vertical distances measured by the three laser distance sensors. This is achieved using triangulation (where equal vertical distances indicate parallelism; a shorter distance indicates a lower position, requiring the robotic arm to be raised until parallelism is achieved). The control system then controls the robotic arm's movement based on these measurements, ensuring the parallelism and vertical distance positioning of the charging transmitter and receiving modules. This structural design not only guarantees the vertical distance between the charging transmitter and receiving modules during wireless charging via a magnetic field but also ensures their parallelism, further guaranteeing efficient wireless charging of depleted new energy vehicles by the rescue device.

[0014] Furthermore, the robotic arm is a seven-degree-of-freedom redundant structure, comprising a base joint, a rotating arm, a shoulder joint, an upper arm, elbow joint I, forearm I, elbow joint II, forearm II, wrist joint I, wrist extension arm, wrist joint II, and wrist joint III connected in sequence. Wrist joint I, after the robotic arm is deployed, is located outside the underside of the wirelessly charging new energy vehicle after it has been depleted of power. Wrist extension arm, wrist joint II, and wrist joint III all extend into the underside of the depleted wirelessly charging new energy vehicle after the robotic arm is deployed. The design of the wrist extension arm changes the traditional stacked joint layout, placing wrist joint I, which drives the wrist extension arm, outside the underside of the depleted wirelessly charging new energy vehicle. This solves the problem of vertically placed wrist joint I being difficult to access the confined space under the vehicle. Meanwhile, the horizontally arranged wrist joints II and III can enter the underside of the vehicle along with the charging transmitter module at the end. This ingenious structural design is the key to solving the problem of "getting in and aligning accurately."

[0015] Furthermore, the base joint is connected to the fixed seat in the storage compartment. The base joint is used to drive the entire robotic arm to rotate in the horizontal plane. The base joint is placed vertically and connected to the rotating arm. The rotating arm uses an arc structure to place the shoulder joint horizontally. The shoulder joint is connected to the upper arm. The shoulder joint drives the upper arm to rotate in the vertical plane. The upper arm changes direction through the arc structure to place the elbow joint I horizontally and connect to the forearm. The forearm is connected to the elbow joint II. The elbow joint II is placed horizontally and connected to the forearm II. The forearm II is connected to the vertically arranged wrist joint I. The wrist joint I is connected to the wrist extension arm. The wrist extension arm is then connected to the charging transmitter module through the horizontally arranged wrist joints II and III. The robotic arm structure is concretized and standardized, enabling the charging transmitter module at the end of the robotic arm to extend into the bottom of a wirelessly charging new energy vehicle with a depleted battery.

[0016] Furthermore, the storage compartment includes a storage space located at the rear of the vehicle, with an open rear end and a rear cover that can be flipped upwards and closed downwards. The structure of the storage compartment is thus specified and standardized.

[0017] Furthermore, each of the two opposing inner walls of the storage space is equipped with an electric push rod arranged in the front-to-back direction and controlled by the control system. The end of the telescopic part of the electric push rod is hinged to a support rod with the hinge axis pointing left-right. The ends of the two support rods not hinged to the end of the telescopic part of the electric push rod are respectively hinged to the left and right sides of the rear end cover with the hinge axis pointing left-right. Two sets of T-shaped sliding grooves are fixed to the left and right ends of the inner wall of the rear end cover. The rear end cover is connected to one inner top wall of the storage space via a hinge. The part of the hinge connecting to the rear end cover is also fixed with a slider group adapted to the T-shaped sliding groove group. When the storage space needs to be opened, the control system controls the electric push rod to extend, which in turn pushes the rear end cover upwards via the support rod, thus opening the rear end cover. When the robotic arm and charging transmitter module are stored in the storage space, the control system controls the electric push rod to shorten, which in turn causes the rear end cover to flip downwards via the support rod, thus closing the rear end cover.

[0018] Furthermore, each set of T-shaped slide rails consists of two T-shaped slide rails. The part connecting the hinge and the rear end cover consists of two plates arranged at an obtuse angle between their inner sides, and the left and right sides of the end plate are respectively provided with T-shaped protrusions that are adapted to the two T-shaped slide rails. The structure is more specific and standardized, and the guidance is better.

[0019] The beneficial effects of this invention are as follows: The device of this invention, by integrating a seven-degree-of-freedom redundant robotic arm with a storage compartment structure, enables rapid and flexible rescue of depleted new energy vehicles in complex scenarios such as highways and wilderness environments, replacing the traditional towing method, significantly improving rescue efficiency and reducing manpower and time costs; at the same time, the robotic arm adopts a wrist extension arm and multi-joint collaborative design, combined with a lidar scanning module, laser ranging and machine vision fusion positioning system, which can achieve precise positioning and attitude adaptive control between the charging module and the receiving module in the narrow space under the vehicle, effectively solving the technical problem of "getting in and getting accurate"; in addition, the entire device has a high degree of automation and intelligence, from the deployment of the robotic arm, initial positioning, posture fine adjustment to automatic retraction after charging is completed, the operation is simple and reliable, forming a complete solution of "mobile charging + robotic arm operation", improving the practicality and applicability of wireless charging rescue. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the rescue device described in this invention;

[0023] Figure 2 This is a schematic diagram showing the state of the rescue device described in this invention during a rescue operation;

[0024] Figure 3 This is a schematic diagram showing the robotic arm and charging transmitter module stored inside the storage compartment.

[0025] Figure 4 This is a schematic diagram showing the arrangement of the laser distance sensor and machine vision module on the top surface of the charging transmitter module;

[0026] Figure 5 This is a structural diagram of the storage compartment.

[0027] In the diagram: 1-Wireless charging new energy vehicle after power depletion, 2-Robotic arm, 2-1-Base joint, 2-2-Rotating arm, 2-3-Shoulder joint, 2-4-Upper arm, 2-5-Elbow joint I, 2-6-Forearm I, 2-7-Elbow joint II, 2-8-Forearm II, 2-9-Wrist joint I, 2-10-Wrist extension arm, 2-11-Wrist joint II, 2-12-Wrist joint III, 3-Power receiving module, 4-Charging transmitting module, 4-1-Laser distance sensor, 4-2-Machine vision module, 4-3-LiDAR scanning module, 5-Large capacity battery module, 6-Storage compartment, 6-1-Storage space, 6-2-Rear end cover, 6-3-Electric push rod, 6-4-Support rod, 6-5-T-shaped slide, 6-6-Hinge. Detailed Implementation

[0028] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0030] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0031] like Figure 1-5 As shown, a wireless charging roadside assistance device for new energy vehicles with low battery includes a vehicle, a robotic arm 2, and a control system integrated into the vehicle.

[0032] A large-capacity battery module 5 is located in the middle of the transport vehicle, and a storage compartment 6 is located at the rear of the transport vehicle. A charging transmitter module 4 is located at the end of the robotic arm 2. The large-capacity battery module 5 is used to power the robotic arm 2, the control system, and the charging transmitter module 4. (As is known to those skilled in the art, the robotic arm 2 needs to maintain power connection during the extension and retraction process. Power is usually achieved by using a slip ring structure, and the power is transmitted to the charging transmitter module 4 at the end through the wires laid inside the robotic arm 2.) The robotic arm 2 and the charging transmitter module 4 can be automatically stored in the storage compartment 6. The charging transmitter module 4 can be extended to the bottom of the wireless charging new energy vehicle through the robotic arm 2. The charging transmitter module 4 is compatible with the power receiving module 3 on the wireless charging new energy vehicle 1 after it is depleted of power.

[0033] The rear side of the charging transmitter module 4 is equipped with a lidar scanning module 4-3. The lidar scanning module 4-3 is used to perform three-dimensional scanning of the wireless charging new energy vehicle 1 after it is depleted of power and acquire high-precision point cloud data. The lidar scanning module 4-3 transmits the acquired high-precision point cloud data to the control system. The control system uses a point cloud processing algorithm to fit the spatial pose of the main feature plane of the front of the wireless charging new energy vehicle 1 after it is depleted of power in real time, and uses the geometric center of its feature plane as a reference to calculate the initial position of the power receiving module 3. Then, the relative position between the charging transmitter module 4 and the power receiving module 3 is initially obtained, thereby controlling the robotic arm 2 to move towards the bottom of the wireless charging new energy vehicle 1 after it is depleted of power, and realizing the initial positioning of the charging transmitter module 4.

[0034] The top surface of the charging transmitter module 4 is equipped with a laser distance sensor 4-1 and a machine vision module 4-2. The laser distance sensor 4-1 is used to measure the vertical distance between the charging transmitter module 4 and the power receiving module 3 and transmit the collected data to the control system. The control system controls the movement of the robotic arm 2 according to the vertical distance between the charging transmitter module 4 and the power receiving module 3 to achieve the positioning of the vertical distance between the charging transmitter module 4 and the power receiving module 3. The machine vision module 4-2 is used to acquire a complete image of the power receiving module 3 and transmit the acquired image to the control system. The control system calculates the center position of the power receiving module 3 synchronously according to the spatial geometric relationship of the acquired image, and then calculates the deviation value between the center position of the charging transmitter module 4 and the center position of the power receiving module 3. The control system controls the movement of the robotic arm 2 according to the deviation value to achieve the alignment of the center of the charging transmitter module 4 and the center of the power receiving module 3.

[0035] The specific steps during the rescue are as follows:

[0036] First, the rescue device described in this invention is placed in front of the wireless charging new energy vehicle 1 after it has lost power. The storage compartment 6 is opened, and the control system controls the robotic arm to rotate out and initially unfold, starting the initial positioning stage of the charging transmitter module 4. That is, the laser radar scanning module 4-3 performs a three-dimensional scan of the wireless charging new energy vehicle 1 after it has lost power and obtains high-precision point cloud data. The laser radar scanning module 4-3 transmits the obtained high-precision point cloud data to the control system. The control system uses the point cloud processing algorithm to fit the spatial pose of the main feature plane of the front of the wireless charging new energy vehicle 1 after it has lost power in real time, and uses the geometric center of its feature plane as a reference benchmark to calculate the estimated position of the power receiving module 3. Then, the relative position between the charging transmitter module 4 and the power receiving module 3 is obtained, thereby controlling the robotic arm 2 to move towards the bottom of the wireless charging new energy vehicle 1 after it has lost power, realizing the initial positioning of the charging transmitter module 4.

[0037] Then, the charging transmitter module 4 is precisely positioned. Specifically, the vertical distance between the charging transmitter module 4 and the receiving module 3 is measured by the laser distance sensor 4-1, and the collected data is transmitted to the control system. The control system controls the movement of the robotic arm 2 based on the vertical distance between the charging transmitter module 4 and the receiving module 3, thereby achieving the positioning of the vertical distance between the charging transmitter module 4 and the receiving module 3. The complete image of the receiving module 3 is acquired by the machine vision module 4-2, and the acquired image is transmitted to the control system. Based on the spatial geometric relationship of the acquired image, the control system synchronously calculates the center position of the receiving module 3, and then calculates the deviation value between the center positions of the charging transmitter module 4 and the receiving module 3. Based on the deviation value, the control system controls the movement of the robotic arm 2 to achieve the alignment of the center of the charging transmitter module 4 and the center of the receiving module 3, thus realizing the fine-tuning of the pose of the charging transmitter module 4 and the receiving module 3.

[0038] Finally, after charging is complete, the control system controls the robotic arm 2 (which can be manually controlled or automatically controlled according to the charging status) to be stored in the storage compartment 6. The joint arms of the robotic arm 2 are folded or extended to restore the robotic arm 2 to its initial compact storage form, so that the upper arm 2-4, the rotating arm 2-2, the forearm, and the wrist extension arm are in a "parallel stacked" state, thus ending the rescue operation.

[0039] In specific implementation, there are three laser distance sensors 4-1, with two of them arranged on the left and right sides of the rear end of the top surface of the charging transmitter module 4, and the other laser distance sensor 4-1 arranged in the middle of the left and right direction of the front end of the top surface of the charging transmitter module 4. The control system uses the vertical distance between the charging transmitter module 4 and the power receiving module 3 measured by the three laser distance sensors 4-1, and uses the triangulation method (the triangulation method means that the vertical distances measured by the three laser distance sensors 4-1 are equal, that is, parallel; if the vertical distance on one side is shorter, then that side is lower, and at this time, the robotic arm 2 needs to be raised too high) until parallelism is determined, and the parallelism and vertical distance between the charging transmitter module 4 and the power receiving module 3 are determined. The control system controls the movement of the robotic arm 2 based on the obtained parallelism and vertical distance between the charging transmitter module 4 and the power receiving module 3, so as to realize the parallelism and vertical distance positioning between the charging transmitter module 4 and the power receiving module 3. This structural design not only ensures the vertical distance between the charging transmitter module 4 and the power receiver module 3 when they wirelessly charge through a magnetic field, but also ensures their parallelism when they wirelessly charge through a magnetic field, further guaranteeing the efficient wireless charging of the rescue device for the depleted new energy vehicle 1.

[0040] In specific implementation, the robotic arm 2 is a seven-degree-of-freedom redundant structure and includes a base joint 2-1, a rotating arm 2-2, a shoulder joint 2-3, an upper arm 2-4, an elbow joint I 2-5, a forearm I 2-6, an elbow joint II 2-7, a forearm II 2-8, a wrist joint I 2-9, a wrist extension arm 2-10, a wrist joint II 2-11, and a wrist joint III 2-12 connected in sequence. Among them, after the robotic arm 2 is deployed, the wrist joint I 2-9 is located outside the bottom of the wireless charging new energy vehicle 1 after it is depleted of power. The wrist extension arm 2-10, wrist joint II 2-11, and wrist joint III 2-12 all extend to the bottom of the wireless charging new energy vehicle 1 after the robotic arm 2 is deployed. By designing the wrist extension arm 2-10, the traditional joint stacking layout is changed. The wrist joint I 2-9 that drives the wrist extension arm is placed outside the bottom of the wireless charging new energy vehicle 1 after it is depleted of power. This solves the problem that the vertically placed wrist joint I 2-9 is difficult to enter the narrow space under the vehicle. Meanwhile, the horizontally arranged wrist joints II 2-11 and III 2-12 can enter the bottom of the vehicle together with the charging transmitter module 4 at the end. The ingenious structural design here is the key design to solve the problem of "getting in and aligning accurately".

[0041] In practical implementation, the base joint 2-1 is connected to the fixed seat in the storage compartment. The base joint 2-1 is used to drive the entire robotic arm 2 to rotate in the horizontal plane. The base joint 2-1 is placed vertically and connected to the rotating arm 2-2. The rotating arm 2-2 uses an arc-shaped structure to place the shoulder joint 2-3 horizontally. The shoulder joint 2-3 is connected to the upper arm 2-4. The shoulder joint 2-3 drives the upper arm 2-4 to rotate in the vertical plane. The upper arm 2-4 uses an arc-shaped structure to change direction so that the elbow joint 12-5 is placed horizontally and connected to the forearm 2-6. 6 is connected to elbow joint II2-7. Elbow joint II2-7 is placed horizontally and connected to forearm II2-8. Forearm II2-8 is connected to wrist joint I2-9, which is arranged vertically. Wrist joint I2-9 is connected to wrist extension arm 2-10. Wrist extension arm 2-10 is then connected to charging transmitter module 4 through wrist joint II2-11 and wrist joint III2-12, which are arranged horizontally. The structure of robotic arm 2 is made specific and standardized, so that the charging transmitter module 4 at the end of robotic arm 2 can extend into the bottom of a wireless charging new energy vehicle with a depleted battery.

[0042] In practical implementation, the storage compartment 6 includes a storage space 6-1 located at the rear of the transport vehicle, an open rear end of the storage space 6-1, and a rear end cover 6-2 at the open end that can be flipped upwards and closed downwards. The structure of the storage compartment 6 is specified and standardized.

[0043] In specific implementation, each of the two opposing inner sidewalls of the storage space 6-1 is equipped with an electric push rod 6-3 arranged in the front-to-back direction and controlled by the control system. The end of the telescopic part of the electric push rod 6-3 is hinged to a support rod 6-4 with the hinge axis in the left-right direction. The ends of the two support rods 6-4 that are not hinged to the end of the telescopic part of the electric push rod 6-3 are respectively hinged to the left and right sides of the rear cover 6-2 with the hinge axis in the left-right direction. Two sets of T-shaped slide grooves 6-5 are fixed on the left and right ends of the inner wall of the rear cover 6-2. The rear cover 6-2 is connected to one inner top wall of the storage space 6-1 by a hinge 6-6. The part of the hinge 6-6 connected to the rear cover 6-2 is also fixed with a slider group that matches the T-shaped slide grooves 6-5. When the storage space 6-1 needs to be opened, the control system controls the electric push rod 6-3 to extend, which in turn pushes the rear cover 6-2 upward through the support rod 6-4, thus opening the rear cover 6-2. When the robotic arm 2 and the charging transmitter module 4 are stored in the storage space 6-1, the control system controls the electric push rod 6-3 to shorten, which in turn causes the rear cover 6-2 to flip downward through the support rod 6-4, thus closing the rear cover 6-2.

[0044] In this specific embodiment, each group of T-shaped slides 6-5 consists of two T-shaped slides 6-5. The part connecting the hinge 6-6 and the rear cover 6-2 is composed of two plates arranged at an obtuse angle between their inner sides, and the left and right sides of one of the plates at its end are respectively provided with T-shaped protrusions that are adapted to the two T-shaped slides 6-5. The structure is more specific and standardized, and the guiding effect is better.

[0045] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments, and they should all be covered within the protection scope of the claims.

Claims

1. A wireless charging roadside assistance device for new energy vehicles with low battery, characterized in that, Includes a transport vehicle, a robotic arm (2), and a control system integrated into the transport vehicle; A large-capacity battery module (5) is provided in the middle of the transport vehicle, and a storage compartment (6) is provided at the rear of the transport vehicle. A charging transmitter module (4) is provided at the end of the robotic arm (2). The large-capacity battery module (5) is used to power the robotic arm (2), the control system and the charging transmitter module (4). The robotic arm (2) and the charging transmitter module (4) can be automatically stored in the storage compartment (6). The charging transmitter module (4) can be extended to the bottom of the wireless charging new energy vehicle through the robotic arm (2). The charging transmitter module (4) is compatible with the power receiving module (3) on the wireless charging new energy vehicle (1) after it is depleted of power. The rear side of the charging transmitter module (4) is equipped with a laser radar scanning module (4-3). The laser radar scanning module (4-3) is used to perform three-dimensional scanning on the wireless charging new energy vehicle (1) after it is depleted of power and obtain high-precision point cloud data. The laser radar scanning module (4-3) transmits the high-precision point cloud data to the control system. The control system uses the point cloud processing algorithm to fit the spatial pose of the main feature plane of the front of the wireless charging new energy vehicle (1) after it is depleted of power in real time, and uses the geometric center of its feature plane as a reference benchmark to calculate the predicted position of the power receiving module (3). Then, the relative position between the charging transmitter module (4) and the power receiving module (3) is initially obtained, thereby controlling the robotic arm (2) to move towards the bottom of the wireless charging new energy vehicle (1) after it is depleted of power, and realizing the initial positioning of the charging transmitter module (4). The top surface of the charging transmitter module (4) is equipped with a laser distance sensor (4-1) and a machine vision module (4-2). The laser distance sensor (4-1) is used to measure the vertical distance between the charging transmitter module (4) and the power receiving module (3) and transmit the collected data to the control system. The control system controls the movement of the robotic arm (2) according to the vertical distance between the charging transmitter module (4) and the power receiving module (3) to realize the positioning of the vertical distance between the charging transmitter module (4) and the power receiving module (3). The machine vision module (4-2) is used to collect a complete image of the power receiving module (3) and transmit the collected image to the control system. The control system calculates the center position of the power receiving module (3) synchronously according to the spatial geometric relationship of the collected image, and then calculates the deviation value between the center of the charging transmitter module (4) and the center position of the power receiving module (3) and controls the movement of the robotic arm (2) according to the deviation value to realize the alignment of the center of the charging transmitter module (4) and the center of the power receiving module (3).

2. The wireless charging roadside assistance device for new energy vehicles with low battery power according to claim 1, characterized in that, There are three laser distance sensors (4-1), two of which are arranged on the left and right sides of the rear end of the top surface of the charging transmitter module (4), and the other laser distance sensor (4-1) is arranged in the middle of the left and right direction of the front end of the top surface of the charging transmitter module (4). The control system measures the vertical distance between the charging transmitter module (4) and the power receiving module (3) by the three laser distance sensors (4-1), and uses the triangulation method to determine the parallelism and vertical distance between the charging transmitter module (4) and the power receiving module (3). The control system controls the movement of the robotic arm (2) based on the obtained parallelism and vertical distance between the charging transmitter module (4) and the power receiving module (3) to realize the parallelism and vertical distance positioning between the charging transmitter module (4) and the power receiving module (3).

3. The wireless charging roadside assistance device for new energy vehicles with low battery power according to claim 2, characterized in that, The robotic arm (2) is a seven-degree-of-freedom redundant structure and includes a base joint (2-1), a rotating arm (2-2), a shoulder joint (2-3), an upper arm (2-4), an elbow joint I (2-5), a forearm I (2-6), an elbow joint II (2-7), a forearm II (2-8), a wrist joint I (2-9), a wrist extension arm (2-10), a wrist joint II (2-11), and a wrist joint III (2-12) connected in sequence. Among them, the wrist joint I (2-9) is located outside the bottom of the wireless charging new energy vehicle (1) after the robotic arm (2) is depleted of power. The wrist extension arm (2-10), wrist joint II (2-11), and wrist joint III (2-12) all extend to the bottom of the wireless charging new energy vehicle (1) after the robotic arm (2) is depleted of power.

4. The wireless charging roadside assistance device for new energy vehicles with low battery power according to claim 3, characterized in that, The base joint (2-1) is connected to the fixed seat in the storage compartment. The base joint (2-1) is used to drive the robotic arm (2) to rotate in the horizontal plane. The base joint (2-1) is placed vertically and connected to the rotating arm (2-2). The rotating arm (2-2) uses an arc structure to make the shoulder joint (2-3) horizontal. The shoulder joint (2-3) is connected to the upper arm (2-4). The shoulder joint (2-3) drives the upper arm (2-4) to rotate in the vertical plane. The upper arm (2-4) changes direction through the arc structure to make the elbow joint I (2-5) The forearm (2-6) is placed horizontally and connected to the elbow joint II (2-7). The elbow joint II (2-7) is placed horizontally and connected to the forearm II (2-8). The forearm II (2-8) is connected to the vertically arranged wrist joint I (2-9). The wrist joint I (2-9) is connected to the wrist extension arm (2-10). The wrist extension arm (2-10) is then connected to the charging transmitter module (4) through the horizontally arranged wrist joint II (2-11) and wrist joint III (2-12).

5. The wireless charging roadside assistance device for new energy vehicles with low battery power according to claim 4, characterized in that, The storage compartment (6) includes a storage space (6-1) located at the rear of the vehicle, with a rear opening of the storage space (6-1) and a rear cover (6-2) at the opening that can be flipped up and closed down.

6. The wireless charging roadside assistance device for low-powered new energy vehicles according to claim 5, characterized in that, The storage space (6-1) has two opposing inner walls equipped with electric push rods (6-3) arranged in the front-to-back direction and controlled by the control system. The end of the telescopic part of the electric push rod (6-3) is hinged to a support rod (6-4) with the hinge axis in the left-right direction. The ends of the two support rods (6-4) that are not hinged to the end of the telescopic part of the electric push rod (6-3) are respectively hinged to the left and right sides of the rear cover (6-2) with the hinge axis in the left-right direction. Two sets of T-shaped slide grooves (6-5) are fixed on the left and right ends of the inner wall of the rear cover (6-2). The rear cover (6-2) is connected to one inner top wall of the storage space (6-1) by a hinge (6-6). The part of the hinge (6-6) connected to the rear cover (6-2) is also fixed with a slider group that matches the T-shaped slide groove (6-5).

7. The wireless charging roadside assistance device for new energy vehicles with low battery power according to claim 6, characterized in that, Each set of T-shaped slides (6-5) consists of two T-shaped slides (6-5). The part connecting the hinge (6-6) and the rear cover (6-2) consists of two plates arranged at an obtuse angle between their inner sides, and the left and right sides of the end plate are respectively provided with T-shaped protrusions that are adapted to the two T-shaped slides (6-5).

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