阅读说明：本技术 一种用于汽车的智能化充能装置及充能方法 (Intelligent energy charging device and method for automobile ) 是由 臧利国 周冲 陈伟 辛江慧 许丽娇 王保升 于 2019-12-04 设计创作，主要内容包括：一种用于汽车的智能化充能装置及充能方法,包括支架和充能平台,所述充能平台设置于所述支架的底部,所述支架的上方设有滑轨部件,所述滑轨部件的下方设有充能机械臂装置,所述支架的四角内侧位置设有视觉识别装置,所述支架的一侧设有侧向移动滑轨,所述侧向移动滑轨上设有交互机械臂装置和所述抓取机械臂装置,所述支架的前后两侧设有拦车杆装置,所述拦车杆装置包括入口拦车杆和出口拦车杆,所述支架的立柱上设有控制系统,本发明通过自动控制完成传统加油站、加气站、充电桩充能过程,避免了人工操作的安全隐患,提高汽车充能的效率与便捷性。(The invention discloses an intelligent energy charging device and an energy charging method for an automobile, which comprise a support and an energy charging platform, wherein the energy charging platform is arranged at the bottom of the support, a slide rail part is arranged above the support, an energy charging mechanical arm device is arranged below the slide rail part, a visual recognition device is arranged at the inner side positions of four corners of the support, a lateral moving slide rail is arranged on one side of the support, an interactive mechanical arm device and a grabbing mechanical arm device are arranged on the lateral moving slide rail, vehicle blocking rod devices are arranged on the front side and the rear side of the support and comprise an entrance vehicle blocking rod and an exit vehicle blocking rod, and a control system is arranged on a stand column of the support.)

1. The utility model provides an intelligent device that can fill for car which characterized in that: including support (9) and fill ability platform (5), fill ability platform (5) set up in the bottom of support (9), the top of support (9) is equipped with slide rail part (7), the below of slide rail part (7) is equipped with fills can arm device (1), the inboard position in four corners of support (9) is equipped with vision recognition device (4), one side of support (9) is equipped with lateral shifting slide rail (8), be equipped with on lateral shifting slide rail (8) mutual arm device (2) with snatch arm device (3), both sides are equipped with barricade pole device (6) around support (9), barricade pole device (6) are including entry barricade pole (6-1) and export barricade pole (6-2), be equipped with control system (10) on the stand of support (9).

2. The intelligent charging device for the automobile according to claim 1, wherein: the energy charging mechanical arm device (1) comprises an energy charging mechanical arm (1-1), a butt joint sensing device (1-2) and an energy charging gun, wherein the butt joint sensing device (1-2) is arranged at the movable end of the energy charging mechanical arm (1-1), and the energy charging gun is arranged at the front end of the butt joint sensing device (1-2).

3. The intelligent charging device for the automobile according to claim 1, wherein: the interactive mechanical arm device (2) comprises an interactive mechanical arm (2-1), a human-computer interaction screen (2-2) is arranged at the movable end of the interactive mechanical arm (2-1), and a voice prompt loudspeaker (2-3), a distance sensor (2-4) and a display (2-5) are arranged on the human-computer interaction screen (2-2).

4. The intelligent charging device for the automobile according to claim 1, wherein: the grabbing mechanical arm device (3) comprises a grabbing mechanical arm (3-1), and a mechanical arm (3-2) is arranged at the movable end of the grabbing mechanical arm (3-1).

5. The intelligent charging device for the automobile according to claim 1, wherein: the energy charging mechanical arm device is characterized in that the slide rail part (7) comprises an X-direction slide rail (7-1), a Y-direction slide rail (7-2) and a sliding part (7-3), the X-direction slide rail (7-1) is in sliding connection with the Y-direction slide rail (7-2) through the two sliding parts (7-3), and the energy charging mechanical arm device (1) is in sliding connection with the X-direction slide rail (7-1) through the sliding part (7-3).

6. The intelligent charging device for the automobile according to claim 1, wherein: the visual recognition device (4) is provided with an energy charging area parking visual recognition device (4-1) and an energy charging interface cover plate visual recognition device (4-2).

7. The intelligent charging device for the automobile according to claim 1, wherein: an energy charging area (5-1) is arranged in the middle of the energy charging platform (5).

8. The intelligent charging method for the automobile according to claim 1, characterized by comprising the following steps:

step (1): the entrance barrier bar is initially kept in an open state, the system judges whether the device fails or not through self-checking, and if the device fails, the entrance barrier bar is closed; if the device has no fault, the opening state of the entrance car stopping rod is kept;

step (2): the device has no fault, the entrance vehicle stopping rod is opened, a driver drives a vehicle to enter the energy charging platform, the energy charging area parking visual recognition device judges whether the vehicle completely enters the energy charging area through the control system, if the vehicle does not enter, the driver continues to wait for the vehicle to enter, and meanwhile, the voice prompt loudspeaker of the human-computer interaction screen gives out prompt sound to remind the driver to continue to move the vehicle until the vehicle completely stops in the energy charging area;

and (3): when the vehicle is judged to completely enter the energy charging area, the interactive mechanical arm device measures the distance between the human-computer interaction screen and a driver through the distance sensor, and moves the display to a position 15-30 cm away from the outside of one side of a vehicle driver seat;

and (4): a driver does not need to get off the vehicle, and performs voice interaction or touch screen operation with a display to select a required energy charging mode;

and (5): after the driver finishes payment and unlocks the vehicle energy charging interface cover plate in the vehicle, the energy charging interface cover plate visual identification device judges the position of the energy charging interface by identifying a small-area cover-shaped object opened on the side surface of the vehicle, data are transmitted to a control system, and the control system calculates the accurate position of the energy charging interface of the vehicle;

and (6): the control system controls the grabbing mechanical arm device to open the energy charging interface cover plate, the energy charging mechanical arm device moves to the position above the energy charging interface and stretches the energy charging mechanical arm, the butt joint sensing device analyzes and checks butt joint information, and energy charging is carried out after accurate butt joint of the energy charging gun and the vehicle energy charging interface is completed;

and (7): after the control system detects that the energy charging is finished, the energy charging gun is separated from the energy charging port by controlling the energy charging mechanical arm, the vehicle energy charging port cover plate is closed by the grabbing mechanical arm device, the energy charging mechanical arm device, the grabbing mechanical arm device and the interaction mechanical arm device are retracted, the vehicle stopping rod at the outlet is opened, and the vehicle is driven out;

and (8): the parking visual recognition device of the energy charging area is out of the position of the vehicle, if the parking visual recognition device is no longer in the energy charging area, the inlet stop lever is opened, the vehicle energy charging device is restored to the initial state, and the whole energy charging process is completed.

Technical Field

The invention belongs to the technical field of automobile energy charging, and particularly relates to an intelligent energy charging device and method for an automobile.

Background

With the development of the automobile industry, automobiles are rapidly spreading, and China has been the largest automobile producing country and the first big new automobile market in the world for continuous ten years and has become the largest automobile holding amount country in the world in 2019. The number of automobiles is large, which puts high demands on the number of automobile charging stations.

For traditional fuel automobiles, most of the existing gas stations refuel in a manual refueling and charging mode, the number of workers is usually small, but a large number of vehicles refuel in the past are easy to queue and refuel, the labor cost is increased in the process of refueling stations, and the refueling efficiency is not high.

For electric vehicles, the charging pile of the new energy vehicle is moving to a high voltage direction, and the output voltage of the charging pile is as high as 220V, 380V or even more than 400V during charging, so that the safety problem caused by the voltage is worried. The driver drives the vehicle and gets into to fill can the station, need get off the bus or carry out manual operation with the help of the staff, and this kind of mode of filling can be comparatively inconvenient and the security is lower for the user.

For hydrogen fuel cell vehicles and natural gas vehicles, currently, gas fuel is mostly charged in the form of injecting high-pressure gas, wherein the gas pressure of the natural gas is up to 20Mpa, and the gas pressure of the hydrogen fuel is up to 35 Mpa or 70Mpa, which puts high requirements on the gas tightness and safety of the gas filling process and the working capacity of workers of a gas filling station, thereby further increasing unnecessary labor cost.

Meanwhile, an automobile gas station, an inflation station and a charging station are often separately established, so that new energy automobiles such as gasoline-electric hybrid vehicles and oil-gas hybrid vehicles cannot complete energy supplement in one energy charging station, and the energy charging process is complicated and inconvenient.

Disclosure of Invention

Technical problem to be solved

The invention provides an intelligent energy charging device and an intelligent energy charging method for an automobile, which solve the safety problem of manual energy charging, improve the convenience of energy charging, provide more convenient energy charging experience for a vehicle owner, and promote the development and popularization of traditional automobiles and new energy automobiles.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an intelligent ability device that fills for car, includes the support and fills can the platform, fill can the platform set up in the bottom of support, the top of support is equipped with slide rail part, slide rail part's below is equipped with fills can the mechanical arm device, the inboard position in four corners of support is equipped with visual identification device, one side of support is equipped with the lateral shifting slide rail, be equipped with mutual mechanical arm device on the lateral shifting slide rail with snatch the mechanical arm device, both sides are equipped with around the support and block the car pole device, block the car pole device and block the car pole including the entry and block the car pole with the export, be equipped with control system on the stand of support.

Further, it can arm device including filling can arm, butt joint induction system and filling can the rifle to fill can the arm device, it can the arm's expansion end be equipped with butt joint induction system to fill, butt joint induction system's front end is equipped with fills can the rifle.

Furthermore, the interactive mechanical arm device comprises an interactive mechanical arm, a human-computer interaction screen is arranged at the movable end of the interactive mechanical arm, and a voice prompt loudspeaker, a distance sensor and a display are arranged on the human-computer interaction screen.

Furthermore, the grabbing mechanical arm device comprises a grabbing mechanical arm, and a mechanical arm is arranged at the movable end of the grabbing mechanical arm.

Furthermore, the slide rail part comprises an X-direction slide rail, a Y-direction slide rail and two slide parts, the X-direction slide rail is connected with the Y-direction slide rail in a sliding manner, and the energy charging mechanical arm device is connected with the X-direction slide rail in a sliding manner through the slide parts.

Furthermore, the visual recognition device is provided with an energy charging area parking visual recognition device and an energy charging interface cover plate visual recognition device.

Furthermore, an energy charging area is arranged in the middle of the energy charging platform.

An intelligent energy charging method for an automobile comprises the following steps:

step (1): the entrance barrier bar is initially kept in an open state, the system judges whether the device fails or not through self-checking, and if the device fails, the entrance barrier bar is closed; if the device has no fault, the opening state of the entrance car stopping rod is kept;

step (2): the device has no fault, the entrance vehicle stopping rod is opened, a driver drives a vehicle to enter the energy charging platform, the energy charging area parking visual recognition device judges whether the vehicle completely enters the energy charging area through the control system, if the vehicle does not enter, the driver continues to wait for the vehicle to enter, and meanwhile, the voice prompt loudspeaker of the human-computer interaction screen gives out prompt sound to remind the driver to continue to move the vehicle until the vehicle completely stops in the energy charging area;

and (3): when the vehicle is judged to completely enter the energy charging area, the interactive mechanical arm device measures the distance between the human-computer interaction screen and a driver through the distance sensor, and moves the display to a position 15-30 cm away from the outside of one side of a vehicle driver seat;

and (4): the driver does not need to get off the vehicle, and performs voice interaction or touch screen operation with the display to select the required charging mode.

And (5): after the driver finishes payment and unlocks the vehicle energy charging interface cover plate in the vehicle, the energy charging interface cover plate visual identification device judges the position of the energy charging interface by identifying a small-area cover-shaped object opened on the side surface of the vehicle, data are transmitted to a control system, and the control system calculates the accurate position of the energy charging interface of the vehicle;

and (6): the control system controls the grabbing mechanical arm device to open the energy charging interface cover plate, the energy charging mechanical arm device moves to the position above the energy charging interface and extends the energy charging mechanical arm, the butt joint information is analyzed and checked through the butt joint sensing device, and the energy charging gun and the vehicle can be accurately butted and then charged.

And (7): after the control system detects that the energy charging is finished, the energy charging gun is separated from the energy charging port by controlling the energy charging mechanical arm, the vehicle energy charging port cover plate is closed by the grabbing mechanical arm device, the energy charging mechanical arm device, the grabbing mechanical arm device and the interaction mechanical arm device are retracted, the vehicle stopping rod at the outlet is opened, and the vehicle is driven out;

and (8): the parking visual recognition device of the energy charging area is out of the position of the vehicle, if the parking visual recognition device is no longer in the energy charging area, the inlet stop lever is opened, the vehicle energy charging device is restored to the initial state, and the whole energy charging process is completed.

(III) advantageous effects

The invention provides an intelligent energy charging device and an intelligent energy charging method for an automobile.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is a schematic view of a first embodiment of a charging arm assembly and a rail assembly of the present invention;

FIG. 3 is a schematic view of an interactive robotic arm apparatus of the present invention;

FIG. 4 is a schematic diagram of a human-computer interaction screen of the present invention;

FIG. 5 is a schematic view of a gripping robot apparatus of the present invention;

FIG. 6 is a schematic flow chart of the present invention;

FIG. 7 is a schematic view of a charging arm assembly and a rail assembly according to a second embodiment of the present invention;

FIG. 8 is a schematic view of a third embodiment of a charging arm assembly and a track assembly in accordance with the present invention;

FIG. 9 is a schematic view of the sliding of the side sliding rail according to the present invention;

FIG. 10 is a schematic view of a visual identification device of the present invention;

the reference signs are: the system comprises an energy charging mechanical arm device 1, an energy charging mechanical arm 1-1, a butt joint induction device 1-2, an air charging gun 1-3, an energy charging gun 1-4, an oil filling gun 1-5, an interactive mechanical arm device 2, an interactive mechanical arm 2-1, a man-machine interactive screen 2-2, a voice prompt loudspeaker 2-3, a distance sensor 2-4, a display 2-5, a grabbing mechanical arm device 3, a grabbing mechanical arm 3-1, a mechanical arm 3-2, a visual recognition device 4, an energy charging area parking visual recognition device 4-1, an energy charging interface cover plate visual recognition device 4-2, an energy charging platform 5, an energy charging area 5-1, an automobile stopping rod device 6, an inlet automobile stopping rod 6-1, an outlet automobile stopping rod 6-2, a sliding rail part 7, an X-direction sliding rail 7-1, a Y-direction sliding rail 7-2, a sliding component 7-3, a lateral moving slide rail 8, a bracket 9 and a control system 10.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

With reference to fig. 1, the intelligent energy charging device for the automobile provided by the invention comprises a support 9 and an energy charging platform 5, wherein the energy charging platform 5 is arranged at the bottom of the support 9, a slide rail part 7 is arranged above the support 9, an energy charging mechanical arm device 1 is arranged below the slide rail part 7, visual identification devices 4 are arranged at the inner sides of four corners of the support 9, a lateral moving slide rail 8 is arranged at one side of the support 9, an interactive mechanical arm device 2 and a grabbing mechanical arm device 3 are arranged on the lateral moving slide rail 8, car stopping rod devices 6 are arranged at the front side and the rear side of the support 9, each car stopping rod device 6 comprises an inlet car stopping rod 6-1 and an outlet car stopping rod 6-2, and a control system 10 is arranged on a stand column of the support; the energy charging mechanical arm device 1 comprises an energy charging mechanical arm 1-1, a butt joint induction device 1-2 and an energy charging gun, wherein the butt joint induction device 1-2 is arranged at the movable end of the energy charging mechanical arm 1-1, and the energy charging gun is arranged at the front end of the butt joint induction device 1-2; the interactive mechanical arm device 2 comprises an interactive mechanical arm 2-1, a human-computer interaction screen 2-2 is arranged at the movable end of the interactive mechanical arm 2-1, and a voice prompt loudspeaker 2-3, a distance sensor 2-4 and a display 2-5 are arranged on the human-computer interaction screen 2-2; the grabbing mechanical arm device 3 comprises a grabbing mechanical arm 3-1, and a mechanical arm 3-2 is arranged at the movable end of the grabbing mechanical arm 3-1; the sliding rail part 7 comprises an X-direction sliding rail 7-1, a Y-direction sliding rail 7-2 and a sliding part 7-3, the X-direction sliding rail 7-1 is connected with the Y-direction sliding rail 7-2 in a sliding manner through the two sliding parts 7-3, and the energy charging mechanical arm device 1 is connected with the X-direction sliding rail 7-1 in a sliding manner through the sliding part 7-3; the visual recognition device 4 is provided with an energy charging area parking visual recognition device 4-1 and an energy charging interface cover plate visual recognition device 4-2; the middle of the energy charging platform 5 is provided with an energy charging area 5-1.

Referring to fig. 2, for the first embodiment of the present invention, the gas energy charging and energy charging mechanical arm device 1 comprises an energy charging mechanical arm 1-1, an air charging gun 1-3 and a butt joint sensing device 1-2, wherein the energy charging mechanical arm 1-1 has a rotational degree of freedom along an X, Y, Z axis and a moving degree of freedom along a Z axis; the butt joint induction device 1-2 comprises an air tightness detection function and can perform air tightness detection after butt joint; the energy charging arm device 1 is mounted on the sliding part 7-3 of the slide rail part 7.

Referring to fig. 7, for a second embodiment of the present invention, charging is performed by plugging in a charging arm device 1, which includes a charging arm 1-1, a charging gun 1-4, and a docking induction device 1-2, where the charging arm 1-1 has a rotational degree of freedom along axis X, Y, Z and a translational degree of freedom along axis Z; the energy charging arm device 1 is mounted on the sliding part 7-3 of the slide rail part 7.

Referring to fig. 8, in order to provide a third embodiment of the present invention, fuel oil is charged, and the energy charging mechanical arm device 1 comprises an energy charging mechanical arm 1-1, a fuel nozzle 1-5 and a butt joint sensing device 1-2, wherein the energy charging mechanical arm 1-1 has a rotational freedom degree along an X, Y, Z axis and a moving freedom degree along a Z axis; the energy charging arm device 1 is mounted on the sliding part 7-3 of the slide rail part 7.

With reference to fig. 3, the interactive mechanical arm device 2 includes an interactive mechanical arm 2-1 and a human-computer interactive screen 2-2.

With reference to fig. 4, the human-computer interaction screen 2-2 comprises a distance sensor 2-4, a voice prompt loudspeaker 2-3 and a display 2-5 with touch and voice recognition functions.

With reference to the attached figure 5, the grabbing mechanical arm device 3 comprises a grabbing mechanical arm 3-1 and a mechanical arm 3-2, wherein the mechanical arm 3-2 is arranged at the front end of the grabbing mechanical arm 3-1, and the mechanical arm 3-2 with two degrees of freedom can be adopted in the invention to respectively open a flip type energy charging interface cover plate and a rotary type energy charging interface cover plate.

Referring to fig. 9, the side-shifting slide rail 8 includes Y-direction slide rails 7-2 disposed on both sides in parallel to the traveling direction of the vehicle and a slide member 7-3 mounted on the rail.

The vehicle stopping rod device 6 comprises an inlet vehicle stopping rod 6-1 and an outlet vehicle stopping rod 6-2, wherein the inlet vehicle stopping rod 6-1 is installed at the inlet, and the outlet vehicle stopping rod 6-2 is installed at the outlet.

The specific process used by the invention is as follows:

step (1): the entrance car stopping rod 6-1 is initially kept in an open state, the system self-checks to judge whether the device is in failure, and if the device is in failure, the entrance car stopping rod 6-1 is closed; if the device has no fault, keeping the opening state of the entrance car stopping rod 6-1;

step (2): the device has no fault, the entrance vehicle stopping rod 6-1 is opened, a driver drives a vehicle to enter the energy charging platform 5, the energy charging area parking visual recognition device 4-1 judges whether the vehicle completely enters the energy charging area 5-1 through the control system 10, if the vehicle does not enter, the driver continues to wait for the vehicle to enter, and meanwhile, the voice prompt loudspeaker 2-3 of the human-computer interaction screen 2-2 gives out prompt sound to prompt the driver to continue to move the vehicle until the vehicle completely stops in the energy charging area 5-1;

and (3): when the vehicle is judged to completely enter the energy charging area 5-1, the interactive mechanical arm device 1 measures the distance between the man-machine interactive screen 2-2 and a driver through the distance sensor 2-4, and moves the display 2-5 to a position 15-30 cm away from the outside of one side of a vehicle driver seat;

and (4): a driver does not need to get off the vehicle, and performs voice interaction or touch screen operation with the display 2-5 to select a required energy charging mode; the charging mode comprises the following steps: a digital display mode and a money mode, wherein the digital display mode comprises modes of charging 100%, 90%, 80%, 70%, 60%, 50% and the like; the amount mode converts the amount of the required energy according to the amount paid by the driver;

and (5): after the driver finishes payment and unlocks the vehicle energy charging interface cover plate in the vehicle, the energy charging interface cover plate visual recognition device 4-2 judges the position of the energy charging interface by recognizing a small-area cover-shaped object opened on the side surface of the vehicle, data is transmitted to the control system 10, and the control system 10 calculates the accurate position of the energy charging interface of the vehicle;

and (6): the control system controls 10 the grabbing mechanical arm device 3 to open the energy charging interface cover plate, the energy charging mechanical arm device 1 moves to the position above the energy charging interface and extends the energy charging mechanical arm 1-1, the butt joint information is analyzed and checked through the butt joint sensing device 1-2, and energy charging is carried out after accurate butt joint of the energy charging gun and the vehicle energy charging interface is completed.

And (7): the oil guns 1-5 adopt the common oil guns of the present gas station, detect the liquid level in the fuel tank reaches the muzzle, stop the fuel feeding immediately; the charging guns 1-4 can extract data from a whole vehicle battery management system, if the electric quantity required by a driver is reached, power supply is stopped immediately, the gas filling guns 1-3 can extract data from a whole vehicle gas cylinder management system, if the gas quantity required by the driver is reached, gas filling is stopped immediately, after the control system 10 detects that charging is completed, the charging guns are separated from the charging ports by controlling the charging mechanical arms 1-1, the grabbing mechanical arm device 3 closes a vehicle charging port cover plate, the charging mechanical arm device 1, the grabbing mechanical arm device 3 and the interactive mechanical arm device 2 are retracted, the outlet car blocking rod 6-2 is opened, and the vehicle is driven out;

and (8): the parking visual recognition device 4-1 in the energy charging area is out of the position of the vehicle, if the vehicle is no longer in the energy charging area 5-1, the inlet vehicle blocking rod 6-1 is opened, the vehicle energy charging device is restored to the initial state, and the whole energy charging process is completed.

According to the invention, the energy charging process of the traditional gas station, gas station and charging pile is completed through automatic control, so that the potential safety hazard of manual operation is avoided, and the efficiency and convenience of automobile energy charging are improved.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.