阅读说明：本技术 一种充电弓车端电极定位系统及相关装置、方法 (Charging bow vehicle end electrode positioning system and related device and method ) 是由 李修亮 陈建华 高慧安 于 2021-08-30 设计创作，主要内容包括：本申请提供了一种充电弓车端电极定位系统及相关装置、方法,该系统包括：车端子系统,车端子系统包括车端控制器、红外发射器、超声波发射器以及车端通信器,红外发射器、超声波发射器和车端通信器均与车端控制器连接；弓端子系统,弓端子系统包括弓端控制器、红外接收器、三个超声波接收器以及弓端通信器,红外接收器、三个超声波接收器以及弓端通信器均与弓端控制器连接；车端通信器与弓端控制器通信连接。通过在车端设置红外发射器和超声波发射器,并在弓端设置红外接收器和三个超声波接收器,能够利用超声波计算出车端电极的准确坐标位置,从而得到在水平面内的位置偏移量。优选地,通过设置加速度传感器,还能够对车端电极进行姿态测量。(The application provides a bow car end electrode positioning system and relevant device, method charge, and the system includes: the system comprises a vehicle-end subsystem and a vehicle-end subsystem, wherein the vehicle-end subsystem comprises a vehicle-end controller, an infrared transmitter, an ultrasonic transmitter and a vehicle-end communicator, and the infrared transmitter, the ultrasonic transmitter and the vehicle-end communicator are all connected with the vehicle-end controller; the bow end subsystem comprises a bow end controller, an infrared receiver, three ultrasonic receivers and a bow end communicator, and the infrared receiver, the three ultrasonic receivers and the bow end communicator are all connected with the bow end controller; the vehicle-end communicator is in communication connection with the bow-end controller. Through set up infrared transmitter and ultrasonic transmitter at the car end to set up infrared receiver and three ultrasonic receiver at the bow end, can utilize the ultrasonic wave to calculate out the accurate coordinate position of car end electrode, thereby obtain the position offset in the horizontal plane. Preferably, by providing the acceleration sensor, the attitude measurement of the vehicle end electrode can also be performed.)

1. A charging bow car end electrode positioning system characterized by comprising:

the system comprises a vehicle-end subsystem and a vehicle-end subsystem, wherein the vehicle-end subsystem comprises a vehicle-end controller, an infrared transmitter, an ultrasonic transmitter and a vehicle-end communicator, and the infrared transmitter, the ultrasonic transmitter and the vehicle-end communicator are all connected with the vehicle-end controller;

the bow end subsystem comprises a bow end controller, an infrared receiver, three ultrasonic receivers and a bow end communicator, and the infrared receiver, the three ultrasonic receivers and the bow end communicator are all connected with the bow end controller;

the vehicle-end communicator is in communication connection with the bow-end controller.

2. The charging bow end electrode positioning system of claim 1, wherein the end subsystem further comprises a micro-electro-mechanical system sensor for making attitude measurements, the micro-electro-mechanical system sensor being connected to the end controller.

3. The pantograph vehicle end electrode positioning system of claim 2, wherein the micro-electro-mechanical system sensor is an acceleration sensor.

4. The charging bow end electrode positioning system of claim 3, wherein the attitude measurements comprise attitude angle measurements and azimuth angle measurements.

5. The charging bow end electrode positioning system of claim 1, wherein the end communicator and the end communicator are both CAN-WIFI modules.

6. The utility model provides an electric automobile, its characterized in that, includes car end subsystem, car end subsystem includes car end controller, infrared transmitter, ultrasonic transmitter and car end communicator all with car end controller connects, car end communicator be used for with bow end subsystem communication connection.

7. The electric vehicle according to claim 6, characterized in that: the vehicle-end subsystem further comprises an acceleration sensor, and the acceleration sensor is connected with the vehicle-end controller.

8. The utility model provides a bow charges, its characterized in that, includes bow end subsystem, bow end subsystem includes bow end controller, infrared receiver, three ultrasonic receiver and bow end communicator all with bow end controller connects, bow end communicator be used for with car end subsystem communication connection.

9. A method for positioning an electrode at a charging bow end is characterized by comprising the following steps:

the vehicle-end controller sends a data reading command and synchronously controls the infrared transmitter and the ultrasonic transmitter to work;

the vehicle-end controller receives the data and then sends the data to the bow-end subsystem in a wireless mode through the vehicle-end communicator;

the bow-end communicator receives the data and then transmits the data to the bow-end controller, the bow-end controller synchronously controls the infrared receiver and the ultrasonic receiver to work, the distance from the center point of the vehicle end to the three receivers is calculated according to the obtained data, and the central three-dimensional coordinate position of the electrode of the vehicle end is calculated;

and the bow end controller transmits the central three-dimensional coordinate position back to the vehicle end subsystem through the bow end communicator.

10. The method of claim 9, further comprising: the method comprises the following steps that a vehicle-end controller reads acceleration data and geomagnetic field data of an acceleration sensor;

the vehicle-end controller receives the data and then sends the data to the bow-end subsystem in a wireless mode through the vehicle-end communicator;

the bow-end communicator reads acceleration data and geomagnetic field data of the acceleration sensor and calculates the attitude angle of the vehicle-end electrode;

and the bow end controller transmits the attitude angle back to the vehicle end subsystem through the bow end communicator.

Technical Field

The invention relates to the electric automobile charging positioning technology, in particular to a charging bow vehicle end electrode positioning system and a related device and method.

Background

With the development of the electric vehicle charging and battery replacing technology, the charging time is shortened, and the realization of automatic charging becomes two main technical trends of industry development. Under certain battery charge conditions, shortening the charging time means increasing the charging power. The charging experience of the user is obviously improved by automatic charging, and meanwhile, potential safety hazards caused by direct operation of high voltage and large-current equipment by people can be avoided. The charging bow technology is more and more widely valued by the charging industry due to the obvious advantages in the aspects of high-power charging and automatic charging support, and along with the establishment and the promotion of relevant standards, the technology is gradually popularized and leads the technology of the charging industry to the evolution of the ultrahigh-power and automatic directions.

At present, a charging bow mainly adopts a single-degree-of-freedom lifting scheme, the structure is simple, the reliability is very high, but because the adjustment in the horizontal direction cannot be carried out, whether a vehicle (a vehicle end electrode) moves in place or not needs to be judged before the bow is lowered, if the deviation or deflection exists, the bow is forbidden to be lowered, and otherwise, the risk that the electrodes cannot be in contact in a matching way or the contact is poor to cause overheating and fire is caused exists. These deviations mainly include a center displacement deviation in the horizontal plane, an angle (azimuth angle) deviation in the horizontal plane, a roll angle deviation, and a pitch angle deviation when the charging bow electrode is butted. Therefore, the positioning of the end electrode of the charging bow becomes a key technology in the development and application process of the charging bow product.

Disclosure of Invention

The invention aims to provide a charging bow vehicle-end electrode positioning system capable of accurately positioning a vehicle-end charging electrode, and a related device and method.

The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

According to an aspect of the present invention, there is provided a charging bow end electrode positioning system comprising: the system comprises a vehicle-end subsystem and a vehicle-end subsystem, wherein the vehicle-end subsystem comprises a vehicle-end controller, an infrared transmitter, an ultrasonic transmitter and a vehicle-end communicator, and the infrared transmitter, the ultrasonic transmitter and the vehicle-end communicator are all connected with the vehicle-end controller; the bow end subsystem comprises a bow end controller, an infrared receiver, three ultrasonic receivers and a bow end communicator, and the infrared receiver, the three ultrasonic receivers and the bow end communicator are all connected with the bow end controller; the vehicle-end communicator is in communication connection with the bow-end controller.

In one embodiment, the vehicle end subsystem further comprises a mems sensor for making attitude measurements, the mems sensor being coupled to the vehicle end controller.

In one embodiment, the mems sensor is an acceleration sensor.

In an embodiment, the attitude measurements include attitude angle measurements and azimuth angle measurements.

In one embodiment, the vehicle-end communicator and the bow-end communicator are both CAN-WIFI modules.

According to a second aspect of the invention, an electric automobile is provided, which includes a vehicle-end subsystem, wherein the vehicle-end subsystem includes a vehicle-end controller, an infrared emitter, an ultrasonic emitter and a vehicle-end communicator, the infrared emitter, the ultrasonic emitter and the vehicle-end communicator are all connected with the vehicle-end controller, and the vehicle-end communicator is used for being in communication connection with the bow-end subsystem.

In one embodiment, the vehicle-end subsystem further comprises an acceleration sensor, and the acceleration sensor is connected with the vehicle-end controller.

According to a third aspect of the invention, there is provided a charging bow comprising a bow-end subsystem, the bow-end subsystem comprising a bow-end controller, an infrared receiver, three ultrasonic receivers and a bow-end communicator, the infrared receiver, the three ultrasonic receivers and the bow-end communicator being connected to the bow-end controller, the bow-end communicator being configured to communicate with a vehicle-end subsystem.

According to a fourth aspect of the present invention, there is provided a charging bow end electrode positioning method, including: the vehicle-end controller sends a data reading command and synchronously controls the infrared transmitter and the ultrasonic transmitter to work; the vehicle-end controller receives the data and then sends the data to the bow-end subsystem in a wireless mode through the vehicle-end communicator; the bow-end communicator receives the data and then transmits the data to the bow-end controller, the bow-end controller synchronously controls the infrared receiver and the ultrasonic receiver to work, the distance from the center point of the vehicle end to the three receivers is calculated according to the obtained data, and the central three-dimensional coordinate position of the electrode of the vehicle end is calculated; and the bow end controller transmits the central three-dimensional coordinate position back to the vehicle end subsystem through the bow end communicator.

In an embodiment, the method further comprises: the method comprises the following steps that a vehicle-end controller reads acceleration data and geomagnetic field data of an acceleration sensor; the vehicle-end controller receives the data and then sends the data to the bow-end subsystem in a wireless mode through the vehicle-end communicator; the bow-end communicator reads acceleration data and geomagnetic field data of the acceleration sensor and calculates the attitude angle of the vehicle-end electrode; and the bow end controller transmits the attitude angle back to the vehicle end subsystem through the bow end communicator.

The embodiment of the invention has the beneficial effects that: through set up infrared transmitter and ultrasonic transmitter at the car end to set up infrared receiver and three ultrasonic receiver at the bow end, can utilize the ultrasonic wave and obtain the accurate coordinate position of car end electrode based on the mode of receiving three times of sending, thereby the position offset in the horizontal plane when obtaining the bow electrode butt joint that charges. Preferably, by providing the acceleration sensor, the attitude measurement of the vehicle end electrode can also be performed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.

FIG. 1 is a block diagram of a system architecture of an embodiment of the present application;

FIG. 2 is a schematic view of bow-end ultrasound reception in accordance with an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating coordinate axis directions in an embodiment of the present application;

FIG. 4 is a schematic diagram of gravitational acceleration without vehicle inclination in an embodiment of the present application;

FIG. 5 is a schematic diagram of a gravitational acceleration projection when the vehicle tilts according to an embodiment of the present application;

FIG. 6 is a schematic diagram of three-dimensional coordinate axis directions of a magnetic field in the embodiment of the present application;

FIG. 7 is a schematic diagram of a projection of the geomagnetic field in an embodiment of the present application;

fig. 8 is a schematic flow chart of a method in an embodiment of the present application.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.

As shown in fig. 1, the present application provides a charging bow end electrode positioning system, which includes a car end subsystem 1 and a bow end subsystem 2. The vehicle-end subsystem comprises a vehicle-end controller 12, an infrared transmitter 13, an ultrasonic transmitter 14 and a vehicle-end CAN-WIFI15, wherein the infrared transmitter 13, the ultrasonic transmitter 14 and the vehicle-end CAN-WIFI15 are all connected with the vehicle-end controller 12.

The bow-end subsystem 2 comprises an infrared receiver 21, a first ultrasonic receiver 22, a second ultrasonic receiver 23, a third ultrasonic receiver 24, a bow-end CAN-WIFI25 and a bow-end controller 26, and the infrared receiver 21, the first ultrasonic receiver 22, the second ultrasonic receiver 23, the third ultrasonic receiver 24 and the bow-end CAN-WIFI25 are all connected with the bow-end controller 26.

The vehicle-end CAN-WIFI15 is in communication connection with the bow-end CAN-WIFI25, and it should be noted that the vehicle-end CAN-WIFI15 and the bow-end CAN-WIFI25 may also be other types of wireless communication modules, such as a bluetooth module.

The embodiment of the application utilizes ultrasonic waves to measure the three-dimensional coordinate position. Specifically, the three-dimensional coordinate position is measured by combining a mode of 'one-shot three-shot receiving' and infrared timing. The vehicle-end subsystem 1 is a sender, consists of 1 infrared transmitter 13 and 1 ultrasonic transmitter 14, and is positioned at the center point of a vehicle-end electrode; the bow end subsystem 2 is a receiving end, consists of 1 infrared receiver 21 and 3 ultrasonic receiving sensors (22, 23 and 24) and is positioned on the charging bow.

Since the infrared transmission propagates at the speed of light, it can be assumed that the time of infrared reception is considered the transmission time. The infrared transmitter 13 and the ultrasonic transmitter 14 at the car end transmit synchronously, because the light speed is faster than the sound speed (about 1000, 000 times), the bow end receives infrared signals first, when the three ultrasonic sensors (22, 23, 24) receive ultrasonic waves successively, the time of sound transmission from the center of the car end electrode to 3 reference points at the bow end can be determined, and the time is multiplied by the calibrated sound speed (considering the influence of the ambient temperature on the sound speed), so that the accurate distances a, b and c from the center of the car end electrode to the 3 reference points at the bow end can be obtained.

As shown in FIG. 2, the coordinates of three reference points at the end of the bow are set as(0, -d), (0, d), the distance a, b, c from the center point of the electrode, i.e. the coordinate (x, y, z) to be solved, to these three points is measured by the above method, and the distance formula between the two points in the three-dimensional coordinate, the following equation system:

(x-0)²+(y-(-d))²+(z-0)²＝b²，

(x-0)²+(y-d)²+(z-0)²＝c²，

solving an equation set to obtain a three-dimensional coordinate of the central point of the electrode:

further, in order to measure the attitude of the end car electrode, the end car subsystem 1 further includes a mems sensor for performing attitude measurement, and the mems sensor is connected to the end car controller 12. In the present embodiment, the mems sensor is an acceleration sensor 11. Measurements of attitude angles (α, β) and azimuth angles (γ) are obtained using acceleration sensors.

As shown in fig. 3 to 5, the value read from the acceleration sensor 11 is g_x，g_y，g_zRespectively, the components on the X/Y/Z axes are shown.

If the vehicle is not inclined, the gravity is coincident with the Z axis, no projection is formed on the XY axis,

g_x＝0，g_y＝0，g_z≠0。

if the vehicle is tilted, gravity does not coincide with the Z-axis, a projection will be formed on the XY-axis (reading the component values),

g_x≠0，g_y≠0，g_z≠0

in addition, the acceleration sensor 11 uses the magnetic field intensity sensor to acquire the component of the geomagnetic field on the three-dimensional coordinates of the chip magnetic field to estimate γ.

As shown in fig. 6 to 7, the component of the three-dimensional coordinate of the geomagnetic field read from the acceleration sensor 11 is cp_x，cp_y，cp_zThe included angle between the geomagnetic field and the positive direction of the vehicle is gamma, and the included angle between the geomagnetic field and the positive direction of the charging bow is gamma₀(by in situ calibration measurements) from the trigonometric relationship

The vehicle azimuth angle deviation is then;

Δγ＝γ-γ₀

by the method, the central displacement deviation, the angle (azimuth angle) deviation, the rolling angle deviation and the pitching angle deviation of the vehicle-end electrode in the horizontal plane can be accurately obtained when the charging bow electrode is in butt joint.

Based on the above system, an embodiment of the present application further provides a positioning method, as shown in fig. 1 and 5, including: the vehicle-end controller 12 sends a data reading command, synchronously controls the infrared transmitter 13 and the ultrasonic transmitter 14 to work (a2, a3), reads acceleration data and geomagnetic field data of the acceleration sensor 11 (a1), and after receiving the data, the vehicle-end controller 12 sends the data to the bow end in a wireless mode through the vehicle-end CAN-WIFI15 (a4, c 5). The bow end CAN-WIFI25 receives the data and then transmits the data to the bow end controller 26, the bow end controller 26 synchronously controls the work (b1, b2, b3, b4) of the infrared receiver 21 and the ultrasonic receivers (22, 23, 24) to obtain data (c1, c2, c3, c4), the distances a, b, c from the center point of the vehicle end to the three receivers are calculated, and the center three-dimensional coordinate position (X, Y, Z coordinates) of the electrode of the vehicle end is calculated; and reading acceleration data and geomagnetic field data of the acceleration sensor 11 through the bow-end CAN-WIFI25, and calculating attitude angles (alpha, beta and gamma) of the vehicle-end electrodes (b5 and c 5). The bow end controller 26 transmits data back to the vehicle end through the bow end CAN-WIFI 25.

In conclusion, the three-dimensional coordinate position and the posture angle of the electrode at the end of the charging bow can be accurately positioned. The problems of center displacement deviation in a horizontal plane, angle (azimuth angle) deviation in the horizontal plane, rolling angle deviation and pitching angle deviation when the charging bow electrode is butted are technically avoided.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The above description is only a preferred example of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present application should be included in the scope of the present application.