CN114506227A - Automatic charging device of unmanned road sweeper and control method - Google Patents
Automatic charging device of unmanned road sweeper and control method Download PDFInfo
- Publication number
- CN114506227A CN114506227A CN202210413526.7A CN202210413526A CN114506227A CN 114506227 A CN114506227 A CN 114506227A CN 202210413526 A CN202210413526 A CN 202210413526A CN 114506227 A CN114506227 A CN 114506227A
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- Prior art keywords
- charging
- pantograph
- base station
- vehicle
- road sweeper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an automatic charging device of an unmanned road sweeper and a control method thereof, wherein the device comprises a charging base station and a vehicle-mounted system, wherein the charging base station comprises a base station terminal, a charging bow device and a base station controller which are electrically connected with the base station terminal; the vehicle-mounted system comprises a vehicle control unit, a road sweeper vehicle-mounted positioning terminal, an unmanned system and a pantograph device, wherein the road sweeper vehicle-mounted positioning terminal is electrically connected with the vehicle control unit; the vehicle-mounted positioning terminal and the base station terminal realize information interaction through an information platform, and a cross current collection mode is adopted between the charging bow device and the pantograph device, so that the problem of automatic charging of the unmanned road sweeper is solved, and the full-flow unmanned management is realized.
Description
Technical Field
The invention relates to an automatic charging device of an unmanned road sweeper and a control method, and belongs to the technical field of environmental sanitation equipment.
Background
The road sweeper is one of the environmental sanitation devices, is a novel efficient sweeping device integrating road surface sweeping, garbage recycling and transportation, and can be widely applied to the sweeping operation of areas such as large squares, parking lots, pedestrian auxiliary roads, urban residential areas, parks, large indoor places and the like. The road sweeper can sweep and collect garbage and maintain the sanitation of the environment.
When a traditional road sweeper is used for sweeping, a driver is required to be equipped, and the road sweeper is driven by the driver to complete the sweeping operation. The existing unmanned road sweeper relieves the physical labor of a driver and improves the working efficiency, but still needs manual monitoring when the electric quantity is insufficient, and drives a vehicle to a charging point for charging operation, so that field personnel cannot be completely relieved, and the automatic charging technology of the unmanned road sweeper becomes a difficult problem for limiting the full-flow unmanned management.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an automatic charging device of an unmanned road sweeper and a control method thereof,
in order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides an automatic charging device of an unmanned road sweeper, which comprises a charging base station and a vehicle-mounted system, wherein the charging base station comprises a base station terminal, a charging bow device and a base station controller, wherein the charging bow device and the base station controller are electrically connected with the base station terminal;
the vehicle-mounted system comprises a vehicle control unit, a road sweeper vehicle-mounted positioning terminal, an unmanned system and a pantograph device, wherein the road sweeper vehicle-mounted positioning terminal is electrically connected with the vehicle control unit;
the vehicle-mounted positioning terminal and the base station terminal realize information interaction through an information platform, and a cross power receiving mode is adopted between the charging pantograph device and the pantograph device.
With reference to the first aspect, further, the vehicle-mounted positioning terminal is in communication connection with the vehicle controller through a CAN bus, and the base station terminal is in communication connection with the base station controller through the CAN bus.
Furthermore, the charging base station further comprises a high-voltage distribution element which is electrically connected with the base station terminal and the charging bow device respectively, and the high-voltage distribution element controls the on-off of a circuit of the charging bow device.
Further, the vehicle-mounted system further comprises a high-voltage distribution box electrically connected with the vehicle control unit, and the high-voltage distribution box is electrically connected with the pantograph device and controls the on-off of a circuit of the pantograph device.
Further, the charging bow device comprises a bracket connected to a charging base station through an electric push rod, and the other end of the bracket is connected to a charging bow electrode through a first insulator;
the pantograph device comprises a fixing plate and a pantograph electrode, the end of the pantograph electrode is connected with one end of a spring, the other end of the spring is arranged on the fixing plate through a second insulator, and the fixing plate is arranged on the road sweeper.
Furthermore, the electric push rod is provided with a stroke monitoring system, so that the electric push rod can feed back the telescopic amount of the electric push rod to the base station controller in real time.
In a second aspect, the present invention provides a method for controlling an automatic charging device of an unmanned road sweeper, comprising the steps of:
when the electric quantity is lower than a set value, the unmanned road sweeper automatically navigates to the charging base station, and the vehicle-mounted positioning terminal sends a warehousing success signal to the information platform;
the base station controller and the whole vehicle controller receive a charging instruction of the information platform, the pantograph lowering device of the charging pantograph device is in charging contact with the pantograph device, and after the pantograph lowering device of the charging pantograph device is in contact with the pantograph device of the charging pantograph device, a charging loop is closed to carry out cross charging;
and after the vehicle is fully charged, the base station controller receives a charging completion signal of the vehicle control unit and controls the disconnection of the charging loop and the pantograph lifting of the charging pantograph device.
With reference to the second aspect, further, after receiving the signal command of the base station terminal, the base station controller controls the electric push rod in the charging bow device to extend or retract, so as to implement the bow lowering or lifting of the charging bow device, thereby forming a crisscross power receiving or power off state of the charging bow device and the pantograph device.
Further, when the charging is contacted, the pantograph electrode in the pantograph device is abutted against the charging pantograph electrode in the pantograph device under the driving of the electric push rod until the spring in the pantograph device deforms, so that the contact area and pressure between the charging pantograph electrode and the pantograph electrode are increased, and high-voltage virtual connection is avoided.
Furthermore, the whole process of the cross charging adopts charging closed-loop control.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an automatic charging device of an unmanned road sweeper, which is characterized in that a charging bow device and a pantograph device are arranged in a cross current receiving mode, so that the positioning efficiency of the unmanned road sweeper is effectively improved;
the power supply loop in the charging process adopts a mode of first contact and then closing, so that contact electric arcs can be eliminated, and the power receiving process is safer;
the contact between the charging bow electrode and the pantograph electrode and the deformation of a spring in the pantograph device increase the contact area and pressure of the charging bow electrode and the pantograph electrode, and effectively avoid high-voltage virtual connection;
the invention provides a control method of an automatic charging device of an unmanned road sweeper, which judges a warehousing position, a charging bow descending state, a high-voltage loop closing state and a charging completion state, is used for full-process charging closed-loop control, is safe and reliable in high-voltage power leading, is communicated with an information platform in real time by double terminals, achieves wireless data interaction between a base station and a vehicle, is stable and reliable in signal transmission, does not need artificial supervision, and improves the utilization rate of the unmanned road sweeper.
Drawings
Fig. 1 is a schematic overall structural diagram of an unmanned road sweeper and an automatic charging device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a pantograph device and a charging device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an automatic charging device system of an unmanned sweeping machine according to an embodiment of the present invention;
fig. 4 is a flow chart illustrating an automatic charging process of an unmanned road sweeper according to an embodiment of the present invention;
in the figure: 1-a charging base station; 2-an electric bow device; 3-unmanned road sweeper; 4-an electric push rod; 5.1 — first insulator; 5.2-a second insulator; 6-a spring; 7-connecting holes for high-voltage wires; 8-pantograph electrodes; 9-charging arch electrode.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1, a schematic view of an overall structure of an unmanned road sweeper and an automatic charging device provided in an embodiment of the present invention includes a charging base station 1, an unmanned road sweeper 3, and a pantograph device 2. The charging base station 1 comprises a base station control box, the charging base station 1 comprises a base station terminal, and a charging bow device and a base station controller which are electrically connected with the base station terminal.
The unmanned road sweeper 3 comprises a vehicle control unit, a road sweeper vehicle-mounted positioning terminal, an unmanned system, a pantograph device and a high-voltage distribution box, wherein the vehicle-mounted positioning terminal is electrically connected with the vehicle control unit. The high-voltage distribution box is electrically connected with the pantograph device and controls the on-off of a circuit of the pantograph device.
The vehicle-mounted positioning terminal and the base station terminal realize information interaction through an information platform, and a cross power receiving mode is adopted between the charging bow device and the pantograph device.
Fig. 2 is a schematic diagram of a charging pantograph device and a pantograph device according to an embodiment of the present invention, in which the charging pantograph device in the charging base station 1 and the pantograph device in the unmanned sweeping machine 3 are in high-voltage docking in a crisscross power receiving manner. In the figure, the upper surface of the pantograph electrode 8 is pressed against the lower surface of the charging pantograph electrode 9, and this shows a state after the simulation pressing.
As shown in fig. 3, which is a schematic diagram of an automatic charging device system of an unmanned road sweeper according to an embodiment of the present invention, a vehicle-mounted positioning terminal is electrically connected to a vehicle control unit, and is in communication connection with a CAN bus, and the vehicle control unit, a high-voltage distribution box, a pantograph device, a vehicle-mounted charger and a battery management system are electrically connected to each other, so that high voltage is transmitted from the pantograph device to the vehicle-mounted charger, and the vehicle-mounted charger is controlled to be turned on or off by the high-voltage distribution box.
A base station controller is arranged in the base station control box, and the base station terminal is electrically connected with the base station controller in the base station control box and is in communication connection with a CAN bus. The base station control box, the high-voltage distribution element and the charging bow device are electrically connected, so that high voltage is transmitted from a base station power supply to the charging bow device, the high-voltage distribution element is electrically connected with the base station terminal and the charging bow device respectively, and the on-off of a circuit of the charging bow device is controlled.
The charging bow device specifically comprises an electric push rod 4 mechanically connected with a parallelogram mechanism, the electric push rod 4 extends out of the charging bow device to lower the bow, the electric push rod 4 retracts into the charging bow device to raise the bow, and the bottom of the parallelogram mechanism is mechanically connected with a charging bow electrode 9 through a first insulator 5.1. The high-voltage wire connecting hole 7 is reserved above the charging arch electrode 9 and used for connecting and fixing the high-voltage cable.
The pantograph device specifically comprises a fixing plate and a pantograph electrode 8, the fixing plate is mechanically connected with a spring 6 through a second insulator 5.2, the fixing plate is arranged on the road sweeper, and the spring 6 is mechanically connected with the pantograph electrode 8.
A virtual parking area in a form that two ends are open is set on the road surface where the charging base station 1 is located, the driving-in and driving-out directions of vehicles are fixed, the automatic parking time of unmanned vehicles entering the charging area of the base station is shortened, and compared with the conventional single-in and single-out type, the efficiency is obviously improved.
The virtual parking area is to ensure that after the unmanned road sweeper 3 is positioned, the charging bow device and the pantograph device can be normally and effectively butted, the larger the virtual parking area is, the lower the difficulty of the unmanned vehicle in driving in is, in order to further increase the area, the length of the charging bow electrode 9 and the length of the pantograph electrode 8 are 300mm, the charging bow and the pantograph adopt a cross current collection mode, a zero line and a live wire respectively form a cross shape after the cross, the positioning error of the vehicle body posture reaches +/-150 mm, the phenomenon that the vehicle posture is frequently adjusted due to the influence of the positioning precision is effectively avoided, and the positioning efficiency is improved.
The vehicle-mounted positioning terminal and the base station terminal are transmitted through a 4G or 5G network by adopting an information platform, so that the real-time wireless interaction of signals, instructions and other information of the unmanned road sweeper 3 and the charging base station 1 is realized. The main operation of the vehicle-mounted positioning terminal and the base station terminal is a medium transmission channel, the final purpose is to realize the real-time wireless interaction of data of the base station controller and the vehicle controller, and in order to make the patent easier to understand, the detailed data interaction process is not needed.
As shown in fig. 4, an automatic charging flowchart of an unmanned road sweeper according to an embodiment of the present invention includes automatic driving and operating functions such as positioning, navigation and obstacle avoidance, cleaning operation, trajectory planning, automatic parking and charging, wherein the charging specifically includes the following steps:
the unmanned system monitors the battery management system and feeds back the battery management system to the vehicle control unit, and when the electric quantity is lower than a set value, the set value is 25% of full electric quantity in the embodiment, the unmanned system stops working, and automatic trajectory planning and navigation are performed to the charging base station 1.
And the vehicle-mounted positioning terminal carries out high-precision positioning through a millimeter wave radar, and sends a warehousing success signal to the base station terminal after judging that the vehicle body is positioned in the virtual parking area.
After the base station controller receives the warehousing success signal, the electric push rod 4 is controlled to extend out, and the purpose of descending the charging bow device is achieved.
The electric push rod 4 is provided with a stroke monitoring system, and a stroke signal is fed back to the base station controller in real time, so that the expansion and contraction quantity of the electric push rod 4 can be monitored in real time.
With the continuous extension of the electric push rod 4, the charging bow electrode 9 of the charging bow device is contacted with the pantograph electrode 8 of the pantograph device. As a preferred example, the spring 6 of the pantograph device deforms gradually in contact, and the contact area and pressure between the charging pantograph electrode 9 and the pantograph electrode 8 are increased, which has the advantage of avoiding a high-voltage virtual connection.
When the electric push rod 4 reaches a preset extension value, the length of the electric push rod 4 is set to be 100mm, the electric push rod 4 stops extending, the base station controller sends a charging bow lowering completion signal and controls the high-voltage power distribution element to close the power supply loop, and the used high-voltage power distribution element is a conventional element and is used for closing the control loop.
And after the vehicle control unit receives the charging bow lowering completion signal, the vehicle control unit controls the high-voltage distribution box to close the charging loop, and the used high-voltage distribution box is a conventional element and is used for closing the control loop.
The pantograph descending device of the charging pantograph device is in charging contact with the pantograph device, and the charging loop is closed to carry out cross charging after the contact, so that contact electric arcs can be eliminated, and the power collecting process is safer.
The vehicle control unit sends a charging instruction to the battery management system, the vehicle-mounted charger charges the battery management system, the battery management system is automatically disconnected after detecting that the SOC is equal to 100%, and a charging completion signal is sent to the vehicle control unit.
Firstly, the vehicle controller controls the high-voltage distribution box to disconnect a power supply loop, the base station controller controls the high-voltage distribution element to disconnect the power supply loop, and controls the electric push rod 4 to withdraw, so as to drive the charging bow device to ascend, and after the electric push rod detects that the electric push rod ascends to a position, an automatic charging flow ending signal is sent.
And after receiving the automatic charging process end signal, the vehicle control unit issues the automatic charging process end signal to the unmanned road sweeper 3, and continues to execute the current task, so that the problem of automatic charging of the unmanned road sweeper 3 is solved, and the full-process unmanned management is realized.
The invention designs an automatic charging device and a control method for realizing unmanned management of the whole process and aiming at the problem that energy cannot be automatically supplemented after an unmanned road sweeper 3 has automatic driving and operating functions such as positioning, navigation obstacle avoidance, cleaning operation, trajectory planning, automatic parking and the like.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An automatic charging device of an unmanned road sweeper is characterized by comprising a charging base station and a vehicle-mounted system, wherein the charging base station comprises a base station terminal, a charging bow device and a base station controller, wherein the charging bow device and the base station controller are electrically connected with the base station terminal;
the vehicle-mounted system comprises a vehicle control unit, a road sweeper vehicle-mounted positioning terminal, an unmanned system and a pantograph device, wherein the road sweeper vehicle-mounted positioning terminal is electrically connected with the vehicle control unit;
the vehicle-mounted positioning terminal and the base station terminal realize information interaction through an information platform, and a cross power receiving mode is adopted between the charging bow device and the pantograph device.
2. The automatic charging device of claim 1, wherein the vehicle-mounted positioning terminal is in communication connection with the vehicle controller via a CAN bus, and the base station terminal is in communication connection with the base station controller via a CAN bus.
3. The automatic charging device of claim 1, wherein the charging base station further comprises a high voltage distribution element electrically connected to the base station terminal and the charging bow device, respectively, and the high voltage distribution element controls the on/off of a circuit of the charging bow device.
4. The automatic charging device of claim 1, wherein the onboard system further comprises a high voltage distribution box electrically connected to the vehicle control unit, the high voltage distribution box electrically connected to the pantograph device and controlling the on/off of the circuit of the pantograph device.
5. The automatic charging device of the unmanned road sweeper of claim 1, wherein the charging bow device comprises a bracket connected to a charging base station through an electric push rod, and the other end of the bracket is connected to a charging bow electrode through a first insulator;
the pantograph device comprises a fixing plate and a pantograph electrode, the end of the pantograph electrode is connected with one end of a spring, the other end of the spring is arranged on the fixing plate through a second insulator, and the fixing plate is arranged on the road sweeper.
6. The automatic charging device of claim 5, wherein the electric push rod is provided with a stroke monitoring system for feeding back the electric push rod expansion amount to the base station controller in real time.
7. A control method of an automatic charging device of an unmanned road sweeper, which is applied to the automatic charging device of the unmanned road sweeper as claimed in any one of claims 1 to 6, is characterized by comprising the following steps:
when the electric quantity is lower than a set value, the unmanned road sweeper automatically navigates to the charging base station, and the vehicle-mounted positioning terminal sends a warehousing success signal to the information platform;
the base station controller and the whole vehicle controller receive a charging instruction of the information platform, the pantograph lowering device of the charging pantograph device is in charging contact with the pantograph device, and after the pantograph lowering device of the charging pantograph device is in contact with the pantograph device of the charging pantograph device, a charging loop is closed to carry out cross charging;
and after the vehicle is fully charged, the base station controller receives a charging completion signal of the vehicle control unit and controls the disconnection of the charging loop and the pantograph lifting of the charging pantograph device.
8. The method as claimed in claim 7, wherein the base station controller controls the extension or retraction of the power rod of the pantograph device after receiving the signal command from the base station terminal, so as to realize the pantograph lowering or raising of the pantograph device, thereby forming a criss-cross power-on or power-off state between the pantograph device and the charging pantograph device.
9. The method as claimed in claim 8, wherein the pantograph electrode of the pantograph device is driven by the push rod to abut against the charging pantograph electrode of the pantograph device until the spring of the pantograph device deforms.
10. The method as claimed in claim 7, wherein the whole cross charging process is controlled by a charging closed loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210413526.7A CN114506227A (en) | 2022-04-20 | 2022-04-20 | Automatic charging device of unmanned road sweeper and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210413526.7A CN114506227A (en) | 2022-04-20 | 2022-04-20 | Automatic charging device of unmanned road sweeper and control method |
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| Publication Number | Publication Date |
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| CN114506227A true CN114506227A (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210413526.7A Pending CN114506227A (en) | 2022-04-20 | 2022-04-20 | Automatic charging device of unmanned road sweeper and control method |
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| CN101580025A (en) * | 2009-06-18 | 2009-11-18 | 上海交通大学 | Bi-wiring itemizing swinging translational type public transportation trolley bus pantograph |
| CN101580021A (en) * | 2009-06-18 | 2009-11-18 | 上海交通大学 | Single pole translational type public transportation trolley bus pantograph |
| US20160167530A1 (en) * | 2014-12-12 | 2016-06-16 | Siemens Aktiengesellschaft | Charging method for an energy accumulator of a vehicle |
| CN106183832A (en) * | 2016-08-09 | 2016-12-07 | 金华青年汽车制造有限公司 | A kind of reverse pantograph charging system for passenger vehicle |
| CN205989678U (en) * | 2016-08-24 | 2017-03-01 | 天津大衍天成科技有限公司 | A kind of unpiloted sweeper |
| CN107472070A (en) * | 2017-08-12 | 2017-12-15 | 薛建仁 | It is a kind of based on it is trans award pantograph award method for electrically and complexes |
| CN109070757A (en) * | 2016-03-24 | 2018-12-21 | 崇德铁路工业技术有限公司 | Positioning unit and contact method |
| CN110758133A (en) * | 2018-07-25 | 2020-02-07 | 郑州宇通客车股份有限公司 | Intelligent charging method for automatic driving vehicle |
| CN111016726A (en) * | 2019-12-23 | 2020-04-17 | 珠海银隆电器有限公司 | Automatic quick-charging vehicle-mounted control system based on unmanned electric vehicle |
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2022
- 2022-04-20 CN CN202210413526.7A patent/CN114506227A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101580025A (en) * | 2009-06-18 | 2009-11-18 | 上海交通大学 | Bi-wiring itemizing swinging translational type public transportation trolley bus pantograph |
| CN101580021A (en) * | 2009-06-18 | 2009-11-18 | 上海交通大学 | Single pole translational type public transportation trolley bus pantograph |
| US20160167530A1 (en) * | 2014-12-12 | 2016-06-16 | Siemens Aktiengesellschaft | Charging method for an energy accumulator of a vehicle |
| CN109070757A (en) * | 2016-03-24 | 2018-12-21 | 崇德铁路工业技术有限公司 | Positioning unit and contact method |
| CN106183832A (en) * | 2016-08-09 | 2016-12-07 | 金华青年汽车制造有限公司 | A kind of reverse pantograph charging system for passenger vehicle |
| CN205989678U (en) * | 2016-08-24 | 2017-03-01 | 天津大衍天成科技有限公司 | A kind of unpiloted sweeper |
| CN107472070A (en) * | 2017-08-12 | 2017-12-15 | 薛建仁 | It is a kind of based on it is trans award pantograph award method for electrically and complexes |
| CN110758133A (en) * | 2018-07-25 | 2020-02-07 | 郑州宇通客车股份有限公司 | Intelligent charging method for automatic driving vehicle |
| CN111016726A (en) * | 2019-12-23 | 2020-04-17 | 珠海银隆电器有限公司 | Automatic quick-charging vehicle-mounted control system based on unmanned electric vehicle |
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