CN118182211B - Electric supplementing system and method of mobile storage and charging system - Google Patents
Electric supplementing system and method of mobile storage and charging system Download PDFInfo
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- CN118182211B CN118182211B CN202410383301.0A CN202410383301A CN118182211B CN 118182211 B CN118182211 B CN 118182211B CN 202410383301 A CN202410383301 A CN 202410383301A CN 118182211 B CN118182211 B CN 118182211B
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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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
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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)
Abstract
The invention belongs to the technical field of automobile electricity supplementing management, and particularly discloses an electricity supplementing system and an electricity supplementing method of a mobile storage and charging system, wherein the system comprises the following components: the system comprises a supplementary electricity information importing module, a vehicle information importing module, a gesture monitoring judging module, a gesture adjusting and processing module, a supplementary electricity adjusting and processing module, an information base and a supplementary electricity confirming and processing module. According to the invention, the power supplementing device is arranged, the power supplementing requirement judgment is carried out by combining the gesture image of the power supplementing object, the gesture adjustment scheme of the power supplementing object is confirmed, meanwhile, the power supplementing adjustment requirement judgment and the power supplementing adjustment connection are carried out by combining the socket state and the load state of the power supplementing object, so that the power supplementing is carried out, the problem of insufficient power supplementing efficiency existing in the manual charging mode and the accurate identification alignment mode of the current manual operation is effectively solved, the operation cost is effectively saved on the premise of ensuring the power supplementing accuracy and convenience, and the charging stability is also improved.
Description
Technical Field
The invention belongs to the technical field of automobile electricity supplementing management, and relates to an electricity supplementing system and an electricity supplementing method of a mobile storage and charging system.
Background
The mobile storage and charging system is equipment capable of providing charging for an electric automobile at any time and any place, and belongs to a part of mobile energy storage. The electric vehicle mainly comprises a vehicle body, a battery pack, a motor, a BMS distribution box, a heat radiation system and the like. The power supplementing method of the mobile storage and charging system can be divided into two modes of charging and power changing.
Currently, in the prior art, two forms exist for charging a mobile storage and charging system, one is a power supplementing form for charging the mobile storage and charging system based on a direct current charging pile operated manually. One is similar to the robot electricity filling mode of sweeping floor, realizes the electricity filling based on complicated devices such as accurate discernment mouth that charges, automatic counterpoint.
The manual charging mode of manual operation is adopted, and the mobile storage and charging system is simple and convenient, but training and time investment of professional operators are required to be increased, and operation cost of the mobile storage and charging system is increased. Adopt accurate discernment charge mouth, automatic counterpoint form, there is charging equipment to be inaccurate to lead to collision impact, damages easily to and for adjusting removal storage and charging device, frequent automatic charging process inefficiency's such as reversing problem.
Therefore, the two charging modes have the defects of insufficient power supplementing efficiency and higher operation cost, the convenience of power supplementing cannot be improved, meanwhile, the attention to the alignment accuracy in the charging process is also somewhat deficient, and the stability of charging and the effectiveness and reliability of charging alignment cannot be improved.
Disclosure of Invention
In view of the above, in order to solve the above-mentioned problems, a power compensation system and a power compensation method of a mobile storage and charging system are provided.
The aim of the invention can be achieved by the following technical scheme: the invention provides an electricity supplementing system of a mobile storage and charging system, which comprises: and the electricity supplementing information importing module is used for importing the electricity supplementing posture monitoring position and the electricity supplementing parking position of the corresponding parking track of the electricity supplementing area and recording the current automobile to be supplemented as an electricity supplementing object.
And the vehicle information importing module is used for importing the model and state information of the electricity supplementing object.
And the gesture monitoring and judging module is used for monitoring the gesture image of the electricity supplementing object through a camera mounted on the parking track positioning device when the electricity supplementing object is driven into the electricity supplementing gesture monitoring position in the parking track, and judging whether the electricity supplementing object meets the electricity supplementing requirement.
And the gesture adjustment processing module is used for confirming a gesture adjustment scheme of the electricity supplementing object and adjusting when the electricity supplementing object does not meet the electricity supplementing requirement, starting a camera at the position of the parking track to collect an image of the electricity supplementing area of the electricity supplementing object when the electricity supplementing object meets the electricity supplementing requirement, and judging the electricity supplementing adjustment requirement according to the image of the electricity supplementing area.
And the electricity supplementing adjustment processing module is used for continuously moving the vehicle to the electricity supplementing parking position when the electricity supplementing adjustment requirement is not required to be adjusted, connecting the electricity supplementing plug with the electricity supplementing socket, confirming the electricity supplementing adjustment connection mode of the electricity supplementing object when the electricity supplementing adjustment requirement is required to be adjusted, sending the electricity supplementing adjustment connection mode to the electricity supplementing control terminal of the electricity supplementing device, simultaneously continuously moving the vehicle to the electricity supplementing parking position, and connecting the electricity supplementing plug with the electricity supplementing socket.
The information base is used for storing initial intervals and initial included angles between the center points of the corresponding power supplementing sockets of the automobiles of various types and the center points of the areas where the power supplementing sockets are located, and storing initial setting insertion thrust of automatic power supplementing.
And the power-supplementing confirmation processing module is used for setting a power-supplementing success judging condition, and starting a connecting switch of the power-supplementing device to supplement power when the power-supplementing success judging condition is met.
Further, the electricity supplementing device comprises a parking track positioning device, an electricity supplementing interface positioning device, an electricity supplementing plug arranged on the electricity supplementing terminal and an electricity supplementing socket arranged on the electricity supplementing object.
Further, communication modules are arranged in the power supplementing plug and the power supplementing socket, and the power supplementing socket is connected with a power supply through a direct current relay.
Further, the determining whether the electricity supplementing object meets the electricity supplementing requirement includes: the two sides of the parking track are respectively marked as the left side and the right side, the horizontal distance between the center point of the tire in the left side track and the center point of the track is extracted from the gesture image of the power supplementing object, the horizontal distance is used as the left side distance L z, and the right side distance L y is extracted in the same way.
Extracting an included angle between a tire in a left track and the track of the tire from an attitude image of a power supplementing object to serve as the left included angleThe right included angle is extracted by the same method
Counting the matching degree psi of the electricity supplementing gesture of the electricity supplementing object,L′、Respectively setting a permissible deviation interval and a permissible deviation angle,The allowable deviation angle difference of the reference for setting the reference.
If psi is less than 0, judging that the electricity supplementing object does not meet the electricity supplementing requirement, and if psi is more than or equal to 0, judging that the electricity supplementing object meets the electricity supplementing requirement.
Further, confirming the posture adjustment scheme of the electricity supplementing object comprises the following steps: if it isThe corresponding wheel of the left side rail is taken as the regulating wheel, ifAnd taking the corresponding wheel on the right side rail as a regulating wheel.
If the regulated wheel is a left side rail corresponding wheel, and simultaneously, L' is not less than L z andThe angle regulation is taken as a regulation type, andAs a deviation angle value, the deviation angle value is input into an automatic navigation system of the power supplementing object, and the gesture adjusting direction and the adjusting angle are output and used as gesture adjusting information.
If the regulated wheel is a left side rail corresponding wheel, simultaneously L' < L z andAnd taking the distance regulation as a regulation type, taking L z -L' as a deviation distance, inputting the deviation distance into an automatic navigation system of the power supplementing object, outputting a posture regulation direction, a regulation amplitude, a regulation vehicle speed and a regulation duration, and taking the posture regulation direction, the regulation amplitude, the regulation vehicle speed and the regulation duration as posture regulation information.
If the regulated wheel is a left side rail corresponding wheel, simultaneously L' < L z andAnd the angle regulation and the distance regulation are used as regulation types, the deviation angle value and the deviation distance are input into an automatic navigation system of the power supplementing object, and the posture adjustment direction, the adjustment angle, the adjustment amplitude, the adjustment vehicle speed and the adjustment duration are output and used as posture regulation information.
And if the regulating wheel is a right-side rail corresponding wheel or the regulating wheel comprises a left-side rail corresponding wheel and a right-side rail corresponding wheel, the regulating wheel is obtained by the same analysis as the regulating type and the posture regulating information under the right-side rail corresponding wheel according to the analysis mode of the regulating type and the posture regulating information in the regulating wheel which is the left-side rail corresponding wheel and the regulating wheel which comprises the regulating type and the posture regulating information under the left-side rail corresponding wheel and the right-side rail corresponding wheel.
And combining the regulation and control wheels, the regulation and control type and the posture regulation and control information to generate a posture regulation scheme of the power supplementing object.
Further, the determining the power supply adjustment requirement includes: according to the state information of the electricity supplementing object, setting the adjustment requirement compensation weight of the electricity supplementing object and marking as tau.
And extracting the position of the central point of the power-supplementing socket in the power-supplementing region and the position of the central point of the power-supplementing region from the power-supplementing region image, so as to obtain the vertical distance h between the central points of the power-supplementing socket and the central point of the power-supplementing region.
Taking the central point of the electricity supplementing socket as a base point, taking a line parallel to the ground where the electricity supplementing object is located as the central line of the electricity supplementing socket, constructing the central line of the electricity supplementing area in the same way according to the construction mode of the central line of the electricity supplementing socket, and further recording the included angle between the central line of the electricity supplementing socket and the central line of the electricity supplementing area as theta.
And extracting an initial interval h 'and an initial included angle theta' between the center point of the power supplementing socket corresponding to the model of the power supplementing object and the center point of the area where the power supplementing socket is located from the information base.
And extracting the maximum gap area S 0 between the power-supplementing socket and the power-supplementing region from the power-supplementing region image.
The power supply regulation demand trend index lambda is counted,Δh and Δθ are respectively set reference allowable floating pitch difference and allowable floating center offset difference, S' is set reference power supply interference gap area, and λ 0 is a compensation adjustment demand trend index corresponding to the set unit adjustment demand compensation weight.
If lambda > 0, the demand adjustment is used as the result of the demand judgment of the power supply adjustment, otherwise, the demand adjustment is not needed to be used as the result of the demand judgment of the power supply adjustment.
Further, the setting the adjustment requirement compensation weight of the electricity compensation object includes: and extracting a load state from the state information of the current automobile to be supplemented, and taking 0 as the adjustment demand compensation weight of the electricity supplementing object if the load state is not loaded.
If the load state is load, extracting a load pressure value N from the state information of the current automobile to be supplemented, and obtaining the load pressure value NThe adjustment demand compensation weight of the electricity supplementing object is marked as alpha 1 and N' as the set interference load pressure value, so that the adjustment demand compensation weight tau of the electricity supplementing object is obtained, and the tau value is 0 or alpha 1,α1 is more than 0.
Further, the confirming the connection mode of the power compensation adjustment of the power compensation object includes: and h, theta, S 0 and tau are led into an adjustment evaluation rule, and a power supply adjustment mode is output, wherein the power supply adjustment mode is one of insertion thrust value adjustment, insertion position adjustment, insertion angle adjustment and comprehensive adjustment.
When the power-up adjustment mode is the insertion thrust value adjustment, extracting an initial set insertion thrust value P 0 for automatic power-up from the information baseAs the insertion thrust value adjustment and as the insertion adjustment information under the insertion thrust value adjustment, P' is the unit gap interference factor corresponding to the set reference to compensate the insertion thrust value.
When the power supply adjustment mode is insertion position adjustment, the center point position of the power supply socket is moved by h-h' to the ground direction, then moved by τ x h 0 to the opposite direction, and used as insertion adjustment information under the insertion position adjustment, and h 0 is used as a unit to adjust the compensation floating distance corresponding to the required compensation weight.
And when the power supply adjustment mode is the insertion angle adjustment, taking θ as an insertion angle adjustment value and as insertion adjustment information under the insertion angle adjustment.
When the electricity supplementing adjustment mode is integrated adjustment, confirming the integrated adjustment type and the inserting adjustment information under the integrated adjustment type, and taking the electricity supplementing adjustment mode and the inserting adjustment information under the electricity supplementing adjustment mode as the electricity supplementing adjustment connection mode of the electricity supplementing object.
Further, the condition for judging success of the power supply is specifically as follows: and the power-supplementing object and the power-supplementing terminal both receive a normal connection instruction.
The invention also provides a power supplementing method of the mobile storage and charging system, which comprises the following steps: step 1, supplementary electricity information importing: and importing the power supplementing gesture monitoring position and the power supplementing parking position of the corresponding parking track of the power supplementing region, and marking the current automobile to be supplemented as a power supplementing object.
Step 2, importing vehicle information: and importing the model and state information of the electricity supplementing object.
Step 3, posture monitoring and judging: when the vehicle of the electricity supplementing object drives into the electricity supplementing posture monitoring position in the parking track, the posture image of the electricity supplementing object is monitored through a camera mounted on the parking track positioning device, and whether the electricity supplementing object meets the electricity supplementing requirement is judged.
Step 4, posture adjustment processing: and when the electricity supplementing object does not meet the electricity supplementing requirement, confirming an attitude adjustment scheme of the electricity supplementing object, adjusting, and when the electricity supplementing object meets the electricity supplementing requirement, starting a camera at the position of the parking track to collect an image of an electricity supplementing area of the electricity supplementing object, and judging the electricity supplementing adjustment requirement according to the image of the electricity supplementing area.
And 5, supplementing electricity and adjusting: when the electricity supplementing adjustment requirement is that adjustment is not needed, the vehicle is continuously moved to the electricity supplementing parking position, the electricity supplementing plug is connected with the electricity supplementing socket in the electricity supplementing connection mode, when the electricity supplementing adjustment requirement is that the adjustment is needed, the electricity supplementing adjustment connection mode of the electricity supplementing object is confirmed, the electricity supplementing adjustment connection mode is sent to the electricity supplementing control terminal of the electricity supplementing device, meanwhile, the vehicle is continuously moved to the electricity supplementing parking position, and the electricity supplementing plug is connected with the electricity supplementing socket.
And step 6, power-up confirmation processing: setting a power-up success judgment condition, and starting a connection switch of the power-up device to perform power-up when the power-up success judgment condition is met.
Compared with the prior art, the invention has the following beneficial effects: (1) According to the invention, the power supplementing device is arranged, the power supplementing requirement judgment is carried out by combining the gesture image of the power supplementing object, the gesture adjustment scheme of the power supplementing object is confirmed, meanwhile, the power supplementing adjustment requirement judgment is carried out by combining the socket state and the load state of the power supplementing object, the power supplementing adjustment connection mode is confirmed, and further, the power supplementing is carried out, so that the problem of insufficient power supplementing efficiency in the manual charging mode and the accurate identification alignment mode of the current manual operation is effectively solved, the operation cost is effectively saved on the premise of ensuring the power supplementing accuracy and convenience, and the charging stability and the charging alignment effectiveness and reliability are also improved.
(2) According to the invention, the gesture adjustment scheme of the power-supplementing object is confirmed based on the center deviation distance and the tire deviation angle of each side tire in the parking track, so that the gesture condition of the power-supplementing object can be more accurately confirmed, the incorrect operation caused by inaccurate gesture adjustment is avoided, the pertinence of adjustment is improved, and meanwhile, the trial-and-error time in the adjustment process can be effectively reduced, so that the gesture adjustment efficiency is improved.
(3) According to the invention, through counting the trend indexes of the electricity compensation adjustment requirements from the four dimensions of the load of the electricity compensation object, the center distance and the center included angle of the electricity compensation socket and the gap area of the electricity compensation socket, the electricity compensation adjustment requirement judgment and the confirmation of the electricity compensation adjustment connection mode are further carried out, the comprehensive assessment of the electricity compensation adjustment requirements is realized, the judgment deviation caused by a single factor is avoided, the collision impact probability in the electricity compensation process and the equipment damage probability in the electricity compensation process are also reduced, the electricity compensation adjustment connection can be better confirmed, the connection effect is optimized, the smooth operation of the electricity compensation process is ensured, the accuracy, the efficiency and the connection effect of the electricity compensation adjustment are also improved, and the integral efficiency of automatic electricity compensation is further greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the connection of the modules of the system of the present invention.
FIG. 2 is a schematic diagram of the power supply device of the present invention.
FIG. 3 is a schematic view of a parking track positioning apparatus according to the present invention.
FIG. 4 is a schematic diagram of the complementary alignment of the present invention.
FIG. 5 is a flow chart of the steps of the method of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides an electricity compensation system of a mobile storage and charging system, the system includes: the system comprises a supplementary electricity information importing module, a vehicle information importing module, a gesture monitoring judging module, a gesture adjusting and processing module, a supplementary electricity adjusting and processing module, an information base and a supplementary electricity confirming and processing module.
The gesture monitoring and judging module is respectively connected with the electricity supplementing information importing module and the gesture adjusting and processing module, the gesture adjusting and processing module is respectively connected with the electricity supplementing and adjusting and processing module and the information base, and the electricity supplementing and adjusting and processing module is also respectively connected with the vehicle information importing module, the information base and the electricity supplementing and confirming and processing module.
And the electricity supplementing information importing module is used for importing the electricity supplementing posture monitoring position and the electricity supplementing parking position of the corresponding parking track of the electricity supplementing area and recording the current automobile to be supplemented as an electricity supplementing object.
The vehicle information importing module is used for importing model and state information of the electricity supplementing object.
Specifically, the state information includes a load state and a load pressure value, and the load state is a load and an unweighted state.
Referring to fig. 3, the gesture monitoring and judging module is configured to monitor, through a camera mounted on the parking track positioning device, a gesture image of the power-supplementing object when the power-supplementing object is driving into a power-supplementing gesture monitoring position in the parking track, and judge whether the power-supplementing object meets a power-supplementing requirement.
Illustratively, determining whether the power-up object meets the power-up requirement includes: a1, respectively marking two sides of a parking track as a left side and a right side, extracting a horizontal distance between a tire center point in the left side track and a track center point thereof from a posture image of a power supplementing object, taking the horizontal distance as a left side distance L z, and similarly extracting a right side distance L y.
A2, extracting an included angle between the tire and the track in the left track from the gesture image of the power supplementing object to serve as the left included angleThe right included angle is extracted by the same method
A3, counting the power-supplementing gesture fitness psi of the power-supplementing object,L′、Respectively setting a permissible deviation interval and a permissible deviation angle,The allowable deviation angle difference of the reference for setting the reference.
A4, if psi is less than 0, judging that the electricity supplementing object does not meet the electricity supplementing requirement, and if psi is more than or equal to 0, judging that the electricity supplementing object meets the electricity supplementing requirement.
According to the embodiment of the invention, the posture adjustment scheme of the power supply object is confirmed based on the center deviation distance and the tire deviation angle of each side tire in the parking track, so that the posture condition of the power supply object can be confirmed more accurately, the incorrect operation caused by inaccurate posture adjustment is avoided, the pertinence of adjustment is improved, and meanwhile, the trial-and-error time in the adjustment process can be effectively reduced, so that the posture adjustment efficiency is improved.
And the gesture adjustment processing module is used for confirming a gesture adjustment scheme of the electricity supplementing object and adjusting when the electricity supplementing object does not meet the electricity supplementing requirement, starting a camera at the parking track position to collect an image of the electricity supplementing area of the electricity supplementing object when the electricity supplementing object meets the electricity supplementing requirement, and judging the electricity supplementing adjustment requirement according to the image of the electricity supplementing area.
Illustratively, confirming the posture adjustment scheme of the power replenishment object includes: b1, ifThe corresponding wheel of the left side rail is taken as the regulating wheel, ifAnd taking the corresponding wheel on the right side rail as a regulating wheel.
B2, if the regulating wheel is a left side rail corresponding wheel, simultaneously L' is more than or equal to L z andThe angle regulation is taken as a regulation type, andAs a deviation angle value, the deviation angle value is input into an automatic navigation system of the power supplementing object, and the gesture adjusting direction and the adjusting angle are output and used as gesture adjusting information.
B3, if the regulating wheel is a left side rail corresponding wheel, simultaneously L' < L z andAnd taking the distance regulation as a regulation type, taking L z -L' as a deviation distance, inputting the deviation distance into an automatic navigation system of the power supplementing object, outputting a posture regulation direction, a regulation amplitude, a regulation vehicle speed and a regulation duration, and taking the posture regulation direction, the regulation amplitude, the regulation vehicle speed and the regulation duration as posture regulation information.
B4, if the regulating wheel is a left side rail corresponding wheel, simultaneously L' < L z andAnd the angle regulation and the distance regulation are used as regulation types, the deviation angle value and the deviation distance are input into an automatic navigation system of the power supplementing object, and the posture adjustment direction, the adjustment angle, the adjustment amplitude, the adjustment vehicle speed and the adjustment duration are output and used as posture regulation information.
In a specific embodiment, the automatic navigation system can generate the posture adjustment information according to the current posture deviation information, and the specific generation means is the existing mature technology and is not repeated here.
And B5, if the regulating wheel is a right-side rail corresponding wheel or the regulating wheel comprises a left-side rail corresponding wheel and a right-side rail corresponding wheel, the regulating wheel is the regulating type and the posture regulating information under the right-side rail corresponding wheel according to the same analysis mode of the regulating type and the posture regulating information in the regulating wheel which is the left-side rail corresponding wheel and the regulating wheel is obtained by the same analysis, and the regulating wheel comprises the regulating type and the posture regulating information under the left-side rail corresponding wheel and the right-side rail corresponding wheel.
And B6, combining the regulation and control wheels, the regulation and control type and the posture regulation and control information to generate a posture regulation scheme of the power supplementing object.
Further, determining the power supply adjustment requirement includes: and C1, setting the adjustment requirement compensation weight of the power compensation object according to the state information of the power compensation object, and marking the adjustment requirement compensation weight as tau.
Understandably, setting the adjustment demand compensation weight of the electricity compensation object includes: and extracting a load state from the state information of the current automobile to be supplemented, and taking 0 as the adjustment demand compensation weight of the electricity supplementing object if the load state is not loaded.
If the load state is load, extracting a load pressure value N from the state information of the current automobile to be supplemented, and obtaining the load pressure value NThe adjustment demand compensation weight of the electricity supplementing object is marked as alpha 1 and N' as the set interference load pressure value, so that the adjustment demand compensation weight tau of the electricity supplementing object is obtained, and the tau value is 0 or alpha 1,α1 is more than 0.
It should be noted that, the load may affect the center of gravity of the vehicle, possibly resulting in the center of gravity of the vehicle being lower or inclined to one side, when the load exists in the automobile, the center of gravity of the power supply socket may be biased or offset due to the load, possibly resulting in the change of the height of the bottom of the vehicle, so that the power supply socket and the charging socket of the vehicle cannot be aligned completely, that is, when automatic charging is performed, the connection tightness between the power supply socket and the power supply plug may also be changed along with the change of the applied load, and meanwhile, the bias of the load may cause the abnormal posture of the vehicle during power supply, which may cause additional load to the battery assembly and the charging system, so that the element of the load is considered to adjust the demand compensation weight, so as to perform the error compensation of the adjustment demand trend index statistical process.
And C2, extracting the position of the central point of the power-supplementing socket in the power-supplementing area and the position of the central point of the power-supplementing area from the power-supplementing area image, and further obtaining the vertical distance h between the central point of the power-supplementing socket and the central point of the power-supplementing area.
And C3, taking the central point of the electricity supplementing socket as a base point, taking a line parallel to the ground where the electricity supplementing object is positioned as the central line of the electricity supplementing socket, constructing the central line of the electricity supplementing area in the same way according to the construction mode of the central line of the electricity supplementing socket, and further recording the included angle between the central line of the electricity supplementing socket and the central line of the electricity supplementing area as theta.
And C4, extracting an initial interval h 'and an initial included angle theta' between the center point of the power supply socket corresponding to the model of the power supply object and the center point of the area where the power supply socket is located from the information base.
And C5, extracting the largest gap area S 0 between the power-supplementing socket and the power-supplementing area from the power-supplementing area image.
C6, counting the trend index lambda of the power supply adjustment requirement,Δh and Δθ are respectively set reference allowable floating pitch difference and allowable floating center offset difference, S' is set reference power supply interference gap area, and λ 0 is a compensation adjustment demand trend index corresponding to the set unit adjustment demand compensation weight.
And C7, if lambda > 0, taking the demand adjustment as a power supply adjustment demand judgment result, otherwise, taking the unnecessary adjustment as the power supply adjustment demand judgment result.
And the electricity supplementing adjustment processing module is used for continuously moving the vehicle to the electricity supplementing parking position when the electricity supplementing adjustment requirement is not required to be adjusted, connecting the electricity supplementing plug with the electricity supplementing socket, confirming the electricity supplementing adjustment connection mode of the electricity supplementing object when the electricity supplementing adjustment requirement is required to be adjusted, sending the electricity supplementing adjustment connection mode to the electricity supplementing control terminal of the electricity supplementing device, simultaneously continuously moving the vehicle to the electricity supplementing parking position, and connecting the electricity supplementing plug with the electricity supplementing socket.
Illustratively, confirming the power supply adjustment connection mode of the power supply object includes: and D1, importing h, theta, S 0 and tau into an adjustment evaluation rule, and outputting a power compensation adjustment mode, wherein the power compensation adjustment mode is one of insertion thrust value adjustment, insertion position adjustment, insertion angle adjustment and comprehensive adjustment.
The specific evaluation process for adjusting the evaluation rule is as follows: if only h '-h > Δh or τ > τ', the insertion position adjustment is used as the power supply adjustment mode.
If only delta theta-theta' > 0 exists, the insertion angle adjustment is used as the power compensation adjustment mode.
If only S 0 -S' > 0 exists, the insertion thrust value is adjusted to be used as a power compensation adjustment mode.
If h '-h is more than deltah, tau is more than tau', delta theta-theta '> 0 and S 0 -S' > 0 exist simultaneously, the comprehensive adjustment is used as the power supply adjustment mode.
D2, when the power-up adjustment mode is the insertion thrust value adjustment, extracting an initial set insertion thrust value P 0 for automatic power-up from the information base, and performing power-up adjustmentAs the insertion thrust value adjustment and as the insertion adjustment information under the insertion thrust value adjustment, P' is the unit gap interference factor corresponding to the set reference to compensate the insertion thrust value.
And D3, when the power supply adjustment mode is the insertion position adjustment, moving the center point position of the power supply socket by h-h' distance towards the ground, then moving by tau x h 0 distance towards the opposite direction, and using h 0 as the insertion adjustment information under the insertion position adjustment to adjust the compensation floating distance corresponding to the required compensation weight.
And D4, when the power supply adjustment mode is the insertion angle adjustment, taking θ as an insertion angle adjustment value and taking θ as insertion adjustment information under the insertion angle adjustment.
And D5, when the electricity supplementing adjustment mode is comprehensive adjustment, confirming the comprehensive adjustment type and the insertion adjustment information under the comprehensive adjustment type, and taking the electricity supplementing adjustment mode and the insertion adjustment information under the electricity supplementing adjustment mode as the electricity supplementing adjustment connection mode of the electricity supplementing object.
The specific confirmation method for confirming the comprehensive adjustment type is as follows: h1, if H ' -H > Δh and Δθ - θ ' > 0 exist at the same time or τ > τ ' and Δθ - θ ' > 0 exist at the same time or H ' -H > Δh, τ > τ ' and Δθ - θ ' > 0 exist at the same time, the insertion position-insertion angle adjustment is used as the comprehensive adjustment type.
H2, if H ' -H > Δh and S 0 -S ' > 0 are simultaneously present, or τ > τ ' and S 0 -S ' > 0 are simultaneously present, or H ' -H > Δh, τ > τ ' and S 0 -S ' > 0 are simultaneously present, the insertion position-insertion thrust adjustment is used as a comprehensive adjustment type.
H3, if delta theta-theta '> 0 and S 0 -S' > 0 exist at the same time, the adjustment of the insertion angle and the insertion thrust is used as the comprehensive adjustment type.
H4, if H '-H > Δh, Δθ - θ' > 0 and S 0 -S '> 0 are simultaneously present, or τ > τ', Δθ - θ '> 0 and S 0 -S' > 0 are simultaneously present, or H '-H > Δh, τ > τ', Δθ - θ '> 0 and S 0 -S' > 0 are simultaneously present, the insertion position-insertion angle-insertion thrust adjustment is used as the integrated adjustment type.
It is also necessary to confirm the insertion adjustment information under the integrated adjustment type, including: and J1, if the comprehensive adjustment type is the insertion position-insertion angle adjustment, taking the insertion adjustment information under the insertion position adjustment and the insertion angle adjustment as the insertion adjustment information under the insertion position-insertion angle adjustment type.
And J2, if the integrated adjustment type is the insertion position-insertion thrust adjustment, taking the insertion adjustment information under the adjustment of the insertion position and the adjustment of the insertion thrust value as the insertion adjustment information under the adjustment of the insertion position-insertion thrust.
And J3, if the integrated adjustment type is the insertion angle-insertion thrust adjustment, taking the insertion adjustment information under the adjustment of the insertion angle and the adjustment of the insertion thrust value as the insertion adjustment information under the adjustment of the insertion angle-insertion thrust.
And J4, if the comprehensive adjustment type is insertion position-insertion angle-insertion thrust adjustment, taking the insertion adjustment information under the adjustment of the insertion position, the adjustment of the insertion angle and the adjustment of the insertion thrust value as the insertion adjustment information under the adjustment of the insertion position-insertion angle-insertion thrust.
According to the embodiment of the invention, the power supply adjustment requirement trend indexes are counted from the four dimensions of the load of the power supply object, the center distance and the center included angle of the power supply socket and the gap area of the power supply socket, so that the power supply adjustment requirement judgment and the power supply adjustment connection mode confirmation are further carried out, the comprehensive assessment of the power supply adjustment requirement is realized, the judgment deviation caused by a single factor is avoided, the collision impact probability in the power supply process and the equipment damage probability in the power supply process are reduced, the power supply adjustment connection can be better confirmed, the connection effect is optimized, the smooth power supply process is ensured, the accuracy, the efficiency and the connection effect of the power supply adjustment can be improved, and the integral efficiency of automatic power supply is greatly improved.
The information base is used for storing initial intervals and initial included angles between the center points of the corresponding power supplementing sockets of the automobiles with various numbers and the center points of the areas where the power supplementing sockets are located, and storing initial setting insertion thrust of automatic power supplementing.
And the power-supplementing confirmation processing module is used for setting a power-supplementing success judging condition, and starting a connecting switch of the power-supplementing device to supplement power when the power-supplementing success judging condition is met.
In one embodiment, the condition for successfully judging the power supply is specifically as follows: and the power-supplementing object and the power-supplementing terminal both receive a normal connection instruction.
The power supply socket is characterized in that each jack position in the power supply socket is provided with a pressure sensor, namely, when the power supply plug is connected with the power supply socket, the pressure sensor in each jack corresponding position in the power supply socket monitors data, and the difference value of the monitoring data corresponding to the pressure sensor in each jack corresponding position is set to be different in allowable difference value, namely, a normal connection instruction is sent out through a communication module arranged in the power supply socket and the power supply plug.
In another embodiment, referring to fig. 2 and 4, the power supplementing device includes a parking track positioning device, a power supplementing interface positioning device, a power supplementing plug installed on a power supplementing terminal, and a power supplementing socket installed on a power supplementing object.
Further, communication modules are arranged in the power supplementing plug and the power supplementing socket, and the power supplementing socket is connected with a power supply through a direct current relay.
The direct current relay is adopted to connect between the electricity supplementing plug and the electricity supplementing terminal, the electricity supplementing plug is connected with the electricity supplementing socket correctly, the electricity supplementing terminal is closed in response to the control instruction of the electricity supplementing terminal when the electricity supplementing operation is started, the rest time is in a normally open state, the direct current relay is also adopted to connect between the electricity supplementing socket and the power supply, the electricity supplementing plug is connected with the electricity supplementing socket correctly, the electricity supplementing terminal is closed in response to the control instruction of the electricity supplementing terminal when the electricity supplementing operation requirement of the electricity supplementing terminal is started, the rest time is in a normally open state, and the electricity supplementing terminal is an energy storage system.
According to the embodiment of the invention, the power supplementing device is arranged, the power supplementing requirement judgment is carried out by combining the gesture image of the power supplementing object, the gesture adjustment scheme of the power supplementing object is confirmed, meanwhile, the power supplementing adjustment requirement judgment is carried out by combining the socket state and the load state of the power supplementing object, the power supplementing adjustment connection mode is confirmed, and further the power supplementing is carried out, so that the problem of insufficient power supplementing efficiency in the manual charging mode and the accurate identification alignment mode of the current manual operation is effectively solved, the operation cost is effectively saved on the premise of ensuring the power supplementing accuracy and convenience, and the charging stability and the charging alignment effectiveness and reliability are also improved.
Referring to fig. 5, the present invention provides a power supplementing method of a mobile storage and charging system, including: step1, supplementary electricity information importing: and importing the power supplementing gesture monitoring position and the power supplementing parking position of the corresponding parking track of the power supplementing region, and marking the current automobile to be supplemented as a power supplementing object.
Step 2, importing vehicle information: and importing the model and state information of the electricity supplementing object.
Step 3, posture monitoring and judging: when the vehicle of the electricity supplementing object drives into the electricity supplementing posture monitoring position in the parking track, the posture image of the electricity supplementing object is monitored through a camera mounted on the parking track positioning device, and whether the electricity supplementing object meets the electricity supplementing requirement is judged.
Step 4, posture adjustment processing: and when the electricity supplementing object does not meet the electricity supplementing requirement, confirming an attitude adjustment scheme of the electricity supplementing object, adjusting, and when the electricity supplementing object meets the electricity supplementing requirement, starting a camera at the position of the parking track to collect an image of an electricity supplementing area of the electricity supplementing object, and judging the electricity supplementing adjustment requirement according to the image of the electricity supplementing area.
And 5, supplementing electricity and adjusting: when the electricity supplementing adjustment requirement is that adjustment is not needed, the vehicle is continuously moved to the electricity supplementing parking position, the electricity supplementing plug is connected with the electricity supplementing socket in the electricity supplementing connection mode, when the electricity supplementing adjustment requirement is that the adjustment is needed, the electricity supplementing adjustment connection mode of the electricity supplementing object is confirmed, the electricity supplementing adjustment connection mode is sent to the electricity supplementing control terminal of the electricity supplementing device, meanwhile, the vehicle is continuously moved to the electricity supplementing parking position, and the electricity supplementing plug is connected with the electricity supplementing socket.
And step 6, power-up confirmation processing: setting a power-up success judgment condition, and starting a connection switch of the power-up device to perform power-up when the power-up success judgment condition is met.
The foregoing is merely illustrative and explanatory of the principles of this invention, as various modifications and additions may be made to the specific embodiments described, or similar arrangements may be substituted by those skilled in the art, without departing from the principles of this invention or beyond the scope of this invention as defined in the claims.
Claims (7)
1. The utility model provides a remove and store up moisturizing system of filling system which characterized in that: the system comprises:
The electricity supplementing information importing module is used for importing an electricity supplementing posture monitoring position and an electricity supplementing parking position of the corresponding parking track of the electricity supplementing area and recording the current automobile to be supplemented as an electricity supplementing object;
The vehicle information importing module is used for importing model and state information of the electricity supplementing object;
The gesture monitoring and judging module is used for monitoring a gesture image of the electricity supplementing object through a camera mounted on the parking track positioning device when the electricity supplementing object vehicle is driven into the electricity supplementing gesture monitoring position in the parking track, and judging whether the electricity supplementing object meets the electricity supplementing requirement or not;
The gesture adjustment processing module is used for confirming a gesture adjustment scheme of the electricity supplementing object and adjusting the gesture adjustment scheme when the electricity supplementing object does not meet the electricity supplementing requirement, starting a camera at the position of the parking track to collect an image of an electricity supplementing area of the electricity supplementing object when the electricity supplementing object meets the electricity supplementing requirement, and judging the electricity supplementing adjustment requirement according to the image of the electricity supplementing area;
The power supply adjustment processing module is used for continuously moving the vehicle to the power supply parking position when the power supply adjustment requirement is not required to be adjusted, connecting the power supply plug with the power supply socket, confirming the power supply adjustment connection mode of the power supply object when the power supply adjustment requirement is required to be adjusted, sending the power supply adjustment connection mode to the power supply control terminal of the power supply device, simultaneously continuously moving the vehicle to the power supply parking position, and connecting the power supply plug with the power supply socket;
the information base is used for storing initial intervals and initial included angles between the center points of the corresponding power supplementing sockets of the automobiles with various numbers and the center points of the areas where the power supplementing sockets are located, and storing initial set insertion thrust for automatic power supplementing;
The power-up confirmation processing module is used for setting a power-up success judgment condition, and starting a connection switch of the power-up device to perform power-up when the power-up success judgment condition is met;
The judging of the power supply adjustment requirement comprises the following steps:
Setting the adjustment demand compensation weight of the electricity compensation object according to the state information of the electricity compensation object, and marking as ；
Extracting the position of the central point of the power supply socket in the power supply region and the position of the central point of the power supply region from the power supply region image, thereby obtaining the vertical distance between the central points of the power supply socket and the power supply region；
Taking the central point of the electricity supplementing socket as a base point, taking a line parallel to the ground where the electricity supplementing object is located as the central line of the electricity supplementing socket, constructing the central line of the electricity supplementing area in the same way according to the construction mode of the central line of the electricity supplementing socket, and further recording the included angle between the central line of the electricity supplementing socket and the central line of the electricity supplementing area as；
Extracting initial distance between center point of power supplementing socket corresponding to model of power supplementing object and center point of area where power supplementing socket is located from information baseAnd an initial angle；
Extracting the maximum gap area between the power-supplementing socket and the power-supplementing area from the power-supplementing area image；
Statistics of electricity compensation adjustment demand trend index，，Respectively setting reference allowable floating pitch difference and allowable floating center offset angle difference,To make up the electric interference gap area for the set reference,The demand trend index is adjusted for the compensation corresponding to the demand compensation weight of the set unit;
If it is Taking the requirement adjustment as a power supply adjustment requirement judgment result, otherwise, taking the non-adjustment as the power supply adjustment requirement judgment result;
the setting of the adjustment demand compensation weight of the electricity compensation object comprises the following steps:
extracting a load state from state information of the current automobile to be supplemented, and if the load state is not loaded, extracting The adjustment requirement compensation weight serving as a power compensation object;
if the load state is load, extracting a load pressure value from the state information of the current automobile to be supplemented with electricity Will beThe adjustment requirement compensation weight as the electricity compensation object is recorded as，To obtain the adjustment demand compensation weight of the power compensation object for the set interference load pressure value，Take the value ofOr alternatively，；
The method for confirming the connection mode of the power compensation adjustment of the power compensation object comprises the following steps:
Will be 、、AndImporting the power supply adjustment mode into an adjustment evaluation rule, and outputting the power supply adjustment mode, wherein the power supply adjustment mode is one of insertion thrust value adjustment, insertion position adjustment, insertion angle adjustment and comprehensive adjustment;
When the power supply adjustment mode is the insertion thrust value adjustment, extracting an initial set insertion thrust value of automatic power supply from an information base Will beAs the insertion thrust value adjustment and as the insertion adjustment information under the insertion thrust value adjustment,Correspondingly compensating and inserting a thrust value for the unit gap interference factor of the set reference;
when the power supply adjustment mode is the insertion position adjustment, the center point position of the power supply socket is moved towards the ground direction Distance, then move in opposite directionsDistance, and as insertion adjustment information under insertion position adjustment,The compensation floating distance corresponding to the required compensation weight is adjusted for the unit;
when the power supply adjustment mode is the insertion angle adjustment, the power supply adjustment mode will As an insertion angle adjustment value and as insertion adjustment information under insertion angle adjustment;
When the electricity supplementing adjustment mode is integrated adjustment, confirming the integrated adjustment type and the inserting adjustment information under the integrated adjustment type, and taking the electricity supplementing adjustment mode and the inserting adjustment information under the electricity supplementing adjustment mode as the electricity supplementing adjustment connection mode of the electricity supplementing object.
2. A mobile as claimed in claim 1 an electricity supplementing system of the storage and filling system, the method is characterized in that: the power supplementing device comprises a parking track positioning device, a power supplementing interface positioning device, a power supplementing plug arranged on a power supplementing terminal and a power supplementing socket arranged on a power supplementing object.
3. A mobile unit according to claim 2 an electricity supplementing system of the storage and filling system, the method is characterized in that: communication modules are arranged in the power supplementing plug and the power supplementing socket, and the power supplementing socket is connected with a power supply through a direct current relay.
4. A mobile as claimed in claim 1 an electricity supplementing system of the storage and filling system, the method is characterized in that: judging whether the electricity supplementing object meets the electricity supplementing requirement or not comprises the following steps:
The two sides of the parking track are respectively marked as left side and right side, and the horizontal distance between the center point of the tire in the left side track and the center point of the track is extracted from the gesture image of the power supplementing object to be used as the left side distance Similarly, the right side distance is extracted；
Extracting an included angle between a tire in a left track and the track of the tire from an attitude image of a power supplementing object to serve as the left included angleThe right included angle is extracted by the same method；
Counting the matching degree of the electricity supplementing gesture of the electricity supplementing object，，Respectively setting a permissible deviation interval and a permissible deviation angle,A reference allowable deviation angle difference for setting a reference;
If it is Judging that the electricity supplementing object does not meet the electricity supplementing requirement, ifAnd judging that the electricity supplementing object meets the electricity supplementing requirement.
5. A mobile unit according to claim 4 an electricity supplementing system of the storage and filling system, the method is characterized in that: the posture adjustment scheme for confirming the electricity supplementing object comprises the following steps:
If it is The corresponding wheel of the left side rail is taken as the regulating wheel, ifTaking the corresponding wheel of the right side rail as a regulating wheel;
If the regulated wheel is a left side rail corresponding wheel, simultaneously And is also provided withThe angle regulation is taken as the regulation type, andAs a deviation angle value, the deviation angle value is input into an automatic navigation system of the power supplementing object, and the gesture adjusting direction and the gesture adjusting angle are output and used as gesture adjusting information;
If the regulated wheel is a left side rail corresponding wheel, simultaneously And is also provided withDistance regulation is taken as regulation type, andAs deviation distance, inputting the deviation distance into an automatic navigation system of a power supplementing object, outputting gesture adjustment direction, adjustment amplitude, adjustment vehicle speed and adjustment duration, and taking the deviation distance as gesture adjustment information;
If the regulated wheel is a left side rail corresponding wheel, simultaneously And is also provided withThe angle regulation and the distance regulation are used as regulation types, the deviation angle value and the deviation distance are input into an automatic navigation system of the power supplementing object, and the posture adjustment direction, the adjustment angle, the adjustment amplitude, the adjustment vehicle speed and the adjustment duration are output and used as posture regulation information;
if the regulating wheel is a right-side rail corresponding wheel or the regulating wheel comprises a left-side rail corresponding wheel and a right-side rail corresponding wheel, the regulating type and the posture regulating information under the regulating wheel is obtained according to the same analysis mode of the regulating type and the posture regulating information in the regulating wheel which is the left-side rail corresponding wheel and the regulating wheel which comprises the regulating type and the posture regulating information under the regulating wheel which is the right-side rail corresponding wheel and the regulating wheel which is the right-side rail corresponding wheel;
And combining the regulation and control wheels, the regulation and control type and the posture regulation and control information to generate a posture regulation scheme of the power supplementing object.
6. A mobile as claimed in claim 1 an electricity supplementing system of the storage and filling system, the method is characterized in that: the condition for judging the success of the power supply is specifically as follows: and the power-supplementing object and the power-supplementing terminal both receive a normal connection instruction.
7. A method of recharging a mobile storage system, performed by the system of claim 1, wherein: comprising the following steps:
step 1, supplementary electricity information importing: importing a power supplementing gesture monitoring position and a power supplementing parking position of a corresponding parking track of the power supplementing region, and marking the current automobile to be supplemented as a power supplementing object;
Step 2, importing vehicle information: importing model and state information of a power supplementing object;
Step 3, posture monitoring and judging: when the vehicle of the electricity supplementing object drives into the electricity supplementing gesture monitoring position in the parking track, a gesture image of the electricity supplementing object is monitored through a camera mounted on the parking track positioning device, and whether the electricity supplementing object meets the electricity supplementing requirement is judged;
Step 4, posture adjustment processing: when the electricity supplementing object does not meet the electricity supplementing requirement, confirming an attitude adjustment scheme of the electricity supplementing object, adjusting, and when the electricity supplementing object meets the electricity supplementing requirement, starting a camera at the position of a parking track to collect an electricity supplementing area image of the electricity supplementing object, and judging the electricity supplementing adjustment requirement according to the electricity supplementing area image;
And 5, supplementing electricity and adjusting: when the electricity supplementing adjustment requirement is that adjustment is not needed, continuing to move the vehicle to the electricity supplementing parking position, connecting the electricity supplementing plug with the electricity supplementing socket according to the electricity supplementing connection mode, when the electricity supplementing adjustment requirement is that adjustment is needed, confirming the electricity supplementing adjustment connection mode of the electricity supplementing object, sending the electricity supplementing adjustment connection mode to the electricity supplementing control terminal of the electricity supplementing device, simultaneously continuing to move the vehicle to the electricity supplementing parking position, and connecting the electricity supplementing plug with the electricity supplementing socket;
and step 6, power-up confirmation processing: setting a power-up success judgment condition, and starting a connection switch of the power-up device to perform power-up when the power-up success judgment condition is met.
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| DE102014016879A1 (en) * | 2014-06-10 | 2015-12-17 | Volker Dietz | Electrically operated vehicle |
| US10575460B2 (en) * | 2017-02-28 | 2020-03-03 | Deere & Company | Adjustable row unit and vehicle with adjustable row unit |
| US10507737B2 (en) * | 2017-08-07 | 2019-12-17 | Cisco Technology, Inc. | Gap control for vehicle wireless power transfer (WPT) |
| CN108032743A (en) * | 2017-11-22 | 2018-05-15 | 孙艳洁 | Intelligent quick charging system and method |
| CN116101112A (en) * | 2023-01-07 | 2023-05-12 | 厦门科拓通讯技术股份有限公司 | Vehicle charging method and system based on parking posture |
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| CN106696747A (en) * | 2017-01-22 | 2017-05-24 | 厦门大学 | Automatic charging system of electric car and control method of automatic charging system |
| CN207955380U (en) * | 2018-02-10 | 2018-10-12 | 长安大学 | A kind of rechargeable stereo garage charging automatic butt jointing device |
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