1. A mobile charging method, characterized in that the method comprises the steps of:

1) the mobile charging device drives to the vicinity of the target through automatic navigation according to the position of the target power receiving device and the navigation route information contained in the charging instruction;

2) the mobile charging device starts laser ranging, a reflecting plate on the powered device is scanned, the powered device is aligned in the front under the guidance of vertical grooves B5 and B6 at two sides of the center of the reflecting plate, and the vehicle runs to a distance powered device D;

3) turning over the electric energy receiving and sending disc on the mobile charging device to form an included angle of 90-alpha with the horizontal plane;

4) the mobile charging device outputs power P1 to complete self-checking of the charging device and the powered device, detection of the insertion state of a charging gun and establishment of a communication link for sending charging management messages to and from the vehicle charging management unit and/or the vehicle battery management system;

5) the mobile charging device outputs power P2 to start charging the vehicle via the powered device, while maintaining a communication link with the vehicle charging management unit and/or the vehicle battery management system.

2. The mobile charging method of claim 1, wherein the step 2) of aligning the mobile charging device with the powered device under the guidance of the powered device reflector further comprises:

a) determining the left and right boundaries of the reflecting plate through scanning ranging;

b) scanning and ranging between the left boundary and the right boundary of the reflecting plate to obtain a distance and angle relation curve, and obtaining the direction beta of the mobile charging device, which is currently opposite to the target, according to the angle corresponding to the minimum value point m of the curve₀Determining the angle beta corresponding to the positions of the two grooves on the reflecting plate according to the two small abrupt points on the curve₁And beta₂Obtaining β₁And beta₂Average value of (beta)₃；

c) Adjusting the advancing direction to beta₃Proceeding a distance d, then repeating the process of b) until beta₀And beta₃The absolute value of the difference is less than the threshold;

d) determining the positions of two grooves B5 and B6 on the reflecting plate through scanning ranging, scanning ranging between B5 and B6, and repeating the processes B) and C).

3. The mobile charging method of claim 1, wherein the mobile charging device comprises a mobile cart A1 with automatic navigation and driving functions, a power transceiver panel A2, a telescopic rod A3, a cable A4 connecting A1 and A2, a rotating shaft A5 fixing the bottom of A2 on A1; the electric energy transceiving disc A2 can turn around the rotating shaft A5 under the support of the telescopic rod A3, the telescopic rod A3 is retracted when the mobile charging device automatically navigates and runs, the electric energy transceiving disc A2 is in a horizontal position, the telescopic rod A3 extends out during charging, and the electric energy transceiving disc A2 is turned to a specified angle.

4. The mobile charging method according to claim 1, wherein the power receiving device includes a power receiving panel B1, a mounting bracket B2, a charging gun B3, a connection cable B4; the current-collecting plate B1 is fixedly arranged on the mounting bracket B2 at a forward inclination angle alpha; a reflecting plate is assembled on the mounting bracket, and two vertical grooves B5 and B6 for guiding the mobile charging device are arranged on two sides of the center of the reflecting plate; during charging, the receiving tray B1 receives the electric energy sent by the mobile charging device in a non-contact wireless mode, and the electric energy is output to the vehicle to be charged through the charging gun B3.

5. The mobile charging method according to any one of claims 1 to 4, wherein the distance D is determined by mechanical structures and geometric dimensions of the mobile charging device and the powered device; the output power P1 of the mobile charging device is smaller power which meets the requirement of the operation of the internal circuit of the receiving panel B1, the output power P2 is high-power output, and the specific size is determined by the charging management message.

6. The mobile charging method of any one of claims 1 to 5, wherein a moving trolley A1 of the mobile charging device comprises a rechargeable battery pack, the battery pack is formed by connecting cells supporting high-rate charging and discharging in series and in parallel, the cell energy storage density is not lower than 120Wh/kg, and the power density is not lower than 2 kW/kg.

7. A mobile charging system, characterized in that, the system comprises a mobile charging device and a powered device, which realize mobile charging function by the following steps:

a) the mobile charging device drives to the vicinity of the target through automatic navigation according to the position of the target power receiving device and the navigation route information contained in the charging instruction;

b) the mobile charging device starts laser ranging, a reflecting plate on the powered device is scanned, the powered device is aligned in the front under the guidance of vertical grooves B5 and B6 at two sides of the center of the reflecting plate, and the vehicle runs to a distance powered device D;

c) turning over the electric energy receiving and sending disc on the mobile charging device to form an included angle of 90-alpha with the horizontal plane;

d) the mobile charging device outputs power P1 to complete self-checking of the charging device and the powered device, detection of the insertion state of a charging gun and establishment of a communication link for sending charging management messages to and from the vehicle charging management unit and/or the vehicle battery management system;

e) the mobile charging device outputs power P2 to start charging the vehicle via the powered device, while maintaining a communication link with the vehicle charging management unit and/or the vehicle battery management system.

8. The mobile charging system of claim 7, wherein said step b) of performing the mobile charging function further comprises the following steps of aligning the mobile charging device with the powered device under the guidance of the powered device reflector plate:

a) determining the left and right boundaries of the reflecting plate through scanning ranging;

b) scanning and ranging between the left boundary and the right boundary of the reflecting plate to obtain a distance and angle relation curve, and obtaining the direction beta of the mobile charging device, which is currently opposite to the target, according to the angle corresponding to the minimum value point m of the curve₀Determining the angle beta corresponding to the positions of the two grooves on the reflecting plate according to the two small abrupt points on the curve₁And beta₂Obtaining β₁And beta₂Average value of (beta)₃；

c) Adjusting the advancing direction to beta₃Proceeding a distance d, then repeating the process of b) until beta₀And beta₃The absolute value of the difference is less than the threshold;

d) determining the positions of two grooves B5 and B6 on the reflecting plate through scanning ranging, scanning ranging between B5 and B6, and repeating the processes B) and C).

9. The mobile charging system of claim 7, wherein the mobile charging device comprises a mobile cart A1 with automatic navigation and driving functions, a power transceiver panel A2, a telescopic rod A3, a cable A4 connecting A1 and A2, a rotating shaft A5 fixing the bottom of A2 on A1; the electric energy transceiving disc A2 can turn around the rotating shaft A5 under the support of the telescopic rod A3, the telescopic rod A3 is retracted when the mobile charging device automatically navigates and runs, the electric energy transceiving disc A2 is in a horizontal position, the telescopic rod A3 extends out during charging, and the electric energy transceiving disc A2 is turned to a specified angle.

10. The mobile charging system of claim 7, wherein the powered device comprises a power receiving tray B1, a mounting bracket B2, a charging gun B3, a connecting cable B4; the current-collecting plate B1 is fixedly arranged on the mounting bracket B2 at a forward inclination angle alpha; a reflecting plate is assembled on the mounting bracket, and two vertical grooves B5 and B6 for guiding the mobile charging device are arranged on two sides of the center of the reflecting plate; during charging, the receiving tray B1 receives the electric energy sent by the mobile charging device in a non-contact wireless mode, and the electric energy is output to the vehicle to be charged through the charging gun B3.

11. The mobile charging system of any one of claims 7 to 10, wherein the distance D is determined by the mechanical structure and geometry of the mobile charging device and the powered device; the output power P1 of the mobile charging device is smaller power which meets the requirement of the operation of the internal circuit of the receiving panel B1, the output power P2 is high-power output, and the specific size is determined by the charging management message.

12. The mobile charging method of any one of claims 7 to 11, wherein the moving trolley A1 of the mobile charging device comprises a rechargeable battery pack, the battery pack is formed by connecting cells supporting high-rate charging and discharging in series and in parallel, the cell energy storage density is not lower than 120Wh/kg, and the power density is not lower than 2 kW/kg.

Background

With the development of various technologies and applications in the field of new energy, especially the development of the new energy automobile industry, a quick and convenient electric vehicle charging solution is urgently needed in public parking places. At present, the main solution is to divide a part of parking spaces in a public parking lot to build a charging pile, and the charging pile is used as a special parking space for an electric vehicle to park and charge the electric vehicle. However, the scheme has the inherent defect that as a public parking place, a parking space provided with a charging pile is often occupied by a fuel vehicle or an uncharged electric vehicle, so that a vehicle owner needing charging cannot find the charging position; the electric motor car that needs to charge finds the parking stall that charges, inserts the rifle that charges usually and begins to charge the back car owner and just left, before this car drives away, this fills electric pile and is monopolized by it, even if this car has already accomplished to charge other people and also can't use this to fill electric pile. Therefore, the practical use efficiency of the charging pile of the public parking lot is not high, and the increasing charging requirement is difficult to meet. On the other hand, fill the electric pile installation and relate to the transformation of place electric wire netting and wiring installation construction, the cost is not very, and the simple increase fills electric pile quantity and can bring very big cost pressure, can not fundamentally solve above-mentioned low efficiency problem moreover.

The concept of charging an electric vehicle by using a mobile sharing mode is to solve the above problems, and chinese patent CN201910912044.4 proposes a mobile charging scheme for a parking lot based on an AGV, but the design of using a mechanical arm to plug and pull a charging head in a charging process may cause a problem that it is difficult to accurately position a charging port of the vehicle in practical use, and the patent does not propose a detailed solution for the problem. Meanwhile, the mobile charging device is not reasonably designed according to the parking lot environment, the mechanical arm, the external infrared camera and the like provided in the scheme challenge smooth operation of the device in the parking lot environment, and the device cannot smoothly reach the position near a charging port at the tail of a vehicle to be charged, which is fully parked left and right, in actual use. Chinese patent CN201911029704.0 proposes a mobile charging cart, but it solves the problem of automatically identifying whether the connected vehicle is a vehicle to be charged or a charging pile capable of charging itself through a charging gun interface, and never avoids configuring two interfaces of charging output and input. In addition, in the above invention, a secondary battery or a lithium battery is provided in the charging device as a power storage and supply source. One problem caused by the charging method is that the high-rate charging and discharging performance of the two batteries is very weak, so that the charging efficiency of the charging device in a charging station is not high, several hours of charging time is needed, and the operation efficiency of the system is seriously influenced; and it is also difficult to provide a high power output when charging the vehicle.

In the industry, enterprises also research a non-contact wireless charging scheme aiming at the problems, namely, non-contact power transmission between charging equipment and a vehicle is realized by using an electromagnetic induction principle, and charging power of several kilowatts and energy conversion efficiency of more than 90% can be achieved at present. However, the existing scheme is still the continuation of the fixed charging pile deployment mode, namely, charging transmitting terminal equipment is installed on the ground of a parking space, and a charging receiving disc is installed on a chassis of a vehicle. The method still has the problems of high cost, low efficiency and difficult popularization. In addition, the technology also has two problems in practical use, namely, if the charging sending end (charging tray) and the receiving end (receiving tray) are not completely aligned and have transverse or longitudinal deviation, the charging efficiency is seriously reduced, and in order to improve the efficiency, a strict requirement is necessarily required for a parking position; secondly, if there is the foreign matter between charging dish and the receiving disc, can arouse the vortex, lead to a large amount of electric energy to become heat energy, influence charge efficiency, charging dish or receive the electricity dish and generate heat too much when serious and still can cause the potential safety hazard.

The invention provides a mobile charging method and a mobile charging system aiming at providing a safe, reliable and convenient electric vehicle mobile charging scheme by comprehensively utilizing a mobile internet information processing technology, a new energy battery technology, an automatic driving technology and a wireless charging technology.

Disclosure of Invention

The invention provides a mobile charging method, which comprises the following steps:

1) the mobile charging device drives to the vicinity of the target through automatic navigation according to the position of the target power receiving device and the navigation route information contained in the charging instruction;

2) the mobile charging device starts laser ranging, a reflecting plate on the powered device is scanned, the powered device is aligned in the front under the guidance of vertical grooves B5 and B6 at two sides of the center of the reflecting plate, and the vehicle runs to a distance powered device D;

3) turning over the electric energy receiving and sending disc on the mobile charging device to form an included angle of 90-alpha with the horizontal plane;

4) the mobile charging device outputs power P1 to complete self-checking of the charging device and the powered device, detection of the insertion state of a charging gun and establishment of a communication link for sending charging management messages to and from the vehicle charging management unit and/or the vehicle battery management system;

5) the mobile charging device outputs power P2 to start charging the vehicle via the powered device, while maintaining a communication link with the vehicle charging management unit and/or the vehicle battery management system.

The step 2) of moving the charging device to align with the powered device under the guidance of the reflective plate of the powered device further includes the following steps:

determining the left and right boundaries of the reflecting plate through scanning ranging;

scanning and ranging between the left boundary and the right boundary of the reflecting plate to obtain a distance and angle relation curve, obtaining a direction beta 0 of the mobile charging device, which is opposite to a target currently, from an angle corresponding to a minimum value point m of the curve, determining angles beta 1 and beta 2 corresponding to the positions of two grooves on the reflecting plate according to two small mutation points on the curve, and obtaining an average value beta 3 of the beta 1 and the beta 2;

adjusting the advancing direction to beta 3, advancing for a distance d, and then repeating the process b) until the absolute value of the difference value between beta 0 and beta 3 is less than the threshold value;

determining the positions of two grooves B5 and B6 on the reflecting plate through scanning ranging, scanning ranging between B5 and B6, and repeating the processes B) and C).

The mobile charging device comprises a mobile trolley A1 with an automatic navigation and driving function, an electric energy transceiving disc A2, an expansion link A3, a cable A4 for connecting A1 and A2, and a rotating shaft A5 for fixing the bottom of A2 on A1; the electric energy transceiving disc A2 can turn around the rotating shaft A5 under the support of the telescopic rod A3, the telescopic rod A3 is retracted when the mobile charging device automatically navigates and runs, the electric energy transceiving disc A2 is in a horizontal position, the telescopic rod A3 extends out during charging, and the electric energy transceiving disc A2 is turned to a specified angle.

The power receiving device comprises a power receiving disc B1, a mounting bracket B2, a charging gun B3 and a connecting cable B4; the current-collecting plate B1 is fixedly arranged on the mounting bracket B2 at a forward inclination angle alpha; a reflecting plate is assembled on the mounting bracket, and two vertical grooves B5 and B6 for guiding the mobile charging device are arranged on two sides of the center of the reflecting plate; during charging, the receiving tray B1 receives the electric energy sent by the mobile charging device in a non-contact wireless mode, and the electric energy is output to the vehicle to be charged through the charging gun B3.

The distance D is determined by the mechanical structure and the geometric size of the mobile charging device and the power receiving device; the output power P1 of the mobile charging device is smaller power which meets the requirement of the operation of the internal circuit of the receiving panel B1, the output power P2 is high-power output, and the specific size is determined by the charging management message.

Preferably, the movable trolley a1 of the movable charging device comprises a rechargeable battery pack, the battery pack is formed by connecting battery cells supporting high-rate charging and discharging in series and in parallel, the energy storage density of the battery cells is not lower than 120Wh/kg, and the power density is not lower than 2 kW/kg.

The invention also provides a mobile charging system, which comprises a mobile charging device and a power receiving device, wherein the mobile charging device and the power receiving device realize a mobile charging function through the following steps:

the mobile charging device drives to the vicinity of the target through automatic navigation according to the position of the target power receiving device and the navigation route information contained in the charging instruction;

the mobile charging device starts laser ranging, a reflecting plate on the powered device is scanned, the powered device is aligned in the front under the guidance of vertical grooves B5 and B6 at two sides of the center of the reflecting plate, and the vehicle runs to a distance powered device D;

turning over the electric energy receiving and sending disc on the mobile charging device to form an included angle of 90-alpha with the horizontal plane;

the mobile charging device outputs power P1 to complete self-checking of the charging device and the powered device, detection of the insertion state of a charging gun and establishment of a communication link for sending charging management messages to and from the vehicle charging management unit and/or the vehicle battery management system;

the mobile charging device outputs power P2 to start charging the vehicle via the powered device, while maintaining a communication link with the vehicle charging management unit and/or the vehicle battery management system.

The step b) of implementing the mobile charging function, in which the mobile charging device is aligned with the powered device under the guidance of the powered device reflector, further includes the following steps:

determining the left and right boundaries of the reflecting plate through scanning ranging;

scanning and ranging between the left boundary and the right boundary of the reflecting plate to obtain a distance and angle relation curve, obtaining a direction beta 0 of the mobile charging device, which is opposite to a target currently, from an angle corresponding to a minimum value point m of the curve, determining angles beta 1 and beta 2 corresponding to the positions of two grooves on the reflecting plate according to two small mutation points on the curve, and obtaining an average value beta 3 of the beta 1 and the beta 2;

adjusting the advancing direction to beta 3, advancing for a distance d, and then repeating the process b) until the absolute value of the difference value between beta 0 and beta 3 is less than the threshold value;

determining the positions of two grooves B5 and B6 on the reflecting plate through scanning ranging, scanning ranging between B5 and B6, and repeating the processes B) and C).

The mobile charging device comprises a mobile trolley A1 with an automatic navigation and driving function, an electric energy transceiving disc A2, an expansion rod A3, a cable A4 for connecting A1 and A2, and a rotating shaft A5 for fixing the bottom of A2 on A1; the electric energy transceiving disc A2 can turn around the rotating shaft A5 under the support of the telescopic rod A3, the telescopic rod A3 is retracted when the mobile charging device automatically navigates and runs, the electric energy transceiving disc A2 is in a horizontal position, the telescopic rod A3 extends out during charging, and the electric energy transceiving disc A2 is turned to a specified angle.

The power receiving device comprises a power receiving disc B1, a mounting bracket B2, a charging gun B3 and a connecting cable B4; the current-collecting plate B1 is fixedly arranged on the mounting bracket B2 at a forward inclination angle alpha; a reflecting plate is assembled on the mounting bracket, and two vertical grooves B5 and B6 for guiding the mobile charging device are arranged on two sides of the center of the reflecting plate; during charging, the receiving tray B1 receives the electric energy sent by the mobile charging device in a non-contact wireless mode, and the electric energy is output to the vehicle to be charged through the charging gun B3.

The distance D is determined by the mechanical structure and the geometric size of the mobile charging device and the powered device; the output power P1 of the mobile charging device is smaller power which meets the requirement of the operation of the internal circuit of the receiving panel B1, the output power P2 is high-power output, and the specific size is determined by the charging management message.

Preferably, the movable trolley a1 of the movable charging device comprises a rechargeable battery pack, the battery pack is formed by connecting battery cells supporting high-rate charging and discharging in series and in parallel, the energy storage density of the battery cells is not lower than 120Wh/kg, and the power density is not lower than 2 kW/kg.

Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.

Drawings

In order to clearly illustrate the technical solution and the embodiments of the present invention, the drawings referred to in the specification are briefly introduced as follows. It is noted that the appended drawings illustrate only limited embodiments and are therefore not to be considered limiting of the invention, as those skilled in the art may readily adopt such forms as modified in view of the accompanying drawings.

Fig. 1 is a schematic structural diagram of an embodiment of a mobile charging device according to the present invention;

fig. 2 is a schematic structural diagram of an embodiment of the power receiving device according to the present invention;

FIG. 3 is a schematic structural diagram of an embodiment of the stationary charging apparatus of the present invention;

FIG. 4 is a schematic view of a garage deployment according to one embodiment of the present invention;

FIG. 5 is a side view of one embodiment of the present invention when charging;

fig. 6 is a schematic diagram illustrating a process of aligning a mobile charging device with a powered device according to an embodiment of the present invention;

fig. 7 is a schematic diagram illustrating an algorithm strategy for aligning the mobile charging device with the powered device according to an embodiment of the present invention;

FIG. 8 is a functional block diagram of one embodiment of the mobile charging device of the present invention;

fig. 9 is a functional block diagram of an embodiment of the power receiving device of the present invention;

FIG. 10 is a functional block diagram of one embodiment of the stationary charging apparatus of the present invention;

FIG. 11 is a flow chart of one embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings.

The invention provides a mobile charging system, which comprises at least one mobile charging device, one power receiving device, one fixed charging device and a charging management system. The mobile charging device can freely move in a parking lot and a parking garage, and can be guided by a navigation system to find the powered device and charge the vehicle through the powered device when the vehicle needs to be charged; when the mobile phone needs to be charged, the mobile phone can be guided by the navigation system to find a fixed charging device for charging operation. Fig. 1 shows a schematic structural diagram of the mobile charging device, and it can be seen that the device comprises a mobile trolley a1, an electric energy transceiving disk a2, a telescopic support rod A3, a cable a4 connecting a1 and a2, and a rotating shaft a5 fixing the bottom edge of a2 on a 1. The power receiving device is shown in fig. 2 and comprises a power receiving disc B1, a mounting bracket B2, a charging gun B3 and a connecting cable B4; the lower part of the mounting bracket is provided with a reflecting plate, and the upper part of the reflecting plate is provided with two vertical grooves B5 and B6 for closely guiding the moving trolley. The fixed charging device is similar in structure to the powered device except that B1 is a charging tray, and the end of cable B4 is not connected to a charging gun, but is directly connected to the site power grid to supply ac power to the fixed charging device, as shown in fig. 3.

In one embodiment of the present invention as shown in fig. 4, a powered device B is disposed at an end position of each parking space, such as a left parking space in the figure; or a position between two parking spaces, such as the parking space on the right in the figure. The mobile charging device charging area is arranged in a parking lot or parking garage in a centralized mode, and a plurality of fixed charging devices C are arranged, such as the upper right area and the lower right area in the drawing. A plurality of mobile charging devices are deployed for sharing and using all parking spaces of the parking garage. When the owner needs to charge, only charging request information including license plate number, parking space, charging amount, reserved charging time and the like needs to be input in a charging application interface; simultaneously inserting a charging gun on the power receiving device corresponding to the parking space into a vehicle charging port; and the charging management system dispatches the mobile charging device in the standby state to the designated position to charge the vehicle according to the request information. After the mobile charging device receives the dispatching instruction, according to information issued by the instruction, the navigation system is used for going to a specified position along a running route contained in the instruction information, after the mobile charging device approaches a target power receiving device, the electric energy receiving and transmitting disk of the mobile charging device is aligned to the power receiving disk through close-range guiding, and a charging process is started. When the mobile charging device detects that the electric quantity of the mobile charging device is lower than a threshold value, sending a charging request to a charging management system; the mobile charging device returns a charging instruction according to the use condition of the fixed charging device, and specifies a route for returning the mobile charging device to the charging position and the charging position; the mobile charging device automatically returns to the target position through the guidance of the navigation system according to the instruction, finds the specified fixed charging device for charging, and enters a standby state after the charging is finished. The charging management system is a computer system running charging management software, and the charging application interface is a mobile phone application software user interface or a user terminal interface installed in a parking place. The navigation system comprises a charging management system, a parking place electronic map in the mobile charging device, a field guiding magnetic strip and a navigation subsystem in the mobile charging device, wherein the navigation subsystem comprises a short-distance wireless sensor, a gyroscope, a geomagnetic sensor, an acceleration sensor, machine vision and an embedded microprocessor running a navigation algorithm.

After the mobile charging device is guided by the navigation system to find the target position, it is further required to approach and align the power receiving plate of the power receiving device or the charging plate of the fixed charging device by a short-distance alignment method, and the aligned side views are shown in fig. 5. As can be seen from the figure, the upper part of the mounting bracket B2 of the power receiving device or the fixed charging device tilts forward by a fixed angle α, and the power receiving disc or the charging disc is fixed in the bracket which tilts forward by using the slot structure; the telescopic supporting rod A3 of the mobile charging device is retracted in the automatic navigation target searching process, the electric energy receiving and sending disk A2 is in the horizontal position, the overall height of the appearance of the mobile charging device is the minimum, the mobile charging device can run in a narrow space of a garage, and particularly the mobile charging device can penetrate through the lower part of a vehicle to be charged so as to be close to a power receiving device; after approaching and aligning the powered device or the fixed charging device, the telescopic support bar A3 is extended to lift and turn the power transceiving plate a2 by an angle of 90- α, so that the power transceiving plate a2 is aligned with the front of the power receiving plate of the powered device or the charging plate of the fixed charging device. The above-described close-proximity alignment method is further described below with reference to fig. 6 and 7. Fig. 6 is a schematic diagram showing the relative position of the mobile charging apparatus after approaching the target power receiving apparatus by automatic navigation. Due to the error of automatic navigation, the mobile charging device cannot ensure complete alignment with the target when approaching the target, and at the moment, the mobile charging device can correct the direction to realize accurate alignment by the following method:

1) a laser ranging circuit is arranged at the center of the front end of a moving trolley A1 of the mobile charging device, laser ranging is started at the moment, and meanwhile, the direction of the trolley head is rotated back and forth in situ to search the left and right boundaries of a reflecting plate below the receiving device, namely the mutation points of ranging results;

2) the direction of the rotating headstock is used for scanning and ranging between the left boundary and the right boundary of the transmitting plate to obtain a series of distance change data, a relation curve of the distance and the rotating angle is shown in fig. 7, and two small abrupt change points on the graph are the distance increase caused when the distance meter is aligned to two vertical grooves B5 and B6 on the reflecting plate;

3) at the moment, the lowest point of the curve is the vehicle head direction beta corresponding to the minimum distance point m₀Is the direction opposite to the target, and the vehicle head direction beta corresponding to the two small mutation points₁And beta₂Intermediate value of (beta)₃Is the target center direction; adjusting the headstock to beta₃Direction, advance a distance d, and repeat the scanning ranging process until beta₀And beta₃The absolute value of the difference is less than the threshold;

4) and at the moment, the direction of the vehicle head is adjusted to be close to the direction aligned with the center of the reflecting plate, the scanning ranging range is adjusted to be between the two grooves B5 and B6, the vehicle direction is continuously finely adjusted according to the strategy that the middle value of the small abrupt change distance direction and the direction of the minimum distance direction caused by the two grooves are consistent, the center of the reflecting plate is finally accurately aligned, and the vehicle head is continuously close to the position D away from the reflecting plate to finish the alignment process.

The final distance D is determined according to the mechanical size of the mobile charging device and the power receiving device or the fixed charging device, and the power receiving and sending plate a2 is exactly aligned with the power receiving plate after being lifted. The discontinuity of the distance measurement result is easy to detect in practical application, and the distance measurement result is suddenly increased after the scanning point crosses the edge of the reflector because the position of the reflector is always kept a distance away from other reflectors around, such as a rear wall, a vehicle and the like. And the edge abrupt change and the two vertical grooves on the reflecting plateThe small mutations caused by B5 and B6 are easily distinguished, the amount of the latter change being predicted and always at d₀And the range of +/-delta d is determined by the processing precision of the reflecting plate and the groove and the measurement error of laser ranging.

The functional block diagram of the mobile charging device is shown in fig. 8, and a mobile trolley a1 is provided with a battery unit, a battery management unit, a control unit, a bidirectional inverter unit, a sensing unit and a motor driving unit; an electromagnetic coupling unit, a detection unit, and a communication unit are mounted in the power transmitting and receiving panel a 2. The battery unit is formed by connecting battery cells supporting high-rate charge and discharge in series and in parallel, and can ensure that enough power output is provided for vehicle charging and the self-charging efficiency is high, for example, a new energy battery with the energy storage density of 120Wh/kg, the power density of 2kW/kg and the cycle life of tens of thousands of times is provided in Chinese patent CN201910736838. X. Compared with the common lithium ion battery, although the energy storage density of the latter can reach 150-200Wh/kg, the power density is only about 0.2kW/kg, and the cycle life is only thousands of times, so that the battery scheme adopted by the invention has obvious advantages in charging efficiency, output power and product life cycle. For the operation scene of the parking lot sharing mobile charging, the efficiency and the operation cost are the crucial factors. The battery management unit is commonly called a Battery Management System (BMS) and is responsible for monitoring the operation state of the battery pack, managing charge and discharge balance, managing heat of the battery pack, and the like. The bidirectional inversion unit comprises a DC/AC inversion circuit, an AC/DC rectification and voltage conversion circuit, a mode switching circuit and a parameter adjusting circuit. The control unit is responsible for processing input information of the sensing unit, outputting a motor driving control signal through a mobile trolley automatic navigation algorithm or a charging and discharging working logic, interacting battery charging and discharging management information with the BMS unit, outputting a working mode switching signal and a parameter adjusting signal of the bidirectional inversion unit according to the control logic, receiving and processing input signals of the detection unit and the communication unit, and giving out a control signal. The motor driving unit drives the corresponding motor to complete the walking and steering of the movable trolley A1 and the extending and retracting of the telescopic rod A3 according to the control signal of the control unit. The sensing unit comprises a laser ranging circuit, a short-distance wireless sensor used for collecting information required by automatic navigation driving, a gyroscope, a geomagnetic sensor, an acceleration sensor, machine vision sensing equipment and the like. The electromagnetic coupling unit in the power transceiving disc A2 comprises an induction coil and a resonant capacitor; the detection unit comprises a voltage, current and phase detection circuit; the communication unit comprises a local area network or wide area network communication module, such as a WiFi module or a 4G/5G mobile communication module, used for exchanging information with the charging management system, and a near field communication module, such as an RFID module or a Bluetooth module or an infrared module or a ZigBee module, used for exchanging information with the power receiving device or the fixed charging device.

Fig. 9 is a functional block diagram of an embodiment of a power receiving pad and a charging gun of a power receiving device, in which a charging interface unit provides positive and negative poles of a high-voltage dc charging power supply required for dc charging of an electric vehicle, positive and negative poles of a low-voltage auxiliary power supply required for a vehicle charging controller and/or a BMS system, detection signals of an interface insertion state or a charging ready state, and communication interface signals required for mutual messaging with the vehicle charging controller and/or the BMS system, the positive and negative poles of the power supply and the detection and communication signal lines being packaged in the charging gun matched with a vehicle charging socket. The functional module installed in the power receiving disc comprises an electromagnetic coupling unit, a detection unit, a communication unit, a rectification voltage regulation unit and a control unit. The electromagnetic coupling unit comprises an induction coil and a resonant capacitor; the detection unit includes voltage, current and phase detection circuits. The communication unit comprises a short-distance communication module, such as an RFID module, a Bluetooth module, an infrared module or a ZigBee module. The rectification voltage regulating unit is used for converting the alternating current signal output by the electromagnetic coupling unit into a direct current signal through the bridge rectifier circuit and outputting a high-voltage charging power supply and a low-voltage auxiliary power supply through the voltage regulating circuit. The control unit adjusts working parameters of the rectification and voltage regulation unit according to the output information of the detection unit; providing an output signal in a detection signal of the interface insertion state or the charging ready state in the charging interface unit, detecting and judging the input detection signal and informing the mobile charging device of the result through the communication unit; and providing a function of information receiving and transmitting bridging between the communication interface signal in the charging interface unit and the communication unit. It is worth pointing out that the direct current charging gun is finally output in the above embodiment, if the alternating current charging gun is needed, only the charging signal needs to be led out to the charging interface unit from the alternating current signal output by the electromagnetic coupling unit, and meanwhile, the direct current voltage regulating unit does not provide the direct current high voltage charging signal any more.

The fixed charging device is similar to the power receiving device in appearance structure, but the charging tray is different from the power receiving tray in internal functional structure. Fig. 10 shows a functional block diagram of the inside of a charging tray: the power supply input end is connected with a field alternating current power grid, the power factor correction circuit PFC unit inhibits harmonic distortion of the alternating current input end through a PFC circuit, improves the power factor of the input end and outputs stable direct current voltage, and the PFC circuit comprises a bridge rectifier circuit, a DC/DC conversion circuit and a voltage and current double-loop feedback circuit; the inversion unit converts the direct-current voltage into alternating-current output through a DC/AC conversion circuit; the electromagnetic coupling unit comprises an induction coil and a resonant capacitor; the detection unit includes voltage, current and phase detection circuits. The communication unit comprises a short-distance communication module, such as an RFID module, a Bluetooth module, an infrared module or a ZigBee module.

Fig. 11 shows a process from the time when the mobile charging device receives the field charging management system command to the time when the mobile charging device finally charges the vehicle through the power receiving device in a non-contact manner. Firstly, a mobile charging device in a standby state receives a charging instruction of a charging management system, wherein the charging instruction comprises target position information, navigation route information, target ID information and the like; then the mobile charging device automatically drives to the vicinity of the target under the help of the automatic navigation system according to the instruction information; after approaching a target, starting laser scanning ranging, guiding by a reflecting plate on the powered device, aligning the front side of the powered device and driving the powered device to a distance D, wherein the distance D is determined by the mechanical structures and the geometric dimensions of the mobile charging device and the powered device; lifting the telescopic rod, and turning the electric energy transmitting and receiving disc to an angle of 90-alpha, wherein the angle is the forward inclination angle for mounting the part of the power receiving disc on the power receiving device mounting bracket; the method comprises the steps that self-checking of a connection state before charging is started, the mobile charging device outputs electric energy through an electromagnetic coupling unit with power P1, each functional unit automatically starts to work after the power receiving device obtains the electric energy through the electromagnetic coupling unit, a control unit establishes communication connection with the mobile charging device through a communication unit and reports self ID, after the latter is authenticated, a charging gun insertion state detection result is reported, power receiving detection information is fed back, meanwhile, a charging ready state signal is output on a charging interface, a rectification voltage regulating unit is controlled to output a low-voltage auxiliary power supply signal, then bridging of a communication signal from a mobile charging device control unit to a charging gun interface is established, and the mobile charging device control unit can interact with a vehicle charging controller and a vehicle battery BMS system through a bridging link; after the connection self-check is completed, the mobile charging device increases the output power to P2, the powered device control unit controls the rectification voltage regulating unit to output the charging voltage on the charging gun interface, the charging of the vehicle is started, and the charging management message is kept interacting with the vehicle charging controller and the vehicle battery BMS during the charging. The output power P1 can be small, and only the circuit in the receiving panel needs to work, the power P2 is high-power output, and the specific size can be determined by the charging management message.

In the above embodiment, the powered device is configured at each parking space edge, so that the powered device can be conveniently used by a vehicle owner needing to be charged according to needs. Because the concurrent charging demand of the parking lot is always far less than the number of parking spaces, higher efficiency can be obtained by moving the shared charging device, and the operation cost is optimized. The scheme can further reduce the operation cost through proper deformation. For example, the power receiving device is hung on the ceiling through an electric sliding rail device, and the garage is provided with the power receiving device according to the proportion of n: 1. When a vehicle in a certain parking space needs to be charged, the charging management system can move the idle power receiving device to a specified position through the sliding rail network, and non-contact wireless charging service is provided for the vehicle. Or the mounting bracket, the charging tray and the charging gun of the power receiving device are designed to be fixed in a temporary plugging mode, only the bracket is mounted at the edge of each parking space, the charging tray and the charging gun are inserted when in use, and the idle charging trays are concentrated at a rental center of the site for users to rent temporarily, and the power receiving trays can be configured according to the ratio of n:1 in the mode. The charging management system can adjust the proportion of the mobile charging device, the powered device and the fixed charging device at any time according to the operation data. For example, taking the average parking time T as a statistical window, counting the maximum value N of the concurrent charging demand and the average charging time T within the time T, wherein T should be less than T, and taking the integer of N x T/T and then adding a certain margin as the configuration number of the mobile charging devices; amplifying N by a certain proportion, such as N x 1.2, as the configuration number of the powered devices; the number of the mobile charging devices is used as a base number, and the fixed charging devices are configured in a reduced proportion.

In the above embodiment, the power receiving disc of the power receiving device and the charging disc of the fixed charging device are both installed in a forward tilting manner, and compared with the common horizontal installation, the design can significantly reduce the floor area of the device, and is beneficial to garage deployment. Meanwhile, in order to align the power receiving disc or the charging disc at the front, the mobile charging device needs to lift and turn the electric energy receiving and sending disc to be close to a vertical state, which is also beneficial to removing foreign matters on the surface of the mobile charging device and avoiding the generation of eddy current during non-contact charging.

By applying the invention, the mobile sharing charging service can be flexibly deployed and developed in the garage, the comprehensive operation cost is reduced, the charging service can be provided for each parking space of the garage, and meanwhile, the charging infrastructure does not need to be built at the beginning with great investment cost. Along with the development of operation, the system can be expanded in order according to the requirements. The scheme of the invention utilizes the high-rate battery to store and transfer the electric energy, is beneficial to the charging system to exert the advantages of the scheduling algorithm, fully utilizes the electric energy storage at the valley time of the power grid, and reduces the operation cost. Compared with the common lithium ion battery, the scheme of the invention has higher charging efficiency and shorter charging time, so that the same service effect can be achieved by only configuring fewer fixed charging devices and mobile charging devices.

The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

All the new embodiments which are within the framework of the basic concept, construction principle and spirit of the invention and realized by simple change, modification, equivalent replacement and improvement shall be included in the protection scope of the invention. The scope of the invention is determined by the appended claims.