CN109866641A - A kind of full-automatic charging system of electric car and its working method - Google Patents
A kind of full-automatic charging system of electric car and its working method Download PDFInfo
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- CN109866641A CN109866641A CN201910209289.0A CN201910209289A CN109866641A CN 109866641 A CN109866641 A CN 109866641A CN 201910209289 A CN201910209289 A CN 201910209289A CN 109866641 A CN109866641 A CN 109866641A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of full-automatic charging system of electric car and its working methods, it include: charging plug and end effector, charging plug is set on end effector, end effector includes driving joint and end compliant mechanism, drive joint for initiatively adjusting the pitch angle and deflection angle of charging plug, end compliant mechanism is for passively adjusting the pose deviation of charging plug；It drives diarthrodial one end to be fixed on slide unit mobile module, slide unit mobile module drives end effector to be displaced in vertical direction, horizontal direction and/or front-rear direction；The charging interface of charging interface visual identity module vehicle for identification；Charging unit is electrically connected by charge cable with charging plug, and charging unit is powered when charging plug is inserted into charging interface for vehicle.The present invention can substitute the whole process for being accomplished manually automatic charging, make whole process Unmanned operation, improve the operability and safety of user.
Description
Technical field
The present invention relates to the technical fields more particularly to a kind of full-automatic Charging of electric car of electric car charging grafting
System.
Background technique
Low-carbon economy core is the application of new energy technology and energy-conserving and emission-cutting technology, electric car (Electric
Vehicle, EV) can effectively alleviating energy crisis, reduce environmental pollution, with it efficiently, energy conservation, low noise, zero-emission etc. it is excellent
Attention of the point increasingly by national governments and enterprise, the electrification of automobile is the inexorable trend of future development, is China's strategy
Property new industry.Important prerequisite and basis as electric car large-scale promotion application, the construction of electric car charging and conversion electric facility
Cause each side's extensive concern.The development of New Energy Industry, the especially rapid growth of pure electric automobile, will necessarily be to electric car
Charging modes diversification and convenience put forward higher requirements.
Traditional charging modes need that plug is manually gone to complete charging, and charging process is complex.This greatly reduces use
The usage experience at family.And slightly length leads to mobile inconvenience to charge cable, charging cable is easy to be squeezed by tire, and user disobeys equipment
The problems such as advising operation, the corrosion of charging pipette tips, the abrasion of charging gun line insulated hull, charging pile screen is caused to reflect that woods is not quick, causes new
Energy automobile can not charge normal or even face serious safety problem.Also, if not pulling out charging cable in time will cause
Increment charging, increases electric quantity consumption.Persistently promote electrically-charging equipment safety at present, convenience is that industry is badly in need of the problem broken through.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of full-automatic charging system of electric car and its working methods.
The technical solution adopted by the invention is as follows:
A kind of full-automatic charging system of electric car, wherein include:
Charging plug and end effector, the charging plug are set on the end effector, the end effector
Including driving joint and end compliant mechanism, wherein the driving joint is used to initiatively adjust the pitching of the charging plug
Angle and deflection angle, the end compliant mechanism are used to passively adjust the pose deviation of the charging plug；
Slide unit mobile module, described diarthrodial one end of drive are fixed on the slide unit mobile module, and the slide unit is mobile
End effector described in module drive is displaced in vertical direction, horizontal direction and/or front-rear direction；
Charging interface visual identity module, the charging interface of charging interface visual identity module vehicle for identification；
Charging unit, the charging unit are electrically connected by charge cable with the charging plug, and the charging unit exists
The charging plug is powered when being inserted into the charging interface for the vehicle.
The full-automatic charging system of above-mentioned electric car, wherein further include: controller module, the controller module control
Make the charging plug, the end effector, the slide unit mobile module, the charging interface visual identity module and
The charging unit.
The full-automatic charging system of above-mentioned electric car, wherein the end compliant mechanism includes:
Silent flatform, the silent flatform are fixedly connected with the diarthrodial other end of drive；
Moving platform is connected between the moving platform and the silent flatform by several spring levers, is set on the moving platform
There is plug interface, the charging plug is set on the plug interface.
The full-automatic charging system of above-mentioned electric car, wherein drawing is additionally provided between the moving platform and the silent flatform
Spring.
The full-automatic charging system of above-mentioned electric car, wherein floating guide device is additionally provided on the moving platform, it is described
Floating guide device includes:
One end of guiding mechanism, the guiding mechanism has guide surface；
Spring, one end of the spring are fixedly connected with the other end of the guiding mechanism, the other end of the spring with
The moving platform is fixedly connected.
The full-automatic charging system of above-mentioned electric car, wherein the other end of the guiding mechanism is equipped with guide rod, described
Guide rod operationally run through the moving platform and with the moving platform slidable connection, the spring pocket be set to the guide rod
Outside.
The full-automatic charging system of above-mentioned electric car, wherein the slide unit mobile module include: Three Degree Of Freedom slide unit with
And line handspike.
The full-automatic charging system of above-mentioned electric car, wherein the charging interface visual identity module includes: coarse positioning
Camera, fine positioning camera and light source.
A kind of working method of the full-automatic charging system of electric car, wherein automatically filled including above-mentioned electric car
Electric system, the working method include:
Step S1: capturing the position of the vehicle, and the full-automatic charging system of electric car is enabled；
Step S2: the slide unit mobile module and the end effector move to preparation plug-in position；
Step S3: the charging interface visual identity module identifies the charging interface, and captures the charging interface
Pose；
Step S4: grafting campaign is executed；
Step S5: the completion signal of the end compliant mechanism feedback grafting campaign；
Step S6: the enabled of the full-automatic charging system of the electric car is closed.
The working method of the full-automatic charging system of above-mentioned electric car, wherein the grafting campaign includes:
Step S4.1: the charging plug is adjusted to the method for charging interface by the driving joint of the end effector
The parallel direction of line；
Step S4.2: the end effector high-speed motion to grafting initial position；
Step S4.3: the charging plug is contacted with the charging interface；
Step S4.4: the end compliant mechanism passively generates laterally offset and axial angle offset；
Step S4.5: the end compliant mechanism is compressed into position in place, and feeds back the completion signal of grafting campaign.
Due to using above-mentioned technology, the good effect for being allowed to have compared with prior art is the present invention:
(1) present invention can substitute the whole process for being accomplished manually automatic charging, make whole process Unmanned operation, mention
The operability and safety of high user, and it is able to solve being returned the car problem with vehicle for timesharing rental service, while driving for nobody
Technology is sailed, full-automatic charging system, which is capable of providing, preferably to be serviced.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the full-automatic charging system of electric car of the invention and its working method.
Fig. 2 is the end effector and charging interface of the full-automatic charging system of electric car of the invention and its working method
The structural schematic diagram of visual identity module.
In attached drawing: 1, charging plug；2, end effector；21, joint is driven；22, end compliant mechanism；221, quiet flat
Platform；222, moving platform；223, spring lever；224, plug interface；225, tension spring；226, guiding mechanism；227, spring；3, slide unit moves
Dynamic model block；4, charging interface visual identity module；41, coarse positioning camera；42, fine positioning camera；5, charging unit；6, controller
Module；
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Fig. 1 is the structural schematic diagram of the full-automatic charging system of electric car of the invention and its working method, and Fig. 2 is this hair
The knot of the end effector and charging interface visual identity module of the full-automatic charging system of bright electric car and its working method
Structure schematic diagram shows a kind of full-automatic charging system of electric car of preferred embodiment referring to fig. 1 to fig. 2, packet
Include: charging plug 1 and end effector 2, charging plug 1 are set on end effector 2, and end effector 2 includes driving joint
21 and end compliant mechanism 22, wherein driving joint 21 is for initiatively adjusting the pitch angle and deflection angle of charging plug 1, end
Hold compliant mechanism 22 for passively adjusting the pose deviation of charging plug 1.
Specifically, end effector 2 makes charging plug 1 under certain position and attitude error, remains to smoothly execute plug
Movement.End compliant mechanism 22 has six-freedom degree.In order to realize the end degree compliant mechanism 22 with six-freedom degree
Miniaturization and densification, end compliant mechanism 22 use the Stewart parallel institution configuration based on elastic element.Stewart is simultaneously
Online structure is 6-SPS type parallel institution, each branch both ends is ball pair, and centre is prismatic pair, and end movement feature is 6
Freedom degree, including the translation in three axis directions and the rotation in three axis directions.
In addition, as a kind of preferred embodiment, the full-automatic charging system of electric car further include: slide unit mobile module 3,
Driving joint 21 one end be fixed on slide unit mobile module 3, slide unit mobile module 3 drive end effector 2 vertical direction,
Horizontal direction and/or front-rear direction displacement.
In addition, as a kind of preferred embodiment, the full-automatic charging system of electric car further include: charging interface vision is known
Other module 4, the charging interface of the vehicle for identification of charging interface visual identity module 4.
Further, as a kind of preferred embodiment, the full-automatic charging system of electric car further include: charging unit 5 fills
Electric installation 5 is electrically connected by charge cable with charging plug 1, and charging unit 5 is vehicle when charging plug 1 is inserted into charging interface
Power supply.
Further, as a kind of preferred embodiment, the full-automatic charging system of electric car further include: controller module
6, controller module 6 control charging plug 1, end effector 2, slide unit mobile module 3, charging interface visual identity module 4, with
And charging unit 5.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention.
The present invention also has on the basis of the above is implemented as follows mode:
In further embodiment of the present invention, continuing with referring to shown in Fig. 1, Fig. 2, end compliant mechanism 22 includes: quiet flat
Platform 221, silent flatform 221 are fixedly connected with the other end in driving joint 21.
In further embodiment of the present invention, end compliant mechanism 22 includes: moving platform 222, moving platform 222 and silent flatform
It is connected between 221 by several spring levers 223, moving platform 222 is equipped with plug interface 224, and charging plug 1 connects set on plug
On mouth 224.
In further embodiment of the present invention, tension spring 225 is additionally provided between moving platform 222 and silent flatform 221.
In further embodiment of the present invention, floating guide device, floating guide device packet are additionally provided on moving platform 222
Include: one end of guiding mechanism 226, guiding mechanism 226 has guide surface.
In further embodiment of the present invention, floating guide device includes: spring 227, one end of spring 227 and Guiding machine
The other end of structure 226 is fixedly connected, and the other end of spring 227 is fixedly connected with moving platform 222.
In further embodiment of the present invention, the other end of guiding mechanism 226 is equipped with guide rod, and guide rod operationally passes through
Wear moving platform 222 and with 222 slidable connection of moving platform, spring 227 is sheathed on outside guide rod.
Specifically, end compliant mechanism 22 is simulated Stewart parallel institution by the axial deformation of spring lever 223 and is respectively moved
The linear motion of bar realizes the sextuple movement of moving platform 222 in end compliant mechanism 22.In addition, utilizing the tangential of spring lever 223
Deformation can enhance the tangential submissive ability of end compliant mechanism 22.
More specifically, initial position is in ± 0.5 ° of cone angle after reset may be implemented due to being provided with several tension springs 225.
In further embodiment of the present invention, slide unit mobile module 3 includes: Three Degree Of Freedom slide unit and line handspike.
In further embodiment of the present invention, charging interface visual identity module 4 includes: coarse positioning camera 41, fine positioning
Camera 42 and light source.Coarse positioning camera 41 is used for detecting the approximate location of charging interface in space, fine positioning camera 42
In the accurate spatial locations posture of the charging interface of identification vehicle.
Specifically, since the shape of charging interface is too small, structure is special, while charging interface position in space and appearance
State is different, therefore charging interface is identified in such a way that coarse positioning adds fine positioning, and exports spatial position and the appearance of charging interface
State coordinate.Coarse positioning is using the coarse positioning camera 41 that focal length is smaller, the visual field is wider, it is intended that is in for obtaining charging interface center
Approximate location in space.The method mainly used during coarse positioning has the Threshold segmentation of image, adaptive dynamic threshold
Segmentation, Region Feature Extraction, morphological image process, the sub-pixel precision Boundary Recognition based on canny operator, circle fitting or ellipse
Circle fitting, but it is not limited to the above method.After position coordinates at the center for obtaining charging interface, i.e., using center at
Position coordinates guidance slide unit mobile module 3 and driving joint 21 carry charging plug 1 and fine positioning camera 42 and move to away from filling
The front of electrical interface certain distance, then shoots the photo of charging interface using fine positioning camera 42, and acquisition is more accurately filled
The position of electrical interface and posture coordinate.
Further, fine positioning camera 42 is using the gray scale camera that focal length is longer, the visual field is relatively narrow, it is intended that for obtaining charging
Interface accurate position in space and posture coordinate.Photo is shot by fine positioning camera 42, photo passes through image procossing
And measurement, using the spatial position in photo after processing in the charging interface characteristic circle center of circle, combination algorithm calculates and exports charging
The spatial attitude coordinate of interface, and the more accurate spatial position coordinate of charging interface is calculated again, guide slide unit mobile module 3
The process of charging plug completion automatic charging is driven with driving joint 21.
In further embodiment of the present invention, the full-automatic charging system of electric car can be realized charging interface space identity
With the device of positioning, and the coordinate position (x, y, z, Rx, Ry, Rz) of the charging interface of electric car spatially can be exported,
And output accuracy needs to meet grafting demand.The full-automatic charging system of electric car can be realized autopatching, and its simultaneously
Kinematic accuracy reaches demand, can complete the operation that charging plug 1 is plugged into charging interface.Charging interface visual identity module
Grafting is realized in the coordinated movement of various economic factors between 4 and slide unit mobile module 3 and driving joint 21.Above-mentioned conjunction is realized by controller module 6
Manage co-ordination.
Illustrate working method of the invention below:
Step S1: capturing the position of vehicle, and the full-automatic charging system of electric car is enabled；
Step S2: slide unit mobile module 3 and end effector 2 move to preparation plug-in position；
Step S3: charging interface visual identity module 4 identifies charging interface, and captures the pose of charging interface；
Step S4: grafting campaign is executed；
Step S5: the completion signal of the feedback grafting campaign of end compliant mechanism 22；
Step S6: the enabled of the full-automatic charging system of electric car is closed.
Wherein, grafting campaign includes:
Step S4.1: the driving joint 21 of end effector 2 by charging plug 1 be adjusted to charging interface normal it is parallel
Direction；
Step S4.2: 2 high-speed motion of end effector to grafting initial position；
Step S4.3: charging plug 1 is contacted with charging interface；
Step S4.4: end compliant mechanism 22 passively generates laterally offset and axial angle offset；
Step S4.5: end compliant mechanism 22 is compressed into position in place, and feeds back the completion signal of grafting campaign.
In further embodiment of the present invention, by setting travel switch (not shown) to judge end compliant mechanism
22 state, specifically, in place position of the travel switch to detect end compliant mechanism 22 is fed back above-mentioned by travel switch
Completion signal.
In further embodiment of the present invention, travel switch is preferably provided on moving platform 222.
In further embodiment of the present invention, the fine positioning camera 42 of charging interface visual identity module 4 obtains pose amount
Rear-guard movable joint 21 and slide unit mobile module 3 link, and realize grafting campaign, act on and being inserted into for safety, accurately by charging plug 1
The interior simultaneously feed back motion state of the charging interface of electric car.Specifically, motion process is needed through charging interface visual identity mould
Block 4 carries out precise positioning to target position and direction, then by driving joint 21 to be adjusted the direction of charging plug 1, sliding
The four-axle linked completion grafting campaign of platform mobile module 3.
In further embodiment of the present invention, more specifically, calling fine positioning camera 42 first carries out mesh in grafting campaign
Fine positioning is marked, 6 accurate pose data (spatial position coordinates of the central circle of charging interface under camera coordinates system are obtained
And normal vector)；Normal vector is inputted into driving joint 21, carries out the pose adjustment of charging plug 1；Then current pose is calculated
Position of the lower tool coordinates system origin (central circle of charging plug 1) under kinetic coordinate system；According to hand and eye calibrating result
Coordinate system conversion is carried out to camera coordinates system and kinetic coordinate system, obtains the central circle of the charging interface under kinetic coordinate system
Space coordinate；Charging interface central circle is calculated along outwardly extending coordinate of its normal vector 5cm, and drives the mobile mould of slide unit
Block 3 moves, and the central circle of charging plug 1 is made to reach this coordinate；Finally driving slide unit mobile module 3 is finally inserted
It connects, feeding rate is low；Signal soon stopping movement being completed when obtaining the grafting that end compliant mechanism 22 provides, if final insert
The distance for connecing movement is greater than 8cm or grafting duration is greater than 10s, then starts inverse grafting campaign at once, indicates that this grafting fails.
In further embodiment of the present invention, the complete grafting of charging plug 1 obtains switch feedback after entering charging interface, keeps
Charged state, slide unit mobile module 3 remain stationary state with driving joint 21 when charged state, is continuously Vehicular charging.
In further embodiment of the present invention, after charging complete, slide unit mobile module 3 reversely links by former motion path,
It extracts charging plug 1 and carries out back original again.Removal process is to receive the motion process after charging complete order.
Joint 21 and slide unit mobile module 3 is driven to carry out the inverse grafting campaign opposite with above-mentioned grafting campaign, inverse grafting
Joint module returns to initial position of readiness after the completion, and system returns to standby mode.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, right
For those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic content
It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of full-automatic charging system of electric car characterized by comprising
Charging plug and end effector, the charging plug are set on the end effector, and the end effector includes
Drive joint and end compliant mechanism, wherein the driving joint be used to initiatively adjust the charging plug pitch angle and
Deflection angle, the end compliant mechanism are used to passively adjust the pose deviation of the charging plug；
Slide unit mobile module, described diarthrodial one end of drive are fixed on the slide unit mobile module, the slide unit mobile module
The end effector is driven to be displaced in vertical direction, horizontal direction and/or front-rear direction；
Charging interface visual identity module, the charging interface of charging interface visual identity module vehicle for identification；
Charging unit, the charging unit are electrically connected by charge cable with the charging plug, and the charging unit is described
Charging plug is powered when being inserted into the charging interface for the vehicle.
2. the full-automatic charging system of electric car according to claim 1, which is characterized in that further include: controller module,
The controller module controls the charging plug, the end effector, the slide unit mobile module, charging interface view
Feel identification module and the charging unit.
3. the full-automatic charging system of electric car according to claim 1, which is characterized in that the end compliant mechanism packet
It includes:
Silent flatform, the silent flatform are fixedly connected with the diarthrodial other end of drive；
Moving platform is connected between the moving platform and the silent flatform by several spring levers, and the moving platform, which is equipped with, to be inserted
Head interface, the charging plug are set on the plug interface.
4. the full-automatic charging system of electric car according to claim 3, which is characterized in that the moving platform with it is described quiet
Tension spring is additionally provided between platform.
5. the full-automatic charging system of electric car according to claim 3, which is characterized in that be additionally provided on the moving platform
Floating guide device, the floating guide device include:
One end of guiding mechanism, the guiding mechanism has guide surface；
Spring, one end of the spring are fixedly connected with the other end of the guiding mechanism, the other end of the spring with it is described
Moving platform is fixedly connected.
6. the full-automatic charging system of electric car according to claim 5, which is characterized in that the guiding mechanism it is another
End be equipped with guide rod, the guide rod operationally run through the moving platform and with the moving platform slidable connection, the bullet
Spring is sheathed on outside the guide rod.
7. the full-automatic charging system of electric car according to claim 1, which is characterized in that the slide unit mobile module packet
It includes: Three Degree Of Freedom slide unit and line handspike.
8. the full-automatic charging system of electric car according to claim 1, which is characterized in that the charging interface vision is known
Other module includes: coarse positioning camera, fine positioning camera and light source.
9. a kind of working method of the full-automatic charging system of electric car, which is characterized in that including any in claim 1 to 8
The full-automatic charging system of electric car, the working method described in one include:
Step S1: capturing the position of the vehicle, and the full-automatic charging system of electric car is enabled；
Step S2: the slide unit mobile module and the end effector move to preparation plug-in position；
Step S3: the charging interface visual identity module identifies the charging interface, and captures the pose of the charging interface；
Step S4: grafting campaign is executed；
Step S5: the completion signal of the end compliant mechanism feedback grafting campaign；
Step S6: the enabled of the full-automatic charging system of the electric car is closed.
10. the working method of the full-automatic charging system of electric car according to claim 9, which is characterized in that described to insert
Connecing movement includes:
Step S4.1: the charging plug is adjusted to the normal of charging interface by the driving joint of the end effector
Parallel direction；
Step S4.2: the end effector high-speed motion to grafting initial position；
Step S4.3: the charging plug is contacted with the charging interface；
Step S4.4: the end compliant mechanism passively generates laterally offset and axial angle offset；
Step S4.5: the end compliant mechanism is compressed into position in place, and feeds back the completion signal of grafting campaign.
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|---|---|---|---|---|
| WO2021167462A3 (en) * | 2020-02-20 | 2021-10-21 | Rocsys B.V. | Method for controlling a charging infrastructure |
| CN114800544A (en) * | 2022-03-09 | 2022-07-29 | 始途科技(杭州)有限公司 | Robot control method, robot control device and robot |
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