CN110562086A - Automatic charging robot, charging method and readable storage medium - Google Patents
Automatic charging robot, charging method and readable storage medium Download PDFInfo
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- CN110562086A CN110562086A CN201910904659.2A CN201910904659A CN110562086A CN 110562086 A CN110562086 A CN 110562086A CN 201910904659 A CN201910904659 A CN 201910904659A CN 110562086 A CN110562086 A CN 110562086A
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- charging gun
- charging port
- rotating mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/18—Cables specially adapted for charging electric vehicles
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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
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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
-
- 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
Abstract
The invention discloses an automatic charging robot, a charging method and a readable storage medium, which relate to the technical field of electric vehicle charging, and the robot comprises: the controller is used for acquiring position information of a charging gun and a motor vehicle charging port stopped in a charging parking space; the mechanical arm is used for driving the charging gun to move according to the position information of the charging port so as to complete the butt joint of the charging gun and the motor vehicle charging port; and the charging gun is used for charging the motor vehicle through the cable after the charging gun is successfully butted with a charging port of the motor vehicle. According to the automatic charging robot and the charging method, the charging gun is driven by the mechanical arm, so that manual operation of a user is not needed, the purpose of automatic charging is met, and the intelligent and convenient development of a charging service system is facilitated.
Description
Technical Field
the invention relates to the technical field of electric vehicle charging, in particular to an automatic charging robot, a charging method and a readable storage medium.
background
in recent years, research and application of electric vehicles have been greatly developed, and in the case of the electric vehicles becoming popular, it is increasingly important to construct a charging facility as an energy supply. However, with the great development of electric vehicles and charging facilities, the problem of slow charging of electric vehicles is becoming more severe, and the demand for high-power charging technology is becoming more and more clear. Meanwhile, people seek higher-level services nowadays, and the development of charging facilities is also developing towards intellectualization, such as: the system has the advantages of automatic charging, self-service reservation, automatic vehicle selection, automatic parking and the like, and can well realize the functions of full-process self-service, time-sharing, payment on demand and unattended operation of the vehicle by virtue of the advantages of transparency, real-time property, informatization and the like of the Internet plus.
today, charging of electric vehicles must be done manually at a charging station or charging pile. When the charging station is used for charging, the electric automobile can be charged in a manner of a special person as a fuel automobile, so that convenience is provided for users, but labor cost investment is huge. Moreover, the high-power charging current is continuously improved, the weight of the cable is increased sharply along with the increase of the current, so that the charging cable is large in torque and heavy in weight, the difficulty of manually inserting and pulling the gun by a user is increased, the user experience is reduced, and potential safety hazards of scratching a vehicle body and damaging a gun head due to insufficient force exist.
Disclosure of Invention
in view of the above-mentioned defects of the prior art, the present invention provides an automatic charging robot, a charging method and a readable storage medium, which can drive a charging gun by a robot arm, thereby achieving the purpose of automatic charging without manual operation of a user.
one of the objects of the present invention is achieved by an automatic charging robot, comprising:
the controller is used for acquiring position information of a charging gun and a motor vehicle charging port stopped in a charging parking space;
the mechanical arm is used for driving the charging gun to move according to the position information of the charging port so as to complete the butt joint of the charging gun and the motor vehicle charging port;
and the charging gun is used for charging the motor vehicle through the cable after the charging gun is successfully butted with a charging port of the motor vehicle.
Optionally, the robot arm includes:
The three-axis moving mechanism is used for driving the three-axis rotating mechanism to axially move in three axes according to the position information of the charging port;
And the three-axis rotating mechanism is used for driving the charging gun to rotate in three axes according to the position information of the charging port.
optionally, the three-axis moving mechanism includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module, the Y-axis linear module is disposed on the X-axis linear module, the Z-axis linear module is disposed on the Y-axis linear module, and the three-axis rotating mechanism is disposed on the Z-axis linear module;
The X-axis linear module comprises: the left-right moving servo motor and the left-right moving mechanism are arranged on the left-right workbench and the left-right linear guide rail respectively, and the left-right moving servo motor is used for driving the left-right moving mechanism;
The Y-axis linear module comprises: the Y-axis linear module is arranged on the left-right moving mechanism, the Z-axis ribbed plate support is used for fixing the Z-axis linear module, and the front-back moving servo motor is used for driving the front-back moving mechanism;
the Z-axis linear module comprises: the C-axis rib plate support is used for fixing the C-axis rotating mechanism, and the up-down moving servo motor is used for driving the up-down moving mechanism;
The three-axis rotating mechanism comprises: c axle rotary mechanism, A axle rotary mechanism and B axle rotary mechanism:
The C-axis rotating mechanism comprises: the rotary motion servo motor, the C-axis speed reducer, the C-axis rotating mechanism and the C-axis rotating mechanism comprise a C-axis rotating bracket connected with a C-axis servo electric cylinder, and the rotary motion servo motor is used for driving the C-axis rotating mechanism;
The A-axis rotating mechanism comprises: the wrist-mounted device comprises a wrist servo motor, an A-axis speed reducer and an A-axis rotating mechanism, wherein the A-axis rotating mechanism comprises an A-axis rotating support connected with the A-axis speed reducer, and the wrist servo motor is used for driving the A-axis rotating mechanism;
The B-axis rotating mechanism comprises: the B-axis rotating mechanism comprises a B-axis rotating support connected with the B-axis speed reducer, and the rotary servo motor is used for driving the B-axis rotating mechanism.
optionally, the robot further comprises: the composite bearing comprises a linear bearing and a ball bearing, the linear bearing is arranged in the ball bearing, one end of the cable is connected to the charging pile, a winding roll is arranged between the charging pile and the composite bearing, and the other end of the cable penetrates out of the linear bearing and is connected to the charging gun;
The composite bearing is used for driving the cable to move along with the charging gun; and the number of the first and second groups,
When filling the rolling of electric pile take-up reel the cable, right the cable is regulated.
optionally, the robot further includes a radar module, configured to measure distance information between the charging gun and a charging port of the motor vehicle, and send the distance information to the controller.
Optionally, the robot further includes an image acquisition module, configured to continuously acquire image information of a charging port of a motor vehicle and send the image information to the controller;
the controller is further used for carrying out image positioning on the motor vehicle charging port according to the image information.
optionally, the robot further includes a flexible shaft, the flexible shaft is disposed between the mechanical arm and the charging gun, and the flexible shaft, the radar module and the image acquisition module are on the same horizontal plane;
The flexible shaft is used for adaptively adjusting the angle of the charging gun according to the stress at the tail end of the motor vehicle charging port.
another object of the present invention is achieved by the above technical solution, in which an automatic charging method includes:
Acquiring position information of a charging gun and a motor vehicle charging port stopped in a charging parking space;
driving the charging gun to move through a mechanical arm according to the position information of the charging port so as to complete the butt joint of the charging gun and the motor vehicle charging port;
and after the charging gun is successfully butted with a charging port of the motor vehicle, the motor vehicle is charged through the cable.
optionally, the charging gun is driven to move through a mechanical arm according to the position information of the charging port to complete the docking of the charging gun and the charging port of the motor vehicle, including:
the position information of the charging port is continuously acquired through an image acquisition module to determine the movement amount of the mechanical arm, and the charging gun is driven to move through the mechanical arm according to the movement amount of the mechanical arm so as to complete the butt joint of the charging gun and the motor vehicle charging port.
optionally, the method further includes: and prompting a user to perform manual charging under the condition that the position information of the charging port is failed to be acquired through the image acquisition module.
Optionally, the method further includes: and after the user successfully pays, pulling out the charging gun through the mechanical arm to complete the charging process.
The third object of the present invention is achieved by a computer-readable storage medium, which stores an implementation program for information transfer, and when the program is executed by a processor, the method steps are implemented as described above.
Due to the adoption of the technical scheme, the invention has the following advantages:
According to the automatic charging robot and the charging method, the charging gun is driven by the mechanical arm, so that the purpose of automatic charging is achieved without manual operation of a user, and the intelligent and convenient development of a charging service system is facilitated.
additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The drawings of the invention are illustrated as follows:
FIG. 1 is a schematic front view of a first embodiment of the present invention;
FIG. 2 is a schematic view of a backside structure of the first embodiment of the present invention;
FIG. 3 is a schematic view of a combination structure according to a first embodiment of the present invention;
FIG. 4 is a schematic view of a connection relationship of a flexible shaft according to a first embodiment of the present invention;
FIG. 5 is a block diagram of the electrical connections of the first embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a vehicle driving into a charging slot according to a second embodiment of the present invention;
FIG. 7 is a schematic view of a charging parking space according to a second embodiment of the present invention;
FIG. 8 is a schematic diagram of a vehicle in a charging slot according to a second embodiment of the present invention;
FIG. 9 is a flowchart of a second embodiment of the present invention.
Detailed Description
the invention is further illustrated by the following figures and examples.
example 1
A first embodiment of the present invention proposes an automatic charging robot, as shown in fig. 1, the robot including: the controller is used for acquiring position information of a charging gun and a motor vehicle charging port stopped in a charging parking space;
the mechanical arm is used for driving the charging gun to move according to the position information of the charging port so as to complete the butt joint of the charging gun and the motor vehicle charging port;
And the charging gun is used for charging the motor vehicle through the cable after the charging gun is successfully butted with a charging port of the motor vehicle.
The automatic charging robot can be combined with an image recognition technology, does not need manual operation of a user, realizes high-power automatic charging, and is beneficial to the intelligent and convenient development of a charging service system.
Optionally, in an optional embodiment of the present invention, the robot arm includes:
the three-axis moving mechanism is used for driving the three-axis rotating mechanism to axially move in three axes according to the position information of the charging port;
And the three-axis rotating mechanism is used for driving the charging gun to rotate in three axes according to the position information of the charging port.
Optionally, the three-axis moving mechanism includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module, the Y-axis linear module is disposed on the X-axis linear module, the Z-axis linear module is disposed on the Y-axis linear module, and the three-axis rotating mechanism is disposed on the Z-axis linear module;
the X-axis linear module comprises: the left-right moving servo motor and the left-right moving mechanism are arranged on the left-right workbench and the left-right linear guide rail respectively, and the left-right moving servo motor is used for driving the left-right moving mechanism;
The Y-axis linear module comprises: the Y-axis linear module is arranged on the left-right moving mechanism, the Z-axis ribbed plate support is used for fixing the Z-axis linear module, and the front-back moving servo motor is used for driving the front-back moving mechanism;
the Z-axis linear module comprises: the C-axis rib plate support is used for fixing the C-axis rotating mechanism, and the up-down moving servo motor is used for driving the up-down moving mechanism;
the three-axis rotating mechanism comprises: c axle rotary mechanism, A axle rotary mechanism and B axle rotary mechanism:
The C-axis rotating mechanism comprises: the rotary motion servo motor, the C-axis speed reducer, the C-axis rotating mechanism and the C-axis rotating mechanism comprise a C-axis rotating bracket connected with a C-axis servo electric cylinder, and the rotary motion servo motor is used for driving the C-axis rotating mechanism;
the A-axis rotating mechanism comprises: the wrist-mounted device comprises a wrist servo motor, an A-axis speed reducer and an A-axis rotating mechanism, wherein the A-axis rotating mechanism comprises an A-axis rotating support connected with the A-axis speed reducer, and the wrist servo motor is used for driving the A-axis rotating mechanism;
The B-axis rotating mechanism comprises: the B-axis rotating mechanism comprises a B-axis rotating support connected with the B-axis speed reducer, and the rotary servo motor is used for driving the B-axis rotating mechanism.
specifically, referring to fig. 1 to 4, in this embodiment, the robot arm of the present invention is further described, and the entire robot arm includes:
three-axis moving mechanism: an X-axis linear module, a Y-axis linear module and a Z-axis linear module;
A three-axis rotating mechanism: servo electric cylinder of C axle, A axle, B axle.
wherein, X axle nature module includes: a left-right moving servo motor 417 and a left-right moving mechanism 416, wherein the moving mechanism comprises a workbench and a linear guide rail;
A similar Y-axis linear model includes: a back-and-forth movement servo motor, a rib plate bracket (fixing a Z-axis linear module) and a back-and-forth movement mechanism 403, wherein the movement mechanism comprises a workbench and a linear guide rail;
similar Z-axis linear modules include: an up-down moving servo motor, an up-down moving mechanism 404, and a rib plate support (fixed C-axis and servo cylinder).
Rotary mechanism includes workstation and linear guide:
The a-axis (rotating about X) includes: the wrist servo motor 413, the speed reducer and the rotating mechanism, wherein the rotating mechanism comprises a support connected with the speed reducer;
the C-axis (rotation about Z) includes: a rotary motion servo motor 412, a speed reducer and a rotary mechanism, wherein the rotary mechanism comprises a bracket 405 connected with a servo electric cylinder;
The B-axis (rotating about Y) includes: the device comprises a rotary servo motor, a speed reducer and a rotary mechanism, wherein the rotary mechanism comprises a support connected with the speed reducer, and ultraviolet LED light sources 406 and 408, a charging port identification visual system 407, a direct current charging gun 401 and a fixed support can be further fixed on the support.
The servo electric cylinder includes: servo motor 415, moving mechanism includes lead screw and linear guide.
In the embodiment, the three-axis moving mechanism and the three-axis rotating mechanism are designed, so that the whole robot can perform six-axis movement according to actual charging requirements, the moving range of the robot is greatly improved, and the operating performance of the robot in the automatic charging process is ensured. The mechanical arm can receive a control instruction and accurately position to a certain point in a three-dimensional space for operation.
Optionally, in an optional embodiment of the present invention, optionally, the robot further includes: the composite bearing comprises a linear bearing and a ball bearing, the linear bearing is arranged in the ball bearing, one end of the cable is connected to the charging pile, a winding roll is arranged between the charging pile and the composite bearing, and the other end of the cable penetrates out of the linear bearing and is connected to the charging gun;
The composite bearing is used for driving the cable to move along with the charging gun; and the number of the first and second groups,
when filling the rolling of electric pile take-up reel the cable, right the cable is regulated.
Specifically, in this embodiment, as shown in fig. 1 and fig. 2, a composite bearing formed by a linear bearing 410 and a ball bearing (i.e. a joint bearing) 409 realizes that a cable moves back and forth along with a dc charging gun and moves up and down, so as to facilitate contraction of the cable 402 on a charging pile take-up reel, in this embodiment, the linear bearing 410 is sleeved in a hollow ball of the ball bearing 409, the ball bearing 409 can support the cable at the level of the linear bearing 410, the cable penetrates out of the linear bearing 410, when a robot drives the cable to move left and right, the ball bearing 409 can deflect within a certain range so as to adjust the adaptive angle, the linear bearing 410 performs adaptive sorting on the cable taken out by the robot so as to realize that the cable follows the charging gun to move without twisting, knotting or bearing other shear stress, the composite bearing can be directly arranged on the forward and backward movement mechanism 403, so that the composite bearing can move, and the cable is regulated within a certain range in the moving process, and the composite bearing can also be fixedly arranged at other positions in the moving range of the robot and realize the same function.
in this embodiment, the composite bearing formed by combining the linear bearing 410 and the ball bearing 409 realizes that the cable moves up and down along with the direct-current charging gun, so that the charging pile winding roll 411 can easily shrink the cable, the problem that the single-gun automatic plugging action is difficult to realize due to poor toughness and heavy mass of a large-current charging cable is solved, and the purpose of high-power full-automatic charging is realized.
optionally, in an optional embodiment of the present invention, the robot further includes:
And the radar module is used for measuring distance information between the charging gun and a charging port of the motor vehicle and sending the distance information to the controller.
optionally, the robot further comprises:
the image acquisition module is used for continuously acquiring image information of a charging port of the motor vehicle and sending the image information to the controller;
the controller is further used for carrying out image positioning on the motor vehicle charging port according to the image information.
Specifically speaking, charge mouthful discernment visual system 407 can include radar module and image acquisition module, and radar sensor is used for the location of finding range, and image acquisition module can include two cameras, and one of them is used for realizing the coarse positioning of charging socket, and another is the fine positioning that is used for realizing in the arm contact charging socket in-process, constantly revises fine setting location, through "double accuracy" location, effective control precision.
More specifically, in the present embodiment, the radar may adopt NRA24 millimeter wave radar mainly used for the distance measurement between the charging gun and the charging port. The radar can sense the distance and angle information between the charging gun and the charging port, and provides high-precision detection data for the walking and path planning of the charging gun. The radar distance measuring precision can reach 2cm, and more vehicle position information can be provided for a control system to realize positioning. This radar can be used for the position counterpoint of rifle that charges, and the precision is higher.
more specifically, in this embodiment, the image acquisition module can adopt a seaway tv professional camera, the highest resolution can reach 1920 × 1080@30fps, and can output a 30fps real-time image under this resolution, Sony high-performance progressive scanning CCD is adopted, no sawtooth is left in a captured moving image, 3D digital noise reduction is supported, backlight compensation, ICR infrared filter sheet type automatic switching is realized, real day and night monitoring is realized, automatic aperture is supported, an automatic electronic shutter function is realized, the device adapts to different monitoring environments, and the device has the characteristics of high image quality, low noise and the like, and adopts SDI interface high-definition digital output, high image transmission fidelity and low delay. The real-time response effect is good, the position can be accurately positioned to 2mm through the algorithm, and the requirement of the system is met. The electrical connections are as shown in fig. 5, and in this embodiment are connected to the radar and vision camera, the license plate recognition system, the charging pile, the servo driver and the button through the embedded controller.
in this embodiment, the embedded controller may include an RS485 communication interface, a USB interface, an I/O interface, and the like, and is controlled and processed by an intel processor, and the like. And a button control can be added, wherein the button control can be 2 mechanical buttons, and the functions of starting, emergency stopping and the like of the automatic charging device are realized. The license plate recognition system is connected with the embedded controller by adopting a network interface, so that the license plate reading of the vehicle is realized quickly. The charging pile can realize direct-current voltage output, has protection functions of overcurrent, overvoltage and the like, can display parameters of a charging battery, charging voltage, charging current and the like, and realizes data exchange by connecting charging information with the embedded controller through an RS485 interface.
Optionally, in another optional embodiment of the present invention, the robot further includes a flexible shaft, the flexible shaft is disposed between the mechanical arm and the charging gun, and the flexible shaft, the radar module and the image acquisition module are on the same horizontal plane;
the flexible shaft is used for self-adaptively fine-adjusting the angle of the charging gun according to the stress at the tail end of the charging port of the motor vehicle.
Specifically, as shown in fig. 4, the flexible shaft 414 is disposed between the end of the robot arm and the charging gun, the flexible shaft, the radar, and the fine positioning vision camera are located on the same horizontal plane, and the seamless docking between the charging gun and the charging socket can be realized based on the matching positioning of the image acquisition module and the radar and the adaptive effect of the flexible shaft.
The automatic charging robot disclosed by the invention adopts a six-degree-of-freedom mechanical structure based on a hybrid structure of a joint ball bearing and a linear bearing and a parallel electric cylinder and flexible shaft complementary mode, breaks through the limitation that the automatic plugging and unplugging action of a single gun is difficult to realize due to poor toughness and heavy mass of a large-current charging cable, combines an image recognition technology, is compatible with the requirements of low-current charging such as traditional alternating current and the like, can realize high-power automatic charging, and the intelligent and convenient development of a power-assisted charging service system, and does not need manual operation by a user.
Example 2
a second embodiment of the present invention provides an automatic charging method, as shown in fig. 9, the method including:
acquiring position information of a charging gun and a motor vehicle charging port stopped in a charging parking space;
driving the charging gun to move through a mechanical arm according to the position information of the charging port so as to complete the butt joint of the charging gun and the motor vehicle charging port;
And after the charging gun is successfully butted with a charging port of the motor vehicle, the motor vehicle is charged through the cable.
The charging method can reduce the labor intensity of workers, reduce the management cost of the charging station, improve the automation degree of charging facilities and greatly improve the user experience and the operation safety.
optionally, before obtaining the position information of the charging gun and the charging port of the vehicle parked in the charging slot, the method further comprises:
shooting vehicle information of a charging parking space to judge whether a vehicle enters the charging parking space, and acquiring license plate information of the vehicle entering the charging parking space under the condition that the vehicle enters the charging parking space; and the number of the first and second groups,
When a vehicle enters but the license plate information of the vehicle cannot be acquired, the light supplement intensity is improved, and the entering vehicle is photographed again to acquire the license plate information of the entering vehicle;
verifying the license plate information of the driven vehicle, and charging the driven vehicle within an automatic charging range under the condition that the license plate information is verified; alternatively, the first and second electrodes may be,
When the license plate information passes the verification, the driver is prompted to stop again when the vehicle is driven out of the automatic charging range; alternatively, the first and second electrodes may be,
and prompting the driver to drive away from the charging parking space under the condition that the license plate information is not verified.
optionally, under the condition that the license plate information of the driven vehicle fails to be acquired, or under the condition that the position information of the charging port fails to be acquired through the image acquisition module, the user is prompted to perform manual charging.
Specifically, the charging method of the present invention can also combine a license plate recognition system and an automatic charging robot to realize charging of a vehicle parked in a parking space, as shown in fig. 6 and 7, after the vehicle is parked in the parking space, the entire charging station includes a vehicle 1, a parking space 2, a charging pile 3, an automatic charging robot 4, and a license plate recognition system 5, and vehicle detection can also be realized by a vehicle positioning device 201, and before position information of a charging gun and a motor vehicle charging port parked in the charging space is obtained, a vehicle driving into the parking space needs to be determined, specifically including:
when the vehicle drives into the standard parking space, the monitoring camera of the license plate recognition system is automatically triggered. The monitoring camera comprises a first camera and a second camera, the first camera is used for identifying the license plate number, and the second camera is used for identifying the parking position of the vehicle.
more specifically, if the license plate number of the first camera is successfully identified, whether a license plate record exists is searched in the background, and if the license plate record exists, the license plate record is marked; and if no record exists, displaying a red light to remind the user of driving away from the charging position. If the first camera license plate number identification fails, whether a vehicle exists is detected through the second camera, if the vehicle exists, the first camera adjusts the light supplement intensity and shoots again, and if the process fails for three times: voice prompts please use manual charging. The display screen prompts failure information: failure of image recognition, network failure, etc. And if the second camera detects that the vehicle is not available, returning to the initial stage. The first camera identifies the license plate number and the second camera detects whether a vehicle exists, if yes, the second camera detects whether the vehicle is in a moving range (60 cm around the vehicle body and 30cm around the vehicle body), and if yes, a green light is displayed to prompt a user to open a charging cover and prompt predicted charging time and charge to enter an automatic charging stage. If not, a voice alarm prompt is sent, a yellow light is displayed, the driver is requested to stop the vehicle again, specifically, as shown in FIG. 8, wherein a represents a correct parking position, b represents leftward deviation, c represents rightward deviation, d represents exceeding of a stop line, and the position and the license plate number are detected once every 5 seconds; displaying a red light after one minute, reminding a user of leaving the parking space, and entering an initial state if the vehicle leaves at the moment; if the vehicle does not leave at the moment, a voice alarm prompt is sent, the driver is requested to stop the vehicle again, and the vehicle is detected once every 5 seconds; and the first camera detects that the license plate number is changed, the verification stage is entered again, and if the license plate number is not changed, the initial stage is returned.
optionally, in another optional embodiment of the present invention, driving the charging gun to move through a mechanical arm according to the position information of the charging port to complete the docking between the charging gun and the charging port of the motor vehicle, includes:
the position information of the charging port is continuously acquired through an image acquisition module to determine the movement amount of the mechanical arm, and the charging gun is driven to move through the mechanical arm according to the movement amount of the mechanical arm so as to complete the butt joint of the charging gun and the motor vehicle charging port.
optionally, under the condition that the license plate information of the driven vehicle fails to be acquired, or under the condition that the position information of the charging port fails to be acquired through the image acquisition module, the user is prompted to perform manual charging.
Specifically, in this embodiment, after entering the charging phase, the third camera on the mechanical arm performs automatic coarse positioning through an algorithm, if the coarse positioning is successful, the charging gun moves, approaches the charging interface, and starts fine positioning, and if the fine positioning is successful, the driving motor controls the automatic arm to complete gun insertion.
the vehicle battery charging system is communicated with the charging pile, and if the handshaking process is completed smoothly, the charging is started. If the fine positioning fails, the camera 3 adjusts the shooting angle and performs the fine positioning again; if the failure is three times, returning to the charging starting stage; if the failure is 2 times: the mechanical arm resets, and voice prompt asks to use manual charging. The display screen prompts failure information; if the failure, camera 3 adjusts the light filling intensity and shoots once more to pronunciation are reminded to open the lid that charges, and the circulation is thrice. If the above process fails three times: the mechanical arm resets, and voice prompt asks to use artifical the charging, and the display screen suggestion failure information.
A charging execution stage: in this embodiment, the flexible matrix charging stack may be adopted in the charging execution stage to reasonably and dynamically adjust the automatic charging schedule by using a group control charging strategy and combining the SOC, voltage, current, power, initial charging time, expected ending time, and other information of the electric vehicle being charged.
Optionally, after the user successfully pays, the charging gun is pulled out through the mechanical arm to complete the charging process.
due to the adoption of the technical scheme, the invention has the following advantages: the automatic charging robot and the charging method are combined with an image recognition technology, do not need manual operation of a user, realize high-power automatic charging, and are beneficial to the intelligent and convenient development of a charging service system.
specifically, in the charging settlement stage, parameters such as battery types, charging voltages, charging currents and the like are displayed on the charging pile after the motor vehicle is charged. If abnormal phenomena such as overcurrent and overvoltage occur, the charging is automatically stopped, the charging gun is automatically pulled out, and the charged amount is recorded. Prompting the user that the user cannot charge, and asking for replacing the pile or checking the vehicle condition. Whether a person enters a dangerous charging area is detected, and if yes, voice prompt is given to alarm. When the user presses the charge stop button, the information of the charge statistical electric quantity, the time period and the like is displayed on the screen, and the payment two-dimensional code is displayed. When the user pays successfully, the mechanical arm is automatically pulled out and returns to the initial stage. If the user does not pay, the user is prompted audibly to pay.
The invention realizes automatic operation, can reduce the labor intensity of workers, reduce the management cost of the charging station, improve the automation degree of charging facilities and greatly improve the user experience and the operation safety.
example 3
A computer-readable storage medium on which an implementation program of information transfer is stored, which when executed by a processor implements the steps of the method of the foregoing embodiment 2.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered thereby.
Claims (12)
1. an automatic charging robot, characterized in that the robot comprises:
the controller is used for acquiring position information of a charging gun and a motor vehicle charging port stopped in a charging parking space;
The mechanical arm is used for driving the charging gun to move according to the position information of the charging port so as to complete the butt joint of the charging gun and the motor vehicle charging port;
And the charging gun is used for charging the motor vehicle through the cable after the charging gun is successfully butted with a charging port of the motor vehicle.
2. The robot of claim 1, wherein said robotic arm comprises:
The three-axis moving mechanism is used for driving the three-axis rotating mechanism to axially move in three axes according to the position information of the charging port;
And the three-axis rotating mechanism is used for driving the charging gun to rotate in three axes according to the position information of the charging port.
3. the robot of claim 2, wherein the three-axis movement mechanism includes an X-axis linear module, a Y-axis linear module, and a Z-axis linear module, the Y-axis linear module being disposed on the X-axis linear module, the Z-axis linear module being disposed on the Y-axis linear module, the three-axis rotation mechanism being disposed on the Z-axis linear module;
the X-axis linear module comprises: the left-right moving servo motor and the left-right moving mechanism are arranged on the left-right workbench and the left-right linear guide rail respectively, and the left-right moving servo motor is used for driving the left-right moving mechanism;
The Y-axis linear module comprises: the Y-axis linear module is arranged on the left-right moving mechanism, the Z-axis ribbed plate support is used for fixing the Z-axis linear module, and the front-back moving servo motor is used for driving the front-back moving mechanism;
the Z-axis linear module comprises: the C-axis rib plate support is used for fixing the C-axis rotating mechanism, and the up-down moving servo motor is used for driving the up-down moving mechanism;
the three-axis rotating mechanism comprises: c axle rotary mechanism, A axle rotary mechanism and B axle rotary mechanism:
The C-axis rotating mechanism comprises: the rotary motion servo motor, the C-axis speed reducer, the C-axis rotating mechanism and the C-axis rotating mechanism comprise a C-axis rotating bracket connected with a C-axis servo electric cylinder, and the rotary motion servo motor is used for driving the C-axis rotating mechanism;
The A-axis rotating mechanism comprises: the wrist-mounted device comprises a wrist servo motor, an A-axis speed reducer and an A-axis rotating mechanism, wherein the A-axis rotating mechanism comprises an A-axis rotating support connected with the A-axis speed reducer, and the wrist servo motor is used for driving the A-axis rotating mechanism;
The B-axis rotating mechanism comprises: the B-axis rotating mechanism comprises a B-axis rotating support connected with the B-axis speed reducer, and the rotary servo motor is used for driving the B-axis rotating mechanism.
4. the robot of claim 1, further comprising: the composite bearing comprises a linear bearing and a ball bearing, the linear bearing is arranged in the ball bearing, one end of the cable is connected to the charging pile, a winding roll is arranged between the charging pile and the composite bearing, and the other end of the cable penetrates out of the linear bearing and is connected to the charging gun;
The composite bearing is used for driving the cable to move along with the charging gun; and the number of the first and second groups,
When the cable is wound by the winding roll, the cable is regulated.
5. the robot of claim 1, further comprising a radar module for measuring distance information between the charging gun and a vehicle charging port and sending the distance information to the controller.
6. The robot of claim 5, further comprising an image acquisition module for continuously acquiring image information of a vehicle charging port and sending the image information to the controller;
the controller is further used for carrying out image positioning on the motor vehicle charging port according to the image information.
7. the robot of claim 6, further comprising a flexible shaft disposed between the robotic arm and the charging gun, the flexible shaft being in a same horizontal plane as the radar module and the image acquisition module;
The flexible shaft is used for adaptively adjusting the angle of the charging gun according to the stress at the tail end of the motor vehicle charging port.
8. an automatic charging method, characterized in that the method comprises:
acquiring position information of a charging gun and a motor vehicle charging port stopped in a charging parking space;
Driving the charging gun to move through a mechanical arm according to the position information of the charging port so as to complete the butt joint of the charging gun and the motor vehicle charging port;
and after the charging gun is successfully butted with a charging port of the motor vehicle, the motor vehicle is charged through the cable.
9. The method of claim 8, wherein moving the charging gun by a robotic arm according to the position information of the charging port to complete the docking of the charging gun with the vehicle charging port comprises:
The position information of the charging port is continuously acquired through an image acquisition module to determine the movement amount of the mechanical arm, and the charging gun is driven to move through the mechanical arm according to the movement amount of the mechanical arm so as to complete the butt joint of the charging gun and the motor vehicle charging port.
10. the method of claim 8, wherein the method further comprises: and prompting a user to perform manual charging under the condition that the position information of the charging port is failed to be acquired through the image acquisition module.
11. the method of claim 8, wherein the method further comprises: and after the user successfully pays, pulling out the charging gun through the mechanical arm to complete the charging process.
12. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon an implementation program for information transfer, which when executed by a processor implements the steps of the method according to any one of claims 8 to 11.
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| CN113525139A (en) * | 2021-07-20 | 2021-10-22 | 浙江麦浪电气股份有限公司 | New energy automobile self-identification non-intrusive charging pile and automatic charging method |
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| CN115871492A (en) * | 2022-06-06 | 2023-03-31 | 武汉路特斯科技有限公司 | Charging equipment control method, device, equipment and storage medium |
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| WO2024012688A1 (en) * | 2022-07-15 | 2024-01-18 | Embotech Ag | End effector of automated vehicle charging robot for automatically opening doors of charge ports of electric vehicles and plugging charging cables |
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Application publication date: 20191213 |