CN106272419A - A kind of localization method of mechanical arm Intelligent charging spot - Google Patents
A kind of localization method of mechanical arm Intelligent charging spot Download PDFInfo
- Publication number
- CN106272419A CN106272419A CN201610780728.XA CN201610780728A CN106272419A CN 106272419 A CN106272419 A CN 106272419A CN 201610780728 A CN201610780728 A CN 201610780728A CN 106272419 A CN106272419 A CN 106272419A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- localization method
- angle
- intelligent charging
- charging spot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the localization method of a kind of mechanical arm Intelligent charging spot, described charging pile includes mechanical arm and the controlling organization that can automatically run, the localization method of described Intelligent charging spot is the intelligent positioning being realized described charging pile by series of steps such as startup system, detecting system, reception target instruction target word, Coordinate Conversion, calculating object run angle, control manipulator motions, location is rapid and accurate, and significantly reduce cost of labor, it is provided that safety.
Description
Technical field
The present invention relates to electrical bicycle charging method, be specifically related to a kind of electric motor car from being dynamically connected charging method.
Technical background
New-energy automobile can be substantially reduced the operating oil consumption of vehicle and can reduce the discharge of tail gas, the purest electronic vapour
Car and plug-in mixed dynamic power vehicle, construction cost and maintenance cost yet with charging station are the highest, are unable to reach big at present
Area covering, some cities are even without charging station, and this charging resulting in new-energy automobile goes wrong, and the most just hinder new
The Developing Extension of energy vehicle, (includes pure electric bus, plug-in especially for the big city electric bus of charge requirement
Hybrid-power bus etc.), owing to the circuit ratio of bus is relatively decentralized, it is difficult to concentrate charging, traditional charging pile is the shortest,
And the power taking end of vehicle is arranged on the side of vehicle, mainly facilitates manual operation, but such manual operation is for public affairs
There is certain danger in the high-voltage charging handing over car and long-time operation can increase the workload of people, therefore urgently proposes one at present
Plant the charging device of automatic charging.
Mostly current wireless charging mode, be to use the coil-induced wireless charging that realizes, but this charging modes need
Vehicle is accurately rested in charger transmitting terminal by driver, when the distance of vehicle Yu charger transmitting terminal is slightly larger with regard to nothing
Method realizes charging, and the requirement so stopped driver is higher, and the charging modes of this artificial stop location is inefficient, greatly
Shorten greatly the charging interval.
Summary of the invention
For solving the problems referred to above, the present invention proposes the localization method of a kind of mechanical arm Intelligent charging spot, described charging
Stake include mechanical arm and the controlling organization that can automatically run, the localization method of described Intelligent charging spot be by startup system,
The series of steps such as detecting system, reception target instruction target word, Coordinate Conversion, calculating object run angle, control manipulator motion are come
Realizing the intelligent positioning of described charging pile, location is rapid and accurate, and significantly reduces cost of labor, it is provided that safety.
For achieving the above object, the technical scheme is that
A kind of localization method of mechanical arm Intelligent charging spot, concrete positioning step is as follows:
The first step, starts alignment system, and carries out System self-test；
Second step, it is judged that system is the most normal, if system is normal, then turns next step；If system is abnormal, then carry out system
Troubleshooting；
3rd step, receives target instruction target word；
4th step, checks that target instruction target word data are the most effective, the most then turns next step；If it is not, then turn the 3rd step；
5th step, carries out Coordinate Conversion；
6th step, calculates object run angle；
7th step, controls manipulator motion；
8th step, checks whether arrival target location, the most then terminates；If it is not, then turn the 6th step.
Described target instruction target word is view data instruction.
Described 4th step checking, the most effective method of target instruction target word data is, according to the boundary value of described view data
Calculate the existence range of described target location, if target instruction target word data are in the range of described, the most effectively, the most invalid.
In described 5th step, coordinate transformation method is, gather in advance the coordinate of the gathered image of multiple image collecting device with
Corresponding physical location area coordinate, draws the corresponding relation of image coordinate and actual position coordinate, utilizes described corresponding relation
Draw the actual position coordinate corresponding to each image coordinate.
When described 6th step calculates object run angle, obtain simultaneously the angle between target location and initial position and
Angle between mechanical arm current location and initial position, is drawn described mechanical arm actual motion by the difference of said two angle
Angle value.
Described 6th step also includes the traffic direction choosing described mechanical arm, described mechanical arm institute according to choosing method
Quadrant in the coordinate system of position closes on relation with place, target location quadrant, chooses nearer traffic direction.
Also including the traffic direction choosing described mechanical arm in described 6th step, according to choosing method, described mechanical arm is suitable
The angle total amount that hour hands run compares with the angle total amount run counterclockwise, chooses the traffic direction that angle total amount is little.
In described 7th step before controlling described manipulator motion, check that motor is the most normal, if normally, then control institute
State manipulator motion, otherwise stop motion send motor fault warning.
The motion of mechanical arm described in described 7th step uses closed loop control.
Comparing existing mechanical arm Intelligent charging spot localization method, the present invention has remarkable advantage and beneficial effect, concrete body
It is now:
1. use the mechanical arm Intelligent charging spot localization method of the present invention, it is achieved that intelligent positioning, reduce cost of labor；
2. use the mechanical arm Intelligent charging spot localization method of the present invention, utilize charging pile intelligent positioning mechanical arm automatically to fill
Electricity, charger, away from the position of people, improves safety；
3. use the mechanical arm Intelligent charging spot localization method of the present invention, monitored by System self-test, Target Coordinate Data,
Run measures such as arriving position monitoring, minimizing position errors at different levels, registration；
4. using the mechanical arm Intelligent charging spot localization method of the present invention, mechanical arm uses closed loop control to run, and runs flat
Steady and accurate.
Accompanying drawing explanation
Fig. 1 is the flow chart of mechanical arm Intelligent charging spot localization method of the present invention；
Fig. 2 is the flow chart calculating object run angle in mechanical arm Intelligent charging spot localization method of the present invention.
Detailed description of the invention
The specific implementation method of the present invention is as follows:
Provide embodiments of the invention below in conjunction with the accompanying drawings and illustrate the implementation of the present invention:
Fig. 1 is the flow chart of mechanical arm Intelligent charging spot localization method of the present invention, described charging pile include controlling organization and
Actuator, described actuator includes mechanical arm, and described mechanical arm can automatically run and realize intelligent charge, electronic when having
When car has charge requirement, charging pile station acquisition device starts charging pile alignment system after collecting positional information, then positions
System carries out self-examination, if alignment system is abnormal, then carries out system failure process, if alignment system is normal, then receives mesh
Mark instruction, checks the Target Coordinate Data in target instruction target word after receiving target instruction target word, if Target Coordinate Data is invalid,
The most again receive target instruction target word, if Target Coordinate Data is effective, then described Target Coordinate Data is carried out Coordinate Conversion, by target
Coordinate data is converted to realistic objective coordinate position, then calculates object run angle, controls manipulator motion and arrives target position
Put, finally check whether mechanical arm arrives target location, if not arriving, then recalculates object run angle and controls mechanical arm
Motion arrives target location, if arriving, then terminates location.
Described target instruction target word is view data instruction, and described view data can be obtained by the equipment imaging first-class acquisition image
, the instruction of described view data is the coordinate position that target is residing in the picture.
Coordinate transformation method is, gathers the coordinate of the gathered image of multiple image collecting device and corresponding actual bit in advance
Put area coordinate, thus draw the corresponding relation of image coordinate and actual position coordinate, utilize the described corresponding relation just can be from
The view data instruction every time obtained draws the actual position coordinate corresponding to target.
Check that the most effective method of target instruction target word data is to calculate target according to the boundary value of described view data and exist
The scope of imaging in image is if target instruction target word data are in the range of described, the most effectively, the most invalid.
Fig. 2 is the flow chart calculating object run angle in mechanical arm Intelligent charging spot localization method of the present invention, is calculating
During object run angle, obtain the angle between target location and initial position and mechanical arm current location and initial position simultaneously
Between angle, if the angle between mechanical arm current location and initial position is zero, i.e. mechanical arm does not moves, now target position
Put the angle between initial position and be object run angle, if the angle between mechanical arm current location and initial position is not
Be zero, i.e. mechanical arm has been moved to certain position, then object run angle is target location and the angle of initial position, mechanical arm
The difference of two angles of angle between current location and initial position.
Described mechanical arm when choosing traffic direction, available according to the quadrant in the coordinate system of described mechanical arm position with
Place, target location quadrant close on relation, choose nearer traffic direction, such as mechanical arm and exist in first quartile, target location
Second quadrant, then the traffic direction of mechanical arm is counterclockwise, or can also run to clockwise according to described mechanical arm
Reach the angle total amount of target and running counterclockwise to arrive the angle total amount of target and compare, choose angle total amount little for operation side
To.
After calculating manipulator motion angle, check that motor is the most normal, if normally, then control described manipulator motion
Arrive target location, otherwise stop motion send motor fault warning.
The motion of mechanical arm uses PI closed loop control, and Real-time Collection mechanical arm and the positional information of target also send control to
Mechanism, instructs the operation adjusting mechanical arm further, can quickly respond the stationarity that also can guarantee that manipulator motion.
In for the one exemplary embodiment of the present invention it should be understood that be the protection domain of claims of the present invention
A certain demonstrative example therein, has the directiveness effect that those skilled in the art realize corresponding technical scheme, and
Non-limitation of the invention.
Claims (9)
1. the localization method of a mechanical arm Intelligent charging spot, it is characterised in that concrete positioning step is as follows:
The first step, starts alignment system, and carries out System self-test；
Second step, it is judged that system is the most normal, if system is normal, then turns next step；If system is abnormal, then carry out the system failure
Process；
3rd step, receives target instruction target word；
4th step, checks that target instruction target word data are the most effective, the most then turns next step；If it is not, then turn the 3rd step；
5th step, carries out Coordinate Conversion；
6th step, calculates object run angle；
7th step, controls manipulator motion；
8th step, checks whether arrival target location, the most then terminates；If it is not, then turn the 6th step.
The localization method of mechanical arm Intelligent charging spot the most according to claim 1, it is characterised in that: described target instruction target word is
View data instructs.
The localization method of mechanical arm Intelligent charging spot the most according to claim 2, it is characterised in that: described 4th step is examined
Looking into the most effective method of target instruction target word data is to calculate depositing of described target location according to the boundary value of described view data
In scope, if target instruction target word data are in the range of described, the most effectively, the most invalid.
The localization method of mechanical arm Intelligent charging spot the most according to claim 2, it is characterised in that: described 5th step is sat
Mark conversion method is, the coordinate gathering the gathered image of multiple image collecting device in advance is sat with corresponding physical location region
Mark, draws the corresponding relation of image coordinate and actual position coordinate, and each image coordinate institute is right to utilize described corresponding relation to draw
The actual position coordinate answered.
The localization method of mechanical arm Intelligent charging spot the most according to claim 1, it is characterised in that: described 6th step is fallen into a trap
When calculating object run angle, obtain the angle between target location and initial position and mechanical arm current location and initial bit simultaneously
Angle between putting, is drawn the angle value of described mechanical arm actual motion by the difference of said two angle.
The localization method of mechanical arm Intelligent charging spot the most according to claim 5, it is characterised in that: in described 6th step also
Including choosing the traffic direction of described mechanical arm, according to choosing method the quadrant in the coordinate system of described mechanical arm position with
Place, target location quadrant close on relation, choose nearer traffic direction.
The localization method of mechanical arm Intelligent charging spot the most according to claim 5, it is characterised in that: in described 6th step also
Including choosing the traffic direction of described mechanical arm, the angle total amount that according to choosing method, described mechanical arm runs clockwise is with inverse
The angle total amount that hour hands run compares, and chooses the traffic direction that angle total amount is little.
The localization method of mechanical arm Intelligent charging spot the most according to claim 1, it is characterised in that: in described 7th step
Before controlling described manipulator motion, check that motor is the most normal, if normally, then control described manipulator motion, otherwise stop
Move and send motor fault warning.
The localization method of mechanical arm Intelligent charging spot the most according to claim 1, it is characterised in that: institute in described 7th step
The motion stating mechanical arm uses closed loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610780728.XA CN106272419A (en) | 2016-08-31 | 2016-08-31 | A kind of localization method of mechanical arm Intelligent charging spot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610780728.XA CN106272419A (en) | 2016-08-31 | 2016-08-31 | A kind of localization method of mechanical arm Intelligent charging spot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272419A true CN106272419A (en) | 2017-01-04 |
Family
ID=57672910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610780728.XA Withdrawn CN106272419A (en) | 2016-08-31 | 2016-08-31 | A kind of localization method of mechanical arm Intelligent charging spot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297746A (en) * | 2017-06-29 | 2017-10-27 | 歌尔股份有限公司 | A kind of service robot and its charging method |
| CN108340808A (en) * | 2018-04-25 | 2018-07-31 | 广州市君望机器人自动化有限公司 | Movable-type intelligent charging equipment |
| CN110238856A (en) * | 2019-06-28 | 2019-09-17 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | A kind of charging mechanical arm and its control device, system and method |
| CN111746313A (en) * | 2020-06-02 | 2020-10-09 | 上海理工大学 | Unmanned charging method and system based on mechanical arm guidance |
| CN112440273A (en) * | 2019-08-27 | 2021-03-05 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | Three-mechanical-arm motion control system and method |
-
2016
- 2016-08-31 CN CN201610780728.XA patent/CN106272419A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297746A (en) * | 2017-06-29 | 2017-10-27 | 歌尔股份有限公司 | A kind of service robot and its charging method |
| CN107297746B (en) * | 2017-06-29 | 2023-06-27 | 歌尔股份有限公司 | Service robot and charging method thereof |
| CN108340808A (en) * | 2018-04-25 | 2018-07-31 | 广州市君望机器人自动化有限公司 | Movable-type intelligent charging equipment |
| CN110238856A (en) * | 2019-06-28 | 2019-09-17 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | A kind of charging mechanical arm and its control device, system and method |
| CN112440273A (en) * | 2019-08-27 | 2021-03-05 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | Three-mechanical-arm motion control system and method |
| CN111746313A (en) * | 2020-06-02 | 2020-10-09 | 上海理工大学 | Unmanned charging method and system based on mechanical arm guidance |
| CN111746313B (en) * | 2020-06-02 | 2022-09-20 | 上海理工大学 | Unmanned charging method and system based on mechanical arm guidance |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170104 |