CN109435730A - A kind of automatic charging system and method based on imitative Snakelike mechanical arm - Google Patents
A kind of automatic charging system and method based on imitative Snakelike mechanical arm Download PDFInfo
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- CN109435730A CN109435730A CN201811329307.0A CN201811329307A CN109435730A CN 109435730 A CN109435730 A CN 109435730A CN 201811329307 A CN201811329307 A CN 201811329307A CN 109435730 A CN109435730 A CN 109435730A
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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
A kind of automatic charging system based on imitative Snakelike mechanical arm includes imitative Snakelike mechanical arm, charging unit, control system, further comprises various controls and execution module, cooperates, whether have waiting charging vehicle by vehicle induction module energy automatic sensing；The pre- contraposition module of charge port identifies charge port, and the general orientation of primary Calculation charge port by the sensor of installation；It is equipped with the main control module of microcomputer, is mounted in charging pile pedestal, main control module controls mechanical arm and clamps charging gun, moves towards pre- contraposition direction；The exactitude position module in imitative snakehead joint is accurately determined charge port position by corresponding sensor and gives waiting charging vehicle charging.Present invention greatly enhances the car experiences of new-energy automobile and automatic guided vehicle, solves the automatic charging demand of automation place such as automatic parking lot vehicle, perfect automation parking and automated workshop service system are formd, human cost is significantly reduced and improves operational efficiency.
Description
Technical field
The invention belongs to the charging technique fields of intelligent transportation tool and machine, are related to new-energy automobile, automatic guided vehicle
(AGV), the charging techniques such as automatic transporting machine people, automation services robot, automatic industrial robot are based especially on single imitative
Snakelike mechanical arm controls multiple charging guns, automatic identification charge port select charging gun and automatically by charging gun insertion charge port oneself
Dynamic charging system and method.
Background technique
Nowadays new-energy automobile technology is greatly developed, and the new-energy automobile volume of production and marketing of various brands increases substantially,
The ownership of China's new-energy automobile increases sharply.Electric car is popularized, and charging technique is a key factor.On the other hand, city
The engineening goods such as automatic guide vehicle carrier, automatic transporting machine people emerge one after another on field, and application scenarios are more and more extensive, such as
Automatic logistics, wisdom factory etc., but the following charging problems are also more and more.
Firstly, most of charging pile is manually operated by user in the market, due to user when manual operation
Be unfamiliar with, be easy to cause maloperation, therefore bring more security risk, easily cause charging unit damage even leak electricity
Etc. serious problem；Secondly, the corresponding charging pile in one, existing parking lot parking stall, the inefficiency of charging.It is handed in intelligence
Under logical development trend, automatic parking lot is main trend, thus certainly will need to provide automatic charge device be subject to it is mating；Furthermore
For the machines such as automatic guided vehicle (AGV), automatic transporting machine people, automation services robot, most of operation ring
Border is complicated, and the machine quantity of operation is more, and operating energy consumption is big, if frequent charge and discharge process can all be brought by manual operation it is huge
Big human cost and cause operational efficiency low.
Summary of the invention
The purpose of the present invention is to provide a kind of automatic charging system and method based on imitative Snakelike mechanical arm, overcomes existing
The disadvantage present in technology,
In order to achieve the above object, the technical solution adopted by the present invention is that:
Automatic charging system and method based on imitative Snakelike mechanical arm of the invention, main includes imitative Snakelike mechanical arm, is filled
Three electric pile foundation seat, control system parts.
The imitative Snakelike mechanical arm mainly includes imitative snakehead joint, imitates snake pedestal joint and several sections imitate snake joint of trunk.
Imitative snake pedestal joint is fixed on the rotating mechanism on charging pile, being capable of 360 degree of automatic rotations, pedestal joint and imitative snake joint of trunk
Between 90 degree of relative rotation head and the tail connect, 90 degree head and the tail of relative rotation connect between each imitative snake joint of trunk, imitative snake joint of trunk
90 degree of head and the tail of relative rotation are connect between imitative snakehead joint.Imitative snakehead joint designs have a clamp structure, this structure can
With charging gun accurate fit, recess is disposed with an electromagnet, to guarantee that the structure can stablize crawl charging gun.
The charging unit (charging pile) has the function of charging to one or more vehicles, is equipped with one or more and fills
Electric rifle.Charging gun is connected by charging cable with charging unit internal electric source.Charging unit pedestal can be fixed pedestal or
Mobile platform.It is disposed with vehicle detection module in charging pile surrounding, be capable of detecting whether to need to be charged machine arrival；Cloth is gone back simultaneously
Being equipped with the charge port of different model, (muzzle is different, can be adapted to different machines, and pikestaff is identical, grabs convenient for mechanical arm from charging gun
Take), to meet different machine charge requirements；For each charging gun, it be furnished with charging current Detection & Controling module, energy in stake
It enough controls whether to charge and detect whether charging complete, also shows that (bright expression electric current reduces equipped with indicator light on corresponding rifle
Charging complete), it is convenient for system identification；It is plugged in each charging and infrared perception module is installed in mouth, charging gun can be perceived
Whether extract；There is the rotating mechanism being connected with imitative snake pedestal joint on charging pile top, is able to drive its 360 degree spirits
Rotation living, is equipped with pre- contraposition module (monocular cam) thereon, can primarily determine charge port orientation.
Control system mainly includes sensing module, main control module, execution module.
Sensing module, mainly include vehicle detection module, charging gun detection module, charging current Detection & Controling module,
Pre- contraposition module, exactitude position module.
Vehicle detection module is laser radar, can examine and whether need charging vehicle；It is mounted on filling in charging pile socket
Electric rifle detection module is infrared sensor, is able to detect whether charging gun is extracted；Each charging gun is detected equipped with charging current
It with control module, can control whether to charge and detect whether charging complete, also be shown equipped with indicator light on corresponding rifle (bright
Indicate that electric current reduces charging complete), it is convenient for system identification；The pre- contraposition module being mounted on rotating mechanism is monocular cam,
The general orientation of machine charge port can be found with pedestal 360 degree rotation, to realize pre- contraposition；Imitative snakehead is installed on to close
Exactitude position module at section, predominantly depth camera, can accurately identify the position of charge port, so that charging gun energy
It is properly inserted realization charging.
Main control module has a microcomputer, and the signal that perception receives is handled and judged, phase is issued
The control signal answered is given to execution module, and data exchange can be carried out between modules, then passes through control modules
And mechanical arm is embodied as target vehicle (or other machines) charging and discharging function.
The execution module of the control system after the signal for receiving control module, executes corresponding operating, to realize control
The process that mechanical arm processed grabs charging gun and charges to machine.Movement mould between each joint of predominantly imitative Snakelike mechanical arm
Block.
Following operation can be performed in charging unit main control module:
1. obtaining charging unit based vehicle induction module output signal, vehicle to be charged is judged whether there is；
2. obtaining the charge port directional information that the pre- contraposition module monocular cam of charging unit pedestal charge port is identified；
3. the relative rotation that imitative Snakelike mechanical arm imitates snake joint of trunk and imitative snakehead joint is controlled, in conjunction in known charge stake
The fixed position of charging gun and exactitude position module depth camera information grab imitative snakehead joint clamp structure accurately corresponding
Charging gun；
4. being controlled and imitative according to pre- contraposition directional information (two-dimensional coordinate of the charge port with respect to Snakelike mechanical arm joint of head)
The connected rotating mechanism in Snakelike mechanical arm pedestal joint is rotated around charging unit, while other joints rotate, so that imitative snakehead closes
Section is directed at the direction of vehicle to be charged；
5. the Vehicular charging three-dimensional precision positioning that the exactitude position module depth camera for obtaining imitative snakehead joint transmits
Information controls imitative Snakelike mechanical arm according to the charge port three-dimensional space position and imitates the opposite of snake joint of trunk and imitative snakehead joint
Rotation, so that the charging gun of imitative snakehead joint clamp structure crawl finally to fill constantly close to charge port three-dimensional space position
Electric rifle is properly inserted the charge port；
6. control charging unit pedestal is the Vehicular charging.
7. obtaining charging current detection module input signal, judge whether charging gun charges or charging complete.
8. the charging gun recognized in conjunction with pre- contraposition module monocular cam indicates according to charging current detection module signal
Lamp orientation, control mechanical arm are moved towards the fully charged charging gun direction pulled out, in conjunction with precision locating module depth camera information,
So that imitative snakehead joint clamp structure is accurately grabbed corresponding charging gun and is removed, puts back to position on corresponding charging pile.
9. obtaining infrared induction module signal in charging pile charging jack, judge whether charging gun is extracted, in conjunction with vehicle sense
The arrival vehicle heading for answering module to give, to determine which charging gun taken.
10. certain data information is stored, the information such as aligned in advance, each charging gun home position of charging pile, each charging
Rifle is inserted into the position etc. after correlation machine.
It should be noted that the described 9th, 10 is the function of supplementing, each charging process can carry out, not really want
It could be executed after 8th；Because the information of storage is useful to each process, as whether charging gun is extracted and its position is to the 1st
Useful, predetermined bit information remains valid after taking arms.
Charging pile shape is variable (cylinder, cuboid all can), and main includes the charge port of different model, charging pipette tips (with
Meet different charging machines), identical charging pikestaff (crawl for meeting mechanical arm) etc..Complete control system mainly includes sense
Know module, main control module, execution module.The main control module of control system is equipped with microcomputer and is mounted on charging
In pile foundation seat,
The imitative snakehead joint of the imitative Snakelike mechanical arm, is mounted with exactitude position module, devises clamp structure.Accurately
The depth camera of contraposition module can accurately identify three bit space positions of the charge port of charging gun or machine to be charged.
The clamp structure is the concave inward structure for adapting to charging pikestaff, can be with charging pikestaff accurate fit, and in-built electrical magnet, Neng Gouwen
Admittedly grabbing charging gun, it is ensured that charging process is gone on smoothly.
The imitative snake pedestal joint of the imitative Snakelike mechanical arm, is connected on the rotating mechanism on charging pile, Neng Gousui
360 degree of automatic rotations so that mechanical arm is more flexible.
The imitative snake joint of trunk of the imitative Snakelike mechanical arm is set in each joint module using modularization orthohormbic structure
There are a drive system and respective control module, between joint, can be rotated relative to 90 degree between joint and pedestal.It is described snakelike
Each joint of mechanical arm all includes control module, communication module, angular transducer and servo motor, and each Snakelike mechanical arm is closed
Section, which is connected by Ethernet with main control module, is sent to main control module for angular transducer information in real time, and main control module passes through
The control module that position auto―control sends corresponding control signal in each joint, the control module control in each joint is calculated
Servo motor rotation processed, and angular transducer real-time update angle-data.
The charging pile, surrounding are disposed with vehicle detection module, and be capable of detecting whether to need to be charged machine arrival；Simultaneously
There also is provided the charge port of different model, (muzzle is different, can be adapted to different machines, and pikestaff is identical, convenient for machinery from charging gun
Arm crawl), to meet different machine charge requirements；For each charging gun, it is furnished with charging current Detection & Controling mould in stake
Block can control whether to charge and detect whether charging complete, indicator light is also equipped on corresponding rifle and shows (bright expression electric current
Reduce charging complete)；It is plugged in each charging and infrared perception module is installed in mouth, can perceive whether charging gun has pulled out
Out；There is the rotating mechanism being connected with imitative snake pedestal joint on charging pile top, be able to drive its 360 degree of flexible rotatings,
On pre- contraposition module (monocular cam) is installed, can primarily determine charge port orientation.
The sensing module of the control system, main includes following several parts: first is mounted in charging pile four
The vehicle detection module in week is laser radar, can check whether there is vehicle to be charged；Second is mounted in charging pile socket
Interior charging gun detection module is infrared sensor, is able to detect whether charging gun is extracted；Third is in stake to each charging
Rifle is equipped with charging current Detection & Controling module, can control whether to charge and detect whether charging complete, on corresponding rifle
(bright expression electric current reduces charging complete) also is shown equipped with indicator light, is convenient for system identification；4th is mounted in rotating mechanism
On pre- contraposition module, be monocular cam, the general orientation of machine charge port can be found with pedestal 360 degree rotation, from
And realize pre- contraposition；5th is mounted to the exactitude position module of imitative snakehead joint, predominantly depth camera, Neng Goujing
The really position of identification charge port, to realize that accurate contraposition charges.
By adopting the above-described technical solution, the invention has the following advantages:
The present invention is based on existing Snakelike mechanical arm technologies, by combining multiple sensors (various modules) and having microcomputer
The main control module of calculation machine forms the automatic charging system based on imitative Snakelike mechanical arm of complete set, and the system is by snakelike machine
The accuracy of the high flexibility and automatic identification of tool arm, automatic control system, fundamentally solves current charging pile utilization rate
Lowly, the low problem of percent of automatization, to further solve the problems, such as that electric car charging is difficult, while improving charge efficiency
Ensure reliable, the safety of charging system.
System of the invention has high integration, and set of system can be more vehicle automatic chargings according to demand, and
It is not the mode of one one vehicle of correspondence of current most charging piles.The system is based on individually imitative Snakelike mechanical arm and controls multiple fill
Electric rifle, automatic identification machine charge port, and charging gun is inserted into charge port automatically, user no longer needs to be manually operated, full simultaneously
The demand that sufficient automatic parking lot automatically charges.
Furthermore:
1. have benefited from the high flexibility of imitative Snakelike mechanical arm, compared to general industry mechanical arm, for etc. it is to be charged
Vehicle parking position accuracy demand is lower with respect to general industry mechanical arm, is greatly improved the usage comfort of user；
2. this system has single set system to the function of more waiting charging vehicles, charging site space is greatly improved
With the utilization efficiency of time, charging place construction cost is greatly reduced；
3. having benefited from the flexibility of Snakelike mechanical arm, the utilization of this system is not limited to electric car, for AGV carrying machine
The machine of the needs such as people, automatic transporting machine people charging is also able to use this system certainly after the charging gun for being equipped with respective model
Dynamic charging；
4. this system is in conjunction with the autonomous parking system of automated parking ground, or and and automatic material flow workshop lead automatically
After drawing the combination of vehicle, it is capable of forming perfect full-automatic service system；It is whole unattended, maintenance cost is greatly reduced,
Improve service efficiency；
5. compared to deficiency of the charge port in mechanical arm, the present invention can when mechanical arm breaks down, using manpower,
Carry out choosing charging gun manually to machine charging, so that the system still is able to normal operation in the maintenance period.
Detailed description of the invention
Fig. 1 is the overall schematic of charging unit of the present invention.
Wherein: 1. imitative Snakelike mechanical arms；2. imitative snakehead joint；3. imitative snake pedestal joint；4. (it is pre- right to be equipped with for rotating mechanism
Position module)；5. imitative snake joint of trunk；6. exactitude position module and clamp structure；7. charging pile (built-in main control module)；8. filling
Electrical cables；9. charging gun；10.indicator position (light indicates that the current is reduced and charging is completed )；11. charging gun detection module installation position
It sets；12. being pre-positioned module；13. charging current control and detection module position inside charging pile；14. vehicle detection module is pacified
Holding position.
Fig. 2 is the pre- contraposition sensor schematic of charging unit of the present invention.
21. imitative snake pedestal joint；22. rotating mechanism；23. pre- contraposition module (monocular cam) installation site.
Fig. 3 is exactitude position sensor schematic.
31. clamping device (electromagnet)；32. imitative snakehead joint；33. accurate contraposition module (depth camera) installation site
(side).
Fig. 4 is Snakelike mechanical arm module diagram.
41. imitative snakehead joint；42. imitative snake joint of trunk；43. imitative snake pedestal joint；44. base rotating mechanism.
Fig. 5 is charging gun and charging pile socket schematic diagram.
51. the gun handle that charges (cooperates) with imitative snakehead joint；52. charging gun locating convex block；53. charging in charging pile socket
Rifle detection module installation site；54.charge current indicator position (light indicates that the current is reduced and charging is completed ).
Fig. 6 is Snakelike mechanical arm head clamp structure schematic diagram.
61. charging gun；62. charging cable；63. exactitude position module mounting location；64. imitative snakehead joint；65. indicating folder
Signal when holding device, work of electromagnet.
Fig. 7 is control system flow diagram of the present invention.
Fig. 8 is the priority flow diagram of charging process of the present invention.
Fig. 9 is the priority flow diagram that the present invention stops charging process.
Figure 10 is to contact schematic diagram between each module of the present invention.
Figure 11 is single unit system of the present invention (mechanical arm crawl charging gun) operation schematic diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
In the examples below,
Vehicle detection module: using laser radar or other；
Charging gun detection module: using it is infrared or other；
Pre- contraposition module: it (is mainly charged using monocular cam or depth camera or other camera sensing devices
The two-dimensional coordinate of the opposite Snakelike mechanical arm joint of head of mouth)；
Exactitude position module: use depth camera or laser radar etc. that can obtain the sensor of depth information with other
(main to obtain three-dimensional coordinate of the charge port with respect to Snakelike mechanical arm joint of head, to realize precise positioning)；
Charging current control and detection module+indicator light: for a simple detection current control on-off circuit diagram+
LED light；
Base rotating mechanism: keep mechanical arm more flexible；
Head clamp structure: concave structure, with charging gun accurate fit, raising stability is sucked in electromagnet；
Charging gun: pikestaff is certain, there is a convex block energy accurate fit, and muzzle is variable to adapt to different charging machines；
Briefly, control system is the various modules including the control of Snakelike mechanical arm, and core is one and has
The main control module of one microcomputer can carry out data exchange between modules, then by controlling each mould
Block and mechanical arm are embodied as target vehicle (or other machines) charging and discharging function.
As shown in Figure 1, a kind of automatic charging system and implementation method based on imitative Snakelike mechanical arm of the present invention, the system
Including Snakelike mechanical arm 1, mechanical arm base rotating mechanism 4, vehicle detection module 14, charging gun detection module 2, pre- contraposition module
6, exactitude position module 6, charging gun 9, charging pile 7, charging current Detection & Controling module 13, main control module (are installed on and fill
In electric stake 7) etc..Main control module in control system and Snakelike mechanical arm 1 and mechanical arm base rotating mechanism 4 and various
Module is communicated.Communication mode is UART serial communication, IIC communication, CAN bus communication, ethernet communication etc..As preferred
The present invention will use ethernet communication, and since control system module number of the present invention is more, data volume is big, using ether Netcom
Letter has the characteristics that fast with roomy communication speed, can satisfy the communication requirement between modules of the present invention.With traditional communication
Mode can reduce the cost and quality of communication cable compared to ethernet communication, it is only necessary to which a small number of cables cooperate corresponding communication again
Algorithm is received and sent messages superimposed, and removing the known information sent can be realized work communication of enjoying a double blessing, higher for requirement on flexibility
Snakelike mechanical arm this communication mode be suitble to the most.
After detecting and needing charging vehicle, passes through pre- contraposition module 6 and obtain the rough dimensional orientation of Vehicular charging mouth, control
Each joint of Snakelike mechanical arm 1 processed and mechanical arm base rotating mechanism 4 move, and grab and can be used charging gun 9 close to vehicle recently
Charge port opens simultaneously exactitude position module 6 and is accurately detected to charge port, controls the Snakelike mechanical arm 1 for charging gun
After being properly inserted charge port, started by the control charging of charging current Detection & Controling module 13；It detects and controls in charging current
After molding block 13 detects charging complete, by align in advance 6 pieces of mould according to the indicator light (charging complete lights) on charging guns 9 to
9 general orientation of charging gun out opens simultaneously exactitude position module 6 and is accurately detected to charging gun 9, controls the coiled pipe machine
Tool arm 1 will be extracted after charging gun 9 accurately crawl, according to known fixed location, put back to charging pile 7.
Fig. 1 show charging unit overall structure of the invention.Wherein the installation site of the vehicle detection module is 14,
It is connected on the charging pile 7, i.e., the described charging pile 7 and the vehicle detection module are all fixed.The snakelike machine
Tool arm rotating mechanism 4 is fixed on the rotating mechanism 4 on the charging pile 7, can be connected with rotary motion, the pre- contraposition module 12
On the rotating mechanism 4, i.e., the described pre- contraposition module 12 can be rotated with the random rotating mechanism 4.The exactitude position
Module 6 and the Snakelike mechanical arm imitate snakehead joint 2 and are connected.The charging gun 9 is inserted on the charging pile 7,
Fig. 2 show pre- contraposition module sensor of the invention, and the sensor that the pre- contraposition module is taken can be single
Mesh camera, binocular camera, laser radar etc..Monocular cam 23 is used as preferred pre- contraposition module of the present invention,
The monocular cam 23 follows the rotating mechanism 22 to rotate, to the charge port of the automobile to be charged photographed in rotary course
Feature extraction is carried out, feature extraction is the prior art, using the common edge extracting method of image procossing and using convolution mind
Through Network Recognition charging interface and Snakelike mechanical arm joint of head, finds its and both respectively calculate opposite sit after approximate centerpoint
Mark, i.e. two-dimensional coordinate.By providing using Snakelike mechanical arm joint of head as origin, when charge port is in image in rotary course
It is completed when intermediate for pre- contraposition, under this basis and orientation, main control module detects signal and known by receiving charging gun
Fixed charging gun position, control mechanical arm look for not pulling out charging gun recently, mobile to pre-determined bit orientation；If no rifle is available,
Then according to the indicator light (the bright expression electric current of lamp becomes smaller, and has been filled with) in charging current detection module and charging gun, judge whether
The rifle in need removed；Pre-determined bit module can provide convenience for further exactitude position and extraction charging gun, also be to realize
The Snakelike mechanical arm completes more vehicles while charging to provide convenience.
Fig. 3 show the sensor structure of exactitude position module of the invention, is imaged using the industry with depth information
First 33, to avoid interfering with the charging gun that mechanical arm extracts, the industry camera 33 with depth information is placed in described imitative
32 side of snakehead joint grabs the charging gun close to the same of charge port using clamping device (electromagnet) 31 in the mechanical arm
When, location information is returned to the main control module by the accurate spatial locations of the camera real-time detection charge port, described
Main control module controls the Snakelike mechanical arm and the charging gun is properly inserted charge port；The process taken arms also be in this way,
After pre- contraposition module recognizes signal lamp and charging gun orientation wait pull up, exactitude position module real-time detection fills the accurate of rifle
Location information is returned to the main control module by spatial position, and the main control module controls the Snakelike mechanical arm for institute
Charging gun is stated to pull up.
Fig. 4 show Snakelike mechanical arm of the invention, and the Snakelike mechanical arm is nine section Snakelike mechanical arms, and mechanical arm
Joint number is not limited only to nine sections, and joint number is more, and Snakelike mechanical arm is more flexible.The Snakelike mechanical arm is imitated by Snakelike mechanical arm
Snake pedestal joint 21 is imitated in snakehead joint 41, Snakelike mechanical arm, several Snakelike mechanical arms are imitated snake joint of trunk 42 and formed.It is described snakelike
Mechanical arm imitates snake pedestal joint 21 and is connected with the Snakelike mechanical arm rotating mechanism, and the Snakelike mechanical arm imitates snake joint of trunk 42
With the Snakelike mechanical arm imitate snake pedestal joint 21 be connected, each section Snakelike mechanical arm with the previous section of the Snakelike mechanical arm
Joint is orthogonal with later section joint to be connected, to guarantee that the Snakelike mechanical arm being capable of the free movement in space.
Fig. 5 show charging gun structure and the installation of charging gun detection module of the invention and illustrates, the charging gun, pikestaff knot
Structure is the same, above has a charging gun locating convex block 52 to be used to match with mechanical arm head clamp structure；The muzzle size that charges can
Become to adapt to different machines to be charged, there is charging current indicator light 54 on the charging gun, the bright expression electric current of lamp reduces charging
It completes；Charging gun detection module 53 is installed in charging pile receptacle interior, be infrared sensor, can real-time detection whether charge
Rifle is pulled out.The charging gun pikestaff is constant, and muzzle size is variable to adapt to different machines to be charged.
Fig. 6 show Snakelike mechanical arm of the invention and imitates snakehead joint clamp structure, and machinery can be used in the clamp structure
Claw crawl, band electromagnetic sucker type grasping mechanism choose electromagnetic sucker type grasping mechanism as the preferred present invention, compared to machinery
Magnechuck grasping mechanism structure described in pawl grasping mechanism is simple, can simplify grasping mechanism, while electromagnetic sucker type gripper
Structure control is simple, and the main control module controls the electromagnet and is powered, and the charging gun is inhaled under the action of suction with electromagnetism
Disk combines, and the main control module controls the magnechuck power-off, and the charging gun can be with the Snakelike mechanical arm head
Portion is detached from.For the stable connection for guaranteeing the charging gun and the Snakelike mechanical arm head, the Snakelike mechanical arm head and institute
It states charging gun tail portion to be provided with guiding-positioning structure (convex block of mechanical arm head concave structure and charging gun), two parts guiding
Plane cooperates, and facilitates the Snakelike mechanical arm crawl charging gun.
Fig. 7 show control system flow chart of the present invention, and the main control module can be performed simultaneously charge control and stopping
The control of charging.
Need charging vehicle or machine close to when the main control module can execute following steps:
First turn on the pre- contraposition module sensor, monocular cam, the monocular cam with certain frequency, such as
The rate of 50 frame per second or so updates acquired image, and the contour feature for extracting charge port calculates its two-dimensional surface position,
The rotation of the snake-shaped robot rotating mechanism collected feature locations of monocular cam real-time update simultaneously, Zhi Daosuo
Main control module control mechanical arm rotating mechanism when charge port feature is in image center location is stated to stop operating, this
When be pre- contraposition completion status.
The main control module starts to receive charging gun detection module signal, and determination does not pull out nearest charging gun position (if most
It is nearby available without charging gun, then wait until if available without rifle with the charging gun of slightly distant place and remove charging complete
Charging gun).
The main control module controls the Snakelike mechanical arm and is moved near the charging gun, described after precise positioning
The magnechuck that main control module controls the Snakelike mechanical arm head is powered, and the Snakelike mechanical arm will under the action of suction
The charging gun is picked up.
It is mobile towards pre-determined bit direction after the Snakelike mechanical arm extraction charging gun, while the main control module
The exactitude position module is opened, the exactitude position module is the camera with depth information, the exactitude position module
Start accurately to detect the position of charge port, obtains the exact space position information of the charge port and with certain frequency
Obtained location information is sent to the main control module, the main control module by more new information, the exactitude position module
The Snakelike mechanical arm is accurately controlled according to location information, and the charging gun is properly inserted the charge port, it is described at this time accurate
Contraposition module continues to test the posture of charger rifle and charge port to judge to combine and whether complete, and will test information and be sent to institute
State main control module.In conjunction with it is unfinished when the main control module by the Snakelike mechanical arm is further controlled pull up charging gun simultaneously
Restart cohesive process, (is done in conjunction with the location information that main control module described when completing records corresponding charging gun to take arms
Prepare), and control the magnechuck power-off on the Snakelike mechanical arm head, at this time the Snakelike mechanical arm head and the charging
Rifle separation, the Snakelike mechanical arm that the main control module controls, which withdraws and passes through charging current control module, connects charging electricity
Road, the charging gun start to charge.Above-mentioned is a charging process, and the Snakelike mechanical arm return is filled next time at this time with waiting
The beginning of electric process or process of drawing guns.
Have main control module when vehicle or machine charging complete that can execute following steps:
After charging current detection module detects charging complete (electric current becomes smaller), the main control module cutting described first is
The charging gun circuit of fully charged vehicle or machine to be charged.The main control module opens the pre- contraposition module sensor,
Monocular cam, the monocular cam update acquisition image with certain frequency, identify the charging gun of bright light, and rifle is filled in extraction
Contour feature calculate its two-dimensional surface position (here while needing to combine the corresponding position recorded when rifle insertion, it is more to prevent
When rifle charging complete bright light misidentify), the snake-shaped robot rotating mechanism rotation simultaneously the monocular cam it is real-time
Collected feature locations are updated, the main control module controls institute when the charge port feature is in image center location
It states mechanical arm rotating mechanism to stop operating, is at this time pre- contraposition completion status.
The main control module opens the exactitude position module, and the exactitude position module is taking the photograph with depth information
As head, the exactitude position module starts accurately to detect the position of charging gun, obtains the exact space of the charging gun
Location information and with certain frequency more new information, obtained location information is sent to the master control by the exactitude position module
Molding block, the main control module accurately control the Snakelike mechanical arm according to location information and are moved to the charging gun, mobile
The main control module controls the connected magnechuck in the Snakelike mechanical arm head and is powered when in place, in suction under the action of institute
Snakelike mechanical arm is stated to pick up the charging gun.
The exactitude position module continues to test the posture of charger rifle and charge port to judge the snakelike machinery at this time
Whether the direction that arm pulls up the charging gun is reasonable, and will test information and be sent to the main control module, the master control molding
Block controls the movement of Snakelike mechanical arm constantly to pull up charging gun safely.Safety pull up the rear Snakelike mechanical arm be moved to it is described
Charging gun set-down location, the main control module controls the magnechuck power-off on the Snakelike mechanical arm head, described at this time snakelike
Mechanical arm head is separated with the charging gun, and the main control module controls the Snakelike mechanical arm and withdraws.Charging gun of choosing is complete
At when the main control module update position and the status information of corresponding charging gun, done for extraction charging gun process next time
Prepare.Above-mentioned to stop the process drawing guns that charges to be primary, the Snakelike mechanical arm return is at this time to wait process of drawing guns next time
Or the beginning of charging process.
Fig. 7 and Fig. 8 show the priority flow diagram of charging and stopping charging process of the present invention, the master control
Molding block is within a control period with the demand to be charged and charge volume of certain frequency cycle detection vehicle to be charged or machine
State.Described in when the main control module detects the demand to be charged of vehicle or machine to be charged or charge volume full state
Main control module starts to control Snakelike mechanical arm according to above-mentioned corresponding rate-determining steps, completes corresponding operating.The master
When control module is detected simultaneously by the demand to be charged or charge volume full state of vehicle or machine to be charged, it will hang up wait fill
Status requirements have been expired in the demand to be charged of electric car or machine, the charging for responding vehicle or machine to be charged, i.e., the described main control
Step that module control Snakelike mechanical arm starts to execute above-mentioned vehicle or machine charging complete is drawn guns.When above-mentioned vehicle or machine charge
Completion draw guns step complete when, start the charge step for executing vehicle or machine to be charged.When main control module is above-mentioned in execution
Other demands will not be responded while any one operating procedure in two kinds of operating procedures, i.e., when the master control molding
Block is controlling that all steps when Snakelike mechanical arm are without interruption, and demand every other at this time can be all suspended to current
Operation proceeds to respond to subsequent need when completing.
The control mode of Snakelike mechanical arm of the invention, the Snakelike mechanical arm are orthogonal space Snakelike mechanical arm, Mei Yijie
Snakelike mechanical arm all built-in control circuit, position sensor module be fast and servo motor module, in order to mitigate Snakelike mechanical arm
Quality advance Snakelike mechanical arm flexibility, control module is no longer separately provided in Snakelike mechanical arm, all Snakelike mechanical arms
Joint is directly communicated with main control module and is received control, preferably, Snakelike mechanical arm of the present invention takes ethernet communication,
Due to each movable joint all built-in control circuit and sensor, since Snakelike mechanical arm joint number is more, amount of communication data is big,
High-speed traffic can be realized in the case where reducing communications cable quality requirement as far as possible using ethernet communication.
Since Snakelike mechanical arm end of the invention is connected with Snakelike mechanical arm rotating mechanism, completed in contraposition step in advance
Snakelike mechanical arm pedestal no longer moves later, i.e. Snakelike mechanical arm one end is fixed, and main control module need to only control Snakelike mechanical arm
Head is moved, and prior art is detected snakelike simultaneously using angular transducer, inertial navigation unit and current sensor at present
The athletic posture in each joint of mechanical arm.Since present invention movement simplifies, without the mode that multisensor combines, need to only adopt
It is the spatial pose for accurately controlling Snakelike mechanical arm with angular transducer.It can guaranteed using single angular transducer simultaneously
The complexity of attitude detection and motion control arithmetic is reduced on the basis of control accuracy.
Figure 10 show vehicle detection module of the invention, the vehicle detection module be fixed on the charging pile and with
Main control module communicates.The vehicle detecting sensor that the vehicle detection module uses images for single line laser radar, monocular
Head, binocular camera, millimetre-wave radar, infrared distance sensor or ultrasonic range finder sensor etc..As preferred present invention choosing
Single line laser radar is selected, single line laser radar takes into account cost and detection accuracy, and single line laser radar price is lower than multi-thread laser thunder
Automobile profile information can be scanned up to still single line laser radar, main control module passes through the point cloud meter to single line laser radar
Calculation can calculate the contour of object scanned at this time, the contour feature that will be obtained by the detection and extraction algorithm of profile,
The expression formula and pre-stored vehicle or the machine that can only charge of contour curve are obtained using existing space curve fitting algorithm
People's profile information compares, and show whether laser radar object being measured is vehicle to be charged or intelligence machine to be charged at this time
People, if it is not, vehicle detection module will continue to scan on object, if it is main control module obtains vehicle or intelligent robot
Close information is further processed and prepares to start to execute charge step.
The specific structure of charging pile is not limited to schematic diagram and is shown in Snakelike mechanical arm automatic charging system of the present invention
Structure, Snakelike mechanical arm automatic charging stake made of the change to charging pilework all fall in the scope of protection of the present invention.Charging pile
Structure can match practical existing charging pile and practical existing charging pile is transformed into Snakelike mechanical arm automatic charging system,
The Snakelike mechanical arm, Snakelike mechanical arm base rotating mechanism, pre- contraposition module, exactitude position module, vehicle detection module, fill
Electric rifle is the module designed independently of charging pile itself, and modular design has good adaptation for different charging piles
Property, while modularized design is realized convenient for being transformed to existing parking lot and charging pile in the case where minimizing cost
Intelligence, automatic updating to existing charging pile.Simultaneously by the flexibility of book Snakelike mechanical arm, the present invention is not necessarily to parking
The field conditions of field and the posture of parking make strict demand, and it is suitable to what is applied under different scenes to further enhance the present invention
With property and compatibility.
This hair can be understood and applied the above description of the embodiments is intended to facilitate those skilled in the art
It is bright.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments,
Those skilled in the art's announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be in this hairs
Within bright protection scope.
Claims (10)
1. a kind of automatic charging system based on imitative Snakelike mechanical arm characterized by comprising
Imitative Snakelike mechanical arm, charging unit, control system；
The imitative Snakelike mechanical arm includes imitative snakehead joint, imitates snake pedestal joint and several sections imitate snake joint of trunk；Imitative snake pedestal
Joint is fixed on the rotating mechanism on charging pile；Imitative snakehead joint is equipped with clamp structure, this structure can accurately match with charging gun
It closes；
The charging unit has the function of charging to one or more vehicles, is equipped with one or more charging gun；Charging gun
It is connected by charging cable with charging unit internal electric source；The pedestal of charging unit is fixed pedestal or mobile platform；It is filling
Electric stake surrounding is disposed with vehicle detection module, and be capable of detecting whether to need to be charged machine arrival；It there also is provided different model simultaneously
Charge port can be adapted to different machines with charging gun, pikestaff is identical, grabs convenient for mechanical arm, to meet different machine chargings
Demand；For each charging gun, it is furnished with charging current Detection & Controling module in stake, can control whether to charge and detect is
Whether no charging complete is also completed equipped with indicator light display charging on corresponding rifle, is convenient for system identification；In each charging dress
It sets and infrared perception module is installed in socket, can perceive whether charging gun has been extracted；There is one on charging pile top and imitates
The connected rotating mechanism in snake pedestal joint, is able to drive its 360 degree of flexible rotatings, is equipped with pre- contraposition module, Neng Gouchu thereon
It walks and determines charge port orientation；
Control system, including sensing module, main control module, execution module；
Sensing module, including vehicle detection module, charging gun detection module, charging current Detection & Controling module, mould is aligned in advance
Block, exactitude position module；
Vehicle detection module is capable of detecting whether to need charging vehicle；The charging gun detection module being mounted in charging pile socket
It is able to detect whether charging gun is extracted；Charging current Detection & Controling module is equipped with to each charging gun, can control whether to fill
It electricity and detects whether charging complete, also whether is completed equipped with indicator light display charging on corresponding rifle, be convenient for system identification；Peace
Pre- contraposition module on rotating mechanism can find the general orientation of machine charge port with pedestal 360 degree rotation, from
And realize pre- contraposition；It is installed on the exactitude position module of imitative snakehead joint, the position of charge port can be accurately identified, to make
Realization charging can be properly inserted by obtaining charging gun；
Main control module is handled and is judged at least provided with a microcomputer, to the signal that perception receives, and phase is issued
The control signal answered is given to execution module, and data exchange can be carried out between modules, then passes through control modules
And mechanical arm is embodied as the charging and discharging function of target vehicle or other machines；
The execution module of the control system after the signal for receiving control module, executes corresponding operating, to realize control machine
The process that tool arm grabs charging gun and charges to machine.
2. the automatic charging system according to claim 1 based on imitative Snakelike mechanical arm characterized by comprising imitative snake
Pedestal joint can 360 degree of automatic rotations, 90 degree head and the tail of relative rotation connect between pedestal joint and imitative snake joint of trunk, each to imitate
90 degree of head and the tail of relative rotation connect between snake joint of trunk, imitate 90 degree of head of relative rotation between snake joint of trunk and imitative snakehead joint
Tail connection.
3. the automatic charging system according to claim 1 based on imitative Snakelike mechanical arm characterized by comprising described
The recess of the clamp structure in imitative snakehead joint is disposed with an electromagnet and grabs charging gun to stablize.
4. the automatic charging system according to claim 1 based on imitative Snakelike mechanical arm, it is characterised in that: the control
The execution module of system is the motion module between each joint of imitative Snakelike mechanical arm.
5. the automatic charging system according to claim 1 based on imitative Snakelike mechanical arm, it is characterised in that: described is pre- right
Position module uses monocular cam；The exactitude position module uses depth camera.
6. the automatic charging system according to claim 1 based on imitative Snakelike mechanical arm, it is characterised in that: the control
Main control module in system is communicated with Snakelike mechanical arm, mechanical arm base rotating mechanism and various modules, communication party
Formula includes UART serial communication, IIC communication, CAN bus communication, ethernet communication.
7. the automatic charging system according to claim 1 based on imitative Snakelike mechanical arm, it is characterised in that:
The vehicle detection module detects whether to need charging vehicle using laser radar；The charging gun detection module is adopted
Whether extracted with infrared sensor detection charging gun.
8. using the automatic charging side of the automatic charging system based on imitative Snakelike mechanical arm any in claim 1 to 7
Method, it is characterised in that: whether have waiting charging vehicle by vehicle induction module energy automatic sensing；The pre- contraposition module of charge port is logical
The sensor of installation is crossed to identify charge port, and the general orientation of primary Calculation charge port；It is equipped with the main control of microcomputer
Module is mounted in charging pile pedestal, and main control module controls mechanical arm and clamps charging gun, is moved towards pre- contraposition direction；It is imitative
The exactitude position module in snakehead joint by corresponding sensor accurately determine charge port position and to etc. vehicle to be charged fill
Electricity.
9. automatic recharging method according to claim 7, it is characterised in that: by charging unit main control module, execute
Following steps:
(1) obtains charging unit based vehicle induction module output signal, judges whether there is vehicle to be charged；
(2) obtains the charge port directional information that the pre- contraposition module of charging unit pedestal charge port is identified；
(3) controls the relative rotation that imitative Snakelike mechanical arm imitates snake joint of trunk and imitative snakehead joint, in conjunction with filling in known charge stake
The fixed position of electric rifle and exactitude position module depth camera information, make imitative snakehead joint clamp structure accurately grab corresponding fill
Electric rifle；
(4) controls the rotating mechanism being connected with imitative Snakelike mechanical arm pedestal joint around charging unit according to pre- contraposition directional information
Rotation, while other joints rotate, so that the direction of imitative snakehead joint alignment vehicle to be charged；
(5) obtains the Vehicular charging precise positioning information that the exactitude position module in imitative snakehead joint transmits, according to described precisely fixed
Position information controls the relative rotation that imitative Snakelike mechanical arm imitates snake joint of trunk and imitative snakehead joint, so that imitative snakehead joint clamping knot
The charging gun of structure crawl finally makes charging gun be properly inserted the charge port constantly close to charge port；
(6) it is the Vehicular charging that, which controls charging unit pedestal,；
(7) obtains charging current detection module input signal, judges whether charging gun charges or charging complete；
(8) is according to charging current detection module signal, the charging gun indicator light recognized in conjunction with pre- contraposition module monocular cam
Orientation, control mechanical arm move towards the fully charged charging gun direction pulled out, in conjunction with precision locating module depth camera information, make
Imitative snakehead joint clamp structure accurately grabs corresponding charging gun and removes, and puts back to position on corresponding charging pile.
10. automatic recharging method according to claim 9, it is characterised in that:
Aligning directional information described in step (4) in advance is two-dimensional coordinate of the charge port with respect to Snakelike mechanical arm joint of head；
Precise positioning information described in step (5) is three-dimensional coordinate of the charge port with respect to Snakelike mechanical arm joint of head.
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