CN110562084B - Motion control system and method for telescopic swing arm type charging mechanism - Google Patents
Motion control system and method for telescopic swing arm type charging mechanism Download PDFInfo
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- CN110562084B CN110562084B CN201910850344.4A CN201910850344A CN110562084B CN 110562084 B CN110562084 B CN 110562084B CN 201910850344 A CN201910850344 A CN 201910850344A CN 110562084 B CN110562084 B CN 110562084B
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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
- B60L53/30—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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a motion control system of a telescopic swing arm type charging mechanism, which comprises a driving motor and a charging main swing arm, wherein the driving motor at least comprises a swing arm driving motor, a linear driving motor and a telescopic driving motor, and the charging main swing arm is respectively driven to do rotary motion, sliding motion and telescopic motion, and the motion control system comprises the following systems: the system comprises a main control unit, a coordinate positioning unit, a route calculation unit and a motion device driving unit; the motion device driving unit is configured to respond to the current calculated motion trail, and drive the corresponding driving motor to work through the PWM waveform sent by the main control unit so as to drive the charging main swing arm to correspondingly move to a designated position; according to the invention, the driving motor is matched with the charging post swing arm to perform three-stage movement to realize vehicle-mounted automatic charging, so that the problem that the existing charging control system is difficult to match with the mechanical arm to charge when the unmanned vehicle is charged is solved, the complex mechanical arm also causes complex system functions, complex algorithm and high later maintenance and operation cost.
Description
Technical Field
The invention belongs to the technical field of charging arm control systems of electric vehicles, and is mainly used for charging main swing arms of automobiles, in particular to a motion control system and a motion control method of a telescopic swing arm type charging mechanism.
Background
Along with the more and more approach of unmanned, the electric automobile with automatic driving/automatic parking function needs an automatic charging technology to realize the closed loop of automatic application of the vehicle, and the automatic charging technology is one of the requisite technologies of unmanned, and compared with manual charging, the automatic charging technology has great advantages in the aspects of user experience, comfort and safety.
The chassis charging direction is a new technical direction of automatic charging, and has many advantages of small volume, high efficiency, high maximum power and the like. The power receiving interface is arranged on the chassis of the vehicle, and the charging interface is arranged on the ground, which is called a ground unit. The vehicle-mounted power receiving interface device needs to be matched with a ground unit, the ground unit comprises a mechanical arm which is equivalent to a special customized motion connecting mechanism, a charging interface is arranged on the mechanical arm, and the mechanical arm is responsible for jacking the charging interface to the vehicle-mounted power receiving interface and completing interface butt joint actions. How to control the charging mechanism to accurately complete the lifting and docking actions of the interface is a serious problem of the charging movement part of the whole chassis, and once the movement is problematic, the ground unit shell and the vehicle chassis are easily touched, so that the damage of the device and even the spin loss of the motor are caused.
Disclosure of Invention
The invention aims to solve the problems that when an unmanned vehicle is charged, the conventional charging control system is difficult to match a mechanical arm for charging, the system function is complex, the algorithm is complex and the later maintenance and operation cost are high due to the complex mechanical arm, and provides a telescopic swing arm type charging mechanism motion control system and a telescopic swing arm type charging mechanism motion control method.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a flexible swing arm formula charging mechanism motion control system, includes driving motor and charges main swing arm, driving motor includes swing arm driving motor, linear drive motor and flexible driving motor at least, drives the main swing arm that charges respectively and is rotary motion, sliding motion and concertina movement, includes following system:
the main control unit is configured to control the coordinate positioning unit, the route calculation unit, the movement device driving unit and the detection feedback unit to perform system operation;
the coordinate positioning unit is configured to position the vehicle-mounted connector through the ultrasonic unit and transmit coordinates (x, y, z) to the route calculation unit;
the route calculation unit is configured to respond to the currently positioned vehicle-mounted connector coordinates (x, y, z) and calculate a motion track of the charging main swing arm;
the motion device driving unit is configured to respond to the current calculated motion trail, and drive the corresponding driving motor to work through PWM waveforms sent by the main control unit, so as to drive the charging main swing arm to correspondingly move to the designated position.
Further, the system further comprises: the detection feedback unit is configured to respond to the actual motion trail of the current charging main swing arm, and perform compensation control on the charging main swing arm according to the data fed back by the ultrasonic unit so as to improve the motion precision.
Further, the system further comprises: and the motor driver is configured to respond to the driving command of the main control unit, and respectively drive the swing arm driving motor, the linear driving motor and the telescopic driving motor to move according to the calculated motion trail so as to drive the charging main swing arm to do three-stage motion.
Further, the system further comprises: and a coordinate input unit configured to input the coordinate values corresponding to the in-vehicle connector to the coordinate positioning unit in response to the coordinates (x, y, z) positioned by the ultrasonic unit.
Further, the detection feedback unit further includes: and an encoder configured to convert the ultrasonic signal generated by the ultrasonic unit into a PWM wave signal in response thereto.
Further, the detection feedback unit further includes: and the sensing detection unit is configured to respond to the charging main swing arm to detect whether the charging main swing arm moves to an accurate position according to the working angle of the driving motor after the charging main swing arm moves according to calculation.
The motion control method of the telescopic swing arm type charging mechanism comprises a driving motor and a charging main swing arm, wherein the driving motor at least comprises a swing arm driving motor, a linear driving motor and a telescopic driving motor, and the charging main swing arm is respectively driven to do rotary motion, sliding motion and telescopic motion, and the method comprises the following steps:
determining the position of the vehicle-mounted connector by utilizing ultrasonic waves emitted by the ultrasonic unit, and obtaining coordinates (x, y, z) of the vehicle-mounted connector;
judging whether the coordinates are within the expected reachable range of the charging main swing arm;
responding to the current position of the vehicle-mounted connector within the expected range of the charging main swing arm, and controlling a route calculation unit by a main control unit to calculate the distance and the direction of each step to be moved, so as to determine the target coordinate position;
the driving motor drives the charging main swing arm to do three-stage movement according to the calculation result to reach the calculated charging position; and
based on the current real-time movement position of the charging main swing arm, detecting the working angle of the main shaft of the driving motor through the sensing detection unit, and judging whether the charging main swing arm moves to a target coordinate position or not;
and responding to the data fed back by the current sensing detection unit, enabling the charging main swing arm to reach a target coordinate position, connecting the vehicle-mounted charging main swing arm, and completing the charging action of the charging main swing arm.
Further, the method comprises the steps of: and responding to the fact that the current position of the vehicle-mounted connector is not in the expected range of the charging main swing arm, feeding back data to the coordinate input unit through the ultrasonic unit, and retransmitting coordinates to the route calculation unit to calculate the target coordinate position.
Further, the method comprises the steps of: and responding to the data fed back by the current sensing detection unit, wherein the charging main swing arm does not reach the target coordinate position, the sensing detection unit feeds back the data to the route calculation unit to calculate the difference value between the current position and the target coordinate position, the electric signal is converted into a PWM wave signal through the encoder, the driving motor is controlled to perform corresponding compensation movement, the target coordinate position is reached, the charging main swing arm is connected with a vehicle for charging, and the charging action of the charging main swing arm is completed.
Further, the method comprises the steps of: the charging main swing arm is driven by a driving motor to move in the following three stages:
the first stage, the charging main swing arm is driven by the swing arm driving motor to lift upwards by an angle；
The second stage, the linear driving motor drives the charging main swing arm to rotate and drive the charging main swing arm to horizontally slide a distanceThe method comprises the steps of carrying out a first treatment on the surface of the The telescopic driving motor drives the charging main swing arm to extend forwards by a sliding length +.>；
The third stage, the swing arm driving motor drives the charging main swing arm to lift upwards by an angleThe telescopic driving motor drives the charging main swing arm to extend forwards by a sliding length +.>The extension linear velocity v and the lifting angular velocity w satisfy +.>Is a relationship of (3).
Compared with the prior art, the invention has the following beneficial effects:
(1) The single mechanical arm motion control system provided by the invention directly solves the rotation angle of the motor and the rotation speed of the motor by utilizing the position coordinate relation between the mechanical arm and the target, realizes the motion control of the charging main swing arm, realizes the compensation of position errors by detecting the rotation angle through the sensing detection unit, has a simple motion algorithm method compared with the traditional matrix transformation calculation, and has a feedback system for compensation, thereby improving the port docking precision during the motion charging of the charging main swing arm;
(2) The system has the advantages of simple structure, convenient use by matching with the single-arm mechanical arm, simple operation, reduced later maintenance and operation cost and easy realization.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of a system architecture according to an embodiment of the present invention;
FIG. 2 is a flow chart of a control method according to an embodiment of the present invention;
FIG. 3 is a diagram of motion parameters of a second stage according to an embodiment of the present invention;
FIG. 4 is a diagram of motion parameters at a third stage according to an embodiment of the present invention;
the most important element symbols in the embodiment of the invention are as follows:
the device comprises a main control unit-1, a coordinate positioning unit-2, a coordinate input unit-201, an ultrasonic unit-202, a route calculation unit-3, a motion device driving unit-4, a motor driver-401, a detection feedback unit-5, a sensing detection unit-501 and an encoder-6.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, a motion control system of a telescopic swing arm type charging mechanism comprises a driving motor and a charging main swing arm, wherein the driving motor at least comprises a swing arm driving motor, a linear driving motor and a telescopic driving motor, and the charging main swing arm is respectively driven to perform rotational motion, sliding motion and telescopic motion, and the motion control system comprises the following systems:
a main control unit 1 configured to control the coordinate positioning unit 2, the route calculation unit 3, the movement device driving unit 4, and the detection feedback unit 5 to perform system operation;
the coordinate positioning unit 2 is configured to position the vehicle-mounted connector through the ultrasonic unit 202 and transmit the coordinates x, y and z to the route calculation unit 3;
the route calculation unit 3 is configured to respond to the currently positioned vehicle-mounted connector coordinates x, y and z, and calculate the motion trail of the charging main swing arm;
the motion device driving unit 4 is configured to respond to the current calculated motion trail, and drive the corresponding driving motor to work through the PWM waveform sent by the main control unit 1, so as to drive the charging main swing arm to correspondingly move to the designated position.
The system further comprises: the detection feedback unit 5 is configured to respond to the actual motion track of the current charging main swing arm, and perform compensation control on the charging main swing arm according to the data fed back by the ultrasonic unit 202 to improve the motion precision.
The system further comprises: the motor driver 401 is configured to respond to a driving command of the main control unit 1, and drive the swing arm driving motor, the linear driving motor and the telescopic driving motor to move according to the calculated motion trail to drive the charging main swing arm to do three-stage motion.
The system further comprises: the coordinate input unit 201 is configured to input the in-vehicle connector corresponding coordinate values to the coordinate positioning unit 2 in response to the coordinates x, y, z positioned by the ultrasonic unit 202.
The detection feedback unit 5 further includes: the encoder 6 is configured to convert the ultrasonic signal generated by the ultrasonic unit 202 into a PWM wave signal in response thereto.
The detection feedback unit 5 further includes: the sensing detection unit 501 is configured to detect whether the charging main swing arm moves to an accurate position according to the working angle of the driving motor after the charging main swing arm moves according to calculation.
As shown in fig. 2, a motion control method for a telescopic swing arm type charging mechanism comprises a driving motor and a charging main swing arm, wherein the driving motor at least comprises a swing arm driving motor, a linear driving motor and a telescopic driving motor, and the charging main swing arm is respectively driven to perform rotation motion, sliding motion and telescopic motion, and the method comprises the following steps:
determining the position of the vehicle-mounted connector by utilizing ultrasonic waves emitted by the ultrasonic unit 202, and obtaining coordinates x, y and z of the vehicle-mounted connector;
judging whether the coordinates are within the expected reachable range of the charging main swing arm;
in response to the current position of the vehicle-mounted connector being within the expected range of the charging main swing arm, the main control unit 1 controls the route calculation unit 3 to calculate the distance and direction that each step needs to move, and determines the target coordinate position;
the driving motor drives the charging main swing arm to do three-stage movement according to the calculation result to reach the calculated charging position; and
based on the current real-time motion position of the charging main swing arm, detecting the working angle of the main shaft of the driving motor through the sensing detection unit 501, and judging whether the charging main swing arm moves to a target coordinate position or not;
in response to the data fed back by the current sensing detection unit 501, the charging main swing arm reaches the target coordinate position, and is connected with the vehicle for charging, so that the charging action of the charging main swing arm is completed.
The method comprises the following steps: in response to the current position of the in-vehicle connector not being within the charging main swing arm expected range, the data is fed back to the coordinate input unit 201 through the ultrasonic unit 202, and the coordinates are retransmitted to the route calculation unit 3 to calculate the destination coordinate position.
The method comprises the following steps: in response to the data fed back by the current sensing detection unit 501, the charging main swing arm does not reach the target coordinate position, the sensing detection unit 501 feeds back the data to the route calculation unit 3 to calculate the difference value between the current position and the target coordinate position, the encoder 6 converts the electric signal into a PWM wave signal to control the driving motor to perform corresponding compensation movement, the target coordinate position is reached, the charging main swing arm is connected with a vehicle for charging, and the charging action of the charging main swing arm is completed.
The method comprises the following steps: the route calculation unit 3 divides the movement of the charging main swing arm into three stages, and for the charging main swing arm, one end of the charging main swing arm is fixed on a ground single platform part, which is called an A end, and the other end is connected with a charging interface and is used for jacking a ground connector and butting with a vehicle-mounted connector, which is called a B end. The end A of the charging main swing arm can only move along the X axis, and the charging main swing arm is always parallel to the plane of the YZ axis; the charging main swing arm can swing in a telescopic way in the plane of the YZ axis.
The first stage: firstly, lifting the B end of a charging main swing arm from the inside of a ground unit along a Z axis by a small angleThe charging interface on the B end is enabled to be higher than the ground unit, the angle is +>The value of (2) may be determined based on field ground conditions. Knowing that the initial length of the charging main swing arm is L, the lifting angle is +.>The charging main swing arm is mapped to the lower Y, Z plane, and the length of the charging main swing arm in the Y plane is calculated to beAnd height from ground->。
And a second stage: as shown in fig. 3, the charging main swing arm A end is driven to move along the X-axis by a distanceThe X-axis coordinate of the charging main swing arm is consistent with the X-axis coordinate of the vehicle-mounted connector. At the moment, the charging main swing arm keeps the first step of lifting +.>And the charging main swing arm and the vehicle-mounted connector are in the same YZ axis plane. At the moment, the coordinate difference value of the B end of the charging main swing arm and the vehicle-mounted connector on the Y axis is +.>Driving the charging main swing arm to extend ∈>The charging main swing arm B end is positioned under the vehicle-mounted connector, and the vertical distance between the charging main swing arm B end and the vehicle-mounted connector is +.>. The following calculation formula is obtained:
and a third stage: as shown in fig. 4, the B end of the charging main swing arm is driven to extendMeanwhile, the swing arm driving motor drives the charging main swing arm to lift upwards, and the lifting angle is +.>. And controlling the relation between the linear speed v of extension of the charging main swing arm and the lifting angular speed w, so that the end of the charging main swing arm B is always in a vertically ascending motion state until the charging main swing arm B is connected with the vehicle-mounted connector interface. The following calculation formula is obtained:
according to the expressions in the above three steps, the following is summarized:
the charging main swing arm is driven by a driving motor to move in the following three stages:
the first stage, the charging main swing arm is driven by the swing arm driving motor to lift upwards by an angle；
The second stage, the linear driving motor drives the charging main swing arm to rotate and drive the charging main swing arm to horizontally slide a distanceThe method comprises the steps of carrying out a first treatment on the surface of the The telescopic driving motor drives the charging main swing arm to extend forwards by a sliding length +.>；
The third stage, the swing arm driving motor drives the charging main swing arm to lift upwards by an angleThe telescopic driving motor drives the charging main swing arm to extend forwards by a sliding length +.>The extension linear velocity v and the lifting angular velocity w satisfy +.>Is a relationship of (3).
The single mechanical arm motion control system provided by the invention directly solves the rotation angle of the motor and the rotation speed of the motor by utilizing the position coordinate relation between the mechanical arm and the target, realizes the motion control of the charging main swing arm, realizes the compensation of position errors by detecting the rotation angle through the sensing detection unit 501, has a simple motion algorithm method compared with the traditional matrix transformation calculation, and has a feedback system for compensation, thereby improving the port docking precision during the motion charging of the charging main swing arm; the system has the advantages of simple structure, convenient use by matching with the single-arm mechanical arm, simple operation, reduced later maintenance and operation cost and easy realization.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (4)
1. The utility model provides a flexible swing arm formula charging mechanism motion control system, includes driving motor and charges the main swing arm, driving motor includes swing arm driving motor, linear drive motor and flexible driving motor at least, drives the main swing arm that charges respectively and does rotary motion, sliding motion and flexible motion, its characterized in that includes following system:
a main control unit (1) configured to control the coordinate positioning unit (2), the route calculation unit (3), the movement device driving unit (4) and the detection feedback unit (5) to perform system operation;
the coordinate positioning unit (2) is configured to position the vehicle-mounted connector through the ultrasonic unit (202) and transmit coordinates (x, y, z) to the route calculation unit (3);
the route calculation unit (3) is configured to respond to the currently positioned vehicle-mounted connector coordinates (x, y, z) and calculate a motion track of the charging main swing arm;
the motion device driving unit (4) is configured to respond to the current calculated motion trail, and drive the corresponding driving motor to work through PWM waveforms sent by the main control unit (1) so as to drive the charging main swing arm to correspondingly move to a designated position;
the detection feedback unit (5) is configured to respond to the actual motion trail of the current charging main swing arm, and perform compensation control on the charging main swing arm according to the data fed back by the ultrasonic unit (202) to improve the motion precision; the detection feedback unit (5) further comprises a sensing detection unit (501) which is configured to respond to the charging main swing arm and detect whether the charging main swing arm moves to an accurate position according to the working angle of the driving motor after the charging main swing arm moves according to calculation;
a coordinate input unit (201) configured to input the in-vehicle connector corresponding coordinate values to the coordinate positioning unit (2) in response to the coordinates (x, y, z) positioned by the ultrasonic unit (202);
the control method of the system comprises the following steps:
determining the position of the vehicle-mounted connector by utilizing ultrasonic waves emitted by the ultrasonic unit (202) to obtain coordinates (x, y, z) of the vehicle-mounted connector;
judging whether the coordinates are within the expected reachable range of the charging main swing arm;
in response to the current position of the vehicle-mounted connector being within the expected range of the charging main swing arm, the main control unit (1) controls the route calculation unit (3) to calculate the distance and the direction of each step to be moved, and the target coordinate position is determined;
the driving motor drives the charging main swing arm to do three-stage movement according to the calculation result to reach the calculated charging position; and
based on the current real-time motion position of the charging main swing arm, detecting the working angle of the main shaft of the driving motor through a sensing detection unit (501), and judging whether the charging main swing arm moves to a target coordinate position or not;
responding to the data fed back by the current sensing detection unit (501), enabling the charging main swing arm to reach a target coordinate position, connecting the vehicle to charge, and completing the charging action of the charging main swing arm; responding to the data fed back by the current sensing detection unit (501), wherein the charging main swing arm does not reach the target coordinate position, the sensing detection unit (501) feeds back the data to the route calculation unit (3) to calculate the difference value between the current position and the target coordinate position, the encoder (6) converts the electric signal into a PWM wave signal, the driving motor is controlled to perform corresponding compensation movement, the target coordinate position is reached, the vehicle-mounted charging main swing arm is connected, and the charging action of the charging main swing arm is completed;
the charging main swing arm is driven by a driving motor to move in the following three stages:
the first stage, the charging main swing arm is driven by the swing arm driving motor to lift upwards by an angle；
The second stage, the linear driving motor drives the charging main swing arm to rotate and drive the charging main swing arm to horizontally slide a distanceThe method comprises the steps of carrying out a first treatment on the surface of the The telescopic driving motor drives the charging main swing arm to extend forwards by a sliding length +.>；
The third stage, the swing arm driving motor drives the charging main swing arm to lift upwards by an angleThe telescopic driving motor drives the charging main swing arm to extend forwards by a sliding length +.>The extension linear velocity v and the lifting angular velocity w satisfy +.>Is a relationship of (3).
2. The system of claim 1, wherein the system further comprises:
and the motor driver (401) is configured to respond to the driving command of the main control unit (1), and respectively drive the swing arm driving motor, the linear driving motor and the telescopic driving motor to move according to the calculated motion trail so as to drive the charging main swing arm to do three-stage motion.
3. The system according to claim 2, wherein the detection feedback unit (5) further comprises:
an encoder (6) configured to convert an ultrasonic signal generated by the ultrasonic unit (202) into a PWM wave signal in response thereto.
4. The system of claim 1, wherein the method comprises:
and responding to the fact that the current position of the vehicle-mounted connector is not in the expected range of the charging main swing arm, feeding back data to the coordinate input unit (201) through the ultrasonic unit (202), and retransmitting coordinates to the route calculation unit (3) to calculate the target coordinate position.
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| JPH1017298A (en) * | 1996-07-04 | 1998-01-20 | Tadano Ltd | Operation control device of altitude working vehicle |
| CN109353236A (en) * | 2018-09-30 | 2019-02-19 | 济南万象轩智能科技有限公司 | Charging equipment of electric automobile, field of parking based on automatic identification, system, method |
| CN110125985A (en) * | 2019-06-28 | 2019-08-16 | 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 chassis machine arm booting abnormality detection processing method, system and device |
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