CN113085618A - Separated charging robot and charging method - Google Patents
Separated charging robot and charging method Download PDFInfo
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- CN113085618A CN113085618A CN202110537633.6A CN202110537633A CN113085618A CN 113085618 A CN113085618 A CN 113085618A CN 202110537633 A CN202110537633 A CN 202110537633A CN 113085618 A CN113085618 A CN 113085618A
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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
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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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- 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
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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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
- B60L53/60—Monitoring or controlling charging stations
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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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a separated charging robot, which relates to the technical field of robot control and comprises a user terminal module, a charging vehicle and a transport vehicle, wherein the charging vehicle performs a function of charging an electric vehicle, and the transport vehicle transports the charging vehicle to a specified position in response to the assignment of a charging task of the user terminal module. The invention also discloses a charging method using the separated charger robot, which comprises S100, assigning a charging task; s200, carrying by a charging vehicle; s300, butting a charging port; s400, starting charging; and S500, finishing charging. The invention solves the problems of autonomous movement, obstacle avoidance and communication of the charger robot, realizes the identification and alignment of the charging port, and achieves the maximum resource utilization through a separated structure.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a separated charger robot and a charging method.
Background
The charging robot is a novel robot appearing in the robot field in recent years and used for charging electric automobiles. Due to the strong support of the country on new energy automobiles, the electric automobiles have good future development trend. According to statistics, the quantity of new energy automobiles can reach about 360 ten thousand by the end of 2019. According to the calculation, the ratio of the new energy automobile storage capacity to the public charging pile is about 2.57:1 by 2019, namely the gap of the charging pile is still large, and the ratio of the new energy automobile storage capacity to the public charging pile is 220 thousands of charging piles from 1: 1. For a pure electric vehicle, how to quickly and conveniently supplement electric quantity is a difficult problem that many enterprises are dedicated to solve. The large-scale charging station needs too much space and cost, and the charger robot occupies huge advantages due to the characteristics of mobility, small occupied space, low cost, convenience in management, quickness and the like.
At present, a charger robot is still in the initial development stage, a large number of companies still stay in the research and development stage, and only part of the companies are tested and used. With the gradual maturity of technologies such as communication, image processing, SLAM, etc., the charger robot has also obtained great improvement.
The patent "a ceiling rail mounted new forms of energy car machine ware people that charges", patent number: CN109278016A, a track type charger robot is proposed, but the track limits the functions of the robot, and the deployment of the track requires a large amount of capital.
Patent "charger robot", patent number: CN209719283U proposes an autonomous mobile robot, but the efficiency is low and the maximization of resources cannot be achieved.
Accordingly, those skilled in the art have endeavored to develop a separate charging robot and a charging method.
Disclosure of Invention
In view of the above defects in the prior art, the technical problem to be solved by the invention is the autonomous movement, obstacle avoidance and communication problems of the charging robot, the recognition and alignment of the charging port are realized, and the maximum resource utilization is achieved through a separated structure.
The inventor carries out deep analysis on the structure of the existing charging robot, the charging robot can be divided into a charging part and a moving part, the moving part is complex in structure, more functional modules are contained, the cost is high, and the charging part is simple in structure, single in function and low in cost. The mobile part is shared, so that the purposes of reducing cost and fully utilizing resources can be achieved.
In order to improve the resource utilization rate and reduce the cost of the charging robot, in an embodiment of the present invention, the inventor provides a separated charging robot, which includes a user terminal module, a charging car and a transportation vehicle, wherein the charging car performs a function of charging an electric vehicle, and in response to a charging task of the user terminal module, the transportation vehicle transports the charging car to a specified position:
the user terminal module assigns a charging task, comprising:
a terminal communication module: is responsible for communicating with the transport vehicle;
the application program comprises the following steps: completing the assignment of a charging task;
the terminal communication module is in communication connection with the application program;
the charging vehicle includes:
the charging vehicle communication module: the charging vehicle is in charge of communication with the transport vehicle;
a battery module: the charging device comprises a battery pack and a charging gun, wherein the battery pack is used for storing electric energy, and the charging gun is used for charging the electric automobile;
the charging vehicle moves the base: the charging device is responsible for moving the charging vehicle and loading the battery module;
the charging vehicle communication module is in communication connection with the charging vehicle moving base and the battery module;
the transport vehicle comprises:
the carrier vehicle communication module: and the charging vehicle is responsible for communicating with the user terminal module and communicating with the charging vehicle.
A robot control module: and the load mechanical arm receives the instruction and controls the operation of the mechanical arm.
The transport vehicle moves the base: the function of moving the transport vehicle is taken charge;
an edge calculation module: the mobile base module is used for resolving the operation data request to generate resolved data, and then sending the resolved data to each execution module, for example, sending a mechanical arm operation instruction to the robot operation module, sending map information to the navigation module through the communication module, and sending a motion instruction to the mobile base module through the communication module;
cloud platform camera module: the system comprises an edge calculation module, a robot control module, a real-time feedback module, a robot control module and a mechanical arm, wherein the edge calculation module is used for calculating the edge of the charging port of the automobile;
a navigation module: establishing a map model under a certain scene to realize acquisition of site information, establishment of a map, path planning and obstacle avoidance;
the transport vehicle communication module is in communication connection with the edge calculation module, the transport vehicle moving base, the holder camera module and the navigation module, and the edge calculation module is in communication connection with the robot control module;
the user terminal module, the charging cart and the transport cart are physically separated in structure.
Optionally, in the separated charger robot of the above embodiment, the application program is a mobile phone app or a wechat applet.
Optionally, in the separated charger robot of any of the above embodiments, the transportation vehicle and the charging vehicle adopt a one-to-many mode, that is, one transportation vehicle corresponds to one or more charging vehicles.
Further, in the separated charger robot of the above embodiment, the transportation vehicle and the charging vehicle charge or stand by at the charging station when they are out of order, and when receiving a charging command, the transportation vehicle sends the charging vehicle to the side of the electric vehicle to be charged, and after completing docking, the transportation vehicle returns to the charging station to stand by or transport other charging vehicles; after the electric automobile to be charged is charged by the charging vehicle, a signal is sent to the transport vehicle through the charging vehicle communication module, and the transport vehicle takes the charging vehicle back to the charging station.
Optionally, in the separated charger robot according to any of the embodiments, the transport vehicle communication module includes a data transmission sub-module and a wireless communication sub-module, and in response to data of the pan-tilt camera module, the data transmission sub-module transmits the data to the edge calculation module, and then transmits an instruction generated by the edge calculation module to the robot control module, and controls the mechanical arm in real time, and in response to map information of the navigation module, the data transmission sub-module transmits the map information to the edge calculation module, calculates an optimal path, and transmits the optimal path to the transport vehicle moving base; the wireless communication submodule is used for communicating with the user terminal module and communicating with the charging vehicle, the charging vehicle is conveyed to a specified charging place by the transport vehicle in response to the assignment of a charging task, and the charging vehicle is taken back to the charging station by the transport vehicle in response to an instruction that the charging vehicle completes charging.
Further, in the separated charger robot of the above embodiment, the wireless communication sub-module is a WIFI module or a GPRS module.
Optionally, in the separated charger robot according to any of the above embodiments, the algorithm of the navigation module includes monte carlo adaptive positioning and SLAM technology.
Further, in the separate charger robot of the above embodiment, the SLAM technology includes a laser SLAM and a visual SLAM.
Further, in the separated charger robot of the above embodiment, the laser SLAM employs a 2D lidar and/or a 3D lidar. The 2D laser radar scans and measures the plane, and the 3D laser radar scans and surveys the three-dimensional space.
Further, in the separated charger robot according to the above embodiment, the laser SLAM calculates the change of the relative movement distance and posture of the 2D laser radar and/or the 3D laser radar by matching and comparing two pieces of point clouds at different times, thereby completing the positioning of the separated charger robot.
The object information acquired by the 2D lidar and/or the 3D lidar represents a series of dispersed points with accurate angle and distance information, referred to as point clouds.
Optionally, in the separated charger robot according to any of the embodiments, the pan-tilt camera module collects image data of a charging port of an electric vehicle to be charged, sends the image data to the edge calculation module, sends an instruction to the robot control module, and controls the robot arm to complete docking of the charging gun with the charging port of the electric vehicle to be charged.
Based on any one of the embodiments, in another embodiment of the present invention, a charging method based on a separated charger robot is provided, which includes the following steps:
s100, issuing a charging task, wherein a user issues the charging task to the transport vehicle through a user terminal module;
s200, conveying the charging vehicle, wherein in response to the assignment of a charging task, the transport vehicle conveys the charging vehicle to the position of the electric vehicle to be charged under the guidance of the navigation module;
s300, butting a charging port, and butting a charging gun of a charging vehicle and the charging port of the electric vehicle to be charged;
s400, starting charging, returning the transport vehicle to standby, and waiting for a new charging instruction or a charging completion instruction sent by the charging vehicle;
and S500, completing charging, and taking back the charging vehicle by the transport vehicle in response to the charging vehicle charging completion instruction.
Further, in the charging method of the above embodiment, the step S300 further includes the steps of:
s310, identifying a charging port, acquiring the 3D pose of the electric vehicle to be charged by a holder camera module, acquiring information by a transport vehicle surrounding the electric vehicle to be charged for one circle, identifying the charging port by adopting visual servo, and finding the position of the charging port;
s320, grabbing the charging gun, wherein the edge calculation module calculates the relative positions of the mechanical arm, the charging gun and the charging port, and sends an instruction to control the mechanical arm to clamp the charging gun;
s330, adjusting a mechanical arm, observing the relative position of a charging gun and a charging port by a holder camera module, and adjusting the motion track of the mechanical arm in real time as feedback;
s340, completing butt joint of the charging gun and a charging port of the electric automobile to be charged, and recovering the mechanical arm.
Further, in the charging method of the above embodiment, in step S310, the pan-tilt camera module identifies the charging port through a neural network, the model used for deep learning is a deep neural network model, that is, a neural network including a plurality of hidden layers, the deep learning converts the original input into a shallow feature, a middle feature, and a high feature layer by layer in a feature combination manner until a final task target, and the deep learning is completed by using a back propagation algorithm.
Further, in the charging method of the above embodiment, in step S330, the pan-tilt camera detects the relative positions of the charging port and the charging gun of the electric vehicle to be charged through a binocular camera and a TOF technology, images obtained by the two cameras are fused by binocular stereo vision and observed for differences, an obvious depth sensation is obtained, a correspondence between features is established, and mapping points of physical points in the same space in different images are corresponded; in the TOF, time-of-flight technique, a sensor emits modulated near-infrared light, which is reflected after encountering an object, and the sensor converts the distance of a shot scene by calculating the time difference or phase difference between light emission and reflection to generate depth information.
The traditional charging pile is huge in construction cost and cannot move, the movable charging robot can move to any position to charge the electric automobile, the separated charging robot, the transport vehicle and the charging vehicle are separated, when a user sends a charging request, the transport vehicle can conduct navigation and obstacle avoidance through the SLAM, the charging vehicle is transported to a specified position, the identification and alignment of a charging port are achieved through the camera and the mechanical arm, the transport vehicle and the charging vehicle are in a one-to-many relationship, and the maximization of resource utilization is achieved.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 is a schematic structural diagram illustrating a separated charger robot according to an exemplary embodiment;
fig. 2 is a flowchart illustrating a charging method of a separated charger robot according to an exemplary embodiment;
fig. 3 is a flowchart illustrating a charging port docking according to an exemplary embodiment.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components is exaggerated somewhat schematically and appropriately in order to make the illustration clearer.
The inventor designs a disconnect-type charging robot, as shown in fig. 1, including user terminal module, storage battery car and transport vechicle, the storage battery car carries out the function of charging to electric automobile, and the task of charging in response to user terminal module is given down, and the transport vechicle transports the storage battery car to the assigned position:
the user terminal module assigns a charging task, comprising:
a terminal communication module: is responsible for communicating with the transport vehicle;
the application program comprises the following steps: using the mobile phone app to finish the assignment of the charging task;
the terminal communication module is in communication connection with the application program;
the charging vehicle includes:
the charging vehicle communication module: the charging vehicle is in charge of communication with the transport vehicle;
a battery module: the charging device comprises a battery pack and a charging gun, wherein the battery pack is used for storing electric energy, and the charging gun is used for charging the electric automobile;
the charging vehicle moves the base: the charging device is responsible for moving the charging vehicle and loading the battery module;
the charging vehicle communication module is in communication connection with the charging vehicle moving base and the battery module;
the transport vehicle comprises:
the carrier vehicle communication module: the data transmission sub-module transmits the data to the edge calculation module in response to the data of the pan-tilt camera module, then sends an instruction generated by the edge calculation module to the robot control module, controls the mechanical arm in real time, transmits the map information to the edge calculation module in response to the map information of the navigation module, calculates the optimal path, and transmits the optimal path to the mobile base; the wireless communication sub-module is used for communicating with the user terminal module and communicating with the charging car, the WIFI module is adopted, the transport car is used for responding to the assignment of a charging task and transporting the charging car to a designated charging place, and the transport car is used for retrieving the charging car to a charging station in response to an instruction that the charging car completes charging;
a robot control module: and the load mechanical arm receives the instruction and controls the operation of the mechanical arm.
The transport vehicle moves the base: the function of moving the transport vehicle is taken charge;
an edge calculation module: the data processing module is used for resolving the operation data request to generate resolved data, and then sending the resolved data to each execution module;
cloud platform camera module: the method comprises the steps of collecting image data of a charging port of the electric automobile to be charged, sending the image data to an edge calculation module, sending an instruction to a robot control module, and controlling a mechanical arm to complete butt joint of a charging gun and the charging port of the electric automobile to be charged;
a navigation module: the method comprises the steps that a map model is established in a certain scene, the acquisition of site information, the establishment of a map, the planning of a path and the avoidance of obstacles are realized, an algorithm adopts a laser SLAM in an SLAM technology, the laser SLAM adopts a 2D laser radar and a 3D laser radar, the 2D laser radar carries out scanning measurement on a plane, the 3D laser radar carries out scanning mapping on a three-dimensional space, the laser SLAM calculates the change of the relative movement distance and the posture of the 2D laser radar and the 3D laser radar through the matching and comparison of two point clouds at different moments, and the positioning of a separated charging robot is completed;
the transport vehicle communication module is in communication connection with the edge calculation module, the transport vehicle moving base, the holder camera module and the navigation module, and the edge calculation module is in communication connection with the robot control module;
the user terminal module, the charging vehicles and the transport vehicles are physically separated in structure, the transport vehicles and the charging vehicles adopt a one-to-many mode, namely one transport vehicle corresponds to a plurality of charging vehicles, the transport vehicles and the charging vehicles charge or stand by at a charging station when having no task, the transport vehicles send the charging vehicles to the electric vehicles to be charged when receiving a charging instruction, and after the butt joint is completed, the transport vehicles return to the charging station to stand by or transport other charging vehicles; after the electric automobile to be charged is charged by the charging vehicle, a signal is sent to the transport vehicle through the charging vehicle communication module, and the transport vehicle takes the charging vehicle back to the charging station.
Based on the above embodiments, the inventor provides a charging method based on a separation type robot, as shown in fig. 2, including the following steps:
s100, a user issues a charging instruction through a WeChat applet or an APP;
s200, conveying the charging vehicle, wherein in response to the assignment of a charging task, the transport vehicle conveys the charging vehicle to the position of the electric vehicle to be charged under the guidance of the navigation module;
s300, butting a charging port, and butting a charging gun of a charging vehicle and the charging port of the electric vehicle to be charged; as shown in fig. 3, the method specifically includes:
s310, identifying a charging port, acquiring the 3D pose of the electric vehicle to be charged by a holder camera module, acquiring information by a transport vehicle surrounding the electric vehicle to be charged for one circle, identifying the charging port by adopting visual servo, and finding the position of the charging port; the cloud deck camera module is trained through a neural network, a model adopted by deep learning is a deep neural network model and comprises a neural network with a plurality of hidden layers, the hidden layers in the model are utilized by the deep learning, original input is converted into shallow layer characteristics, middle layer characteristics and high layer characteristics layer by layer in a characteristic combination mode until a final task target is reached, the deep learning can find a complex structure in big data, and a back propagation algorithm is utilized to complete a finding process;
s320, grabbing the charging gun, wherein the edge calculation module calculates the relative positions of the mechanical arm, the charging gun and the charging port, and sends an instruction to control the mechanical arm to clamp the charging gun;
s330, adjusting a mechanical arm, observing the relative position of a charging gun and a charging port by a holder camera module, and adjusting the motion track of the mechanical arm in real time as feedback; the cloud deck camera detects the relative position of a charging port and a charging gun of the electric automobile to be charged through a binocular camera and a TOF technology, images obtained by the two cameras are fused through binocular stereo vision and observed for difference, obvious depth sense is obtained, the corresponding relation among characteristics is established, and the mapping points of physical points in the same space in different images are corresponded; TOF, time-of-flight technique, the sensor sends out the near infrared light modulated, reflect after meeting the object, the sensor converts the distance of the scenery shot by calculating the time difference or phase difference of light emission and reflection, produce the depth information;
s340, completing butt joint of the charging gun and a charging port of the electric automobile to be charged,
and (6) recovering the mechanical arm.
S400, starting charging, and returning the transport vehicle to standby, wherein the transport vehicle waits for a new charging instruction or a charging completion instruction sent by the charging vehicle in a one-to-many mode;
s500, after the charging is finished, receiving the charging completion information of the charging vehicle, and taking back the charging vehicle when the transport vehicle reaches the specified position;
the foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides a disconnect-type machine people that charges which characterized in that, includes user terminal module, storage battery car and transport vechicle, the storage battery car execution is to electric automobile charging function, responds to user terminal module's the task of charging is assigned, the transport vechicle transports the storage battery car arrives the assigned position:
the user terminal module assigns a charging task, including:
a terminal communication module: is responsible for communication with the transporter;
the application program comprises the following steps: finishing the assignment of the charging task;
the terminal communication module is in communication connection with the application program;
the charging vehicle includes:
the charging vehicle communication module: the charging vehicle is responsible for communication with the transport vehicle;
a battery module: the charging device comprises a battery pack and a charging gun, wherein the battery pack is used for storing electric energy, and the charging gun is used for charging the electric automobile;
the charging vehicle moves the base: the charging vehicle is responsible for moving and loading the battery module;
the charging vehicle communication module is in communication connection with the charging vehicle moving base and the battery module;
the transport vehicle includes:
the carrier vehicle communication module: and the charging vehicle is responsible for communicating with the user terminal module and communicating with the charging vehicle.
A robot control module: and the load mechanical arm receives the instruction and controls the operation of the mechanical arm.
The transport vehicle moves the base: the transportation vehicle is responsible for the movement function of the transportation vehicle;
an edge calculation module: the data processing module is used for resolving the operation data request to generate resolved data, and then sending the resolved data to each execution module;
cloud platform camera module: the edge calculation module is used for acquiring image data of a charging port of an automobile, sending the image data to the edge calculation module, sending an instruction to the robot control module, and operating the mechanical arm through real-time feedback;
a navigation module: establishing a map model under a certain scene to realize acquisition of site information, establishment of a map, path planning and obstacle avoidance;
the carrier vehicle communication module is in communication connection with the edge calculation module, the carrier vehicle moving base, the holder camera module and the navigation module, and the edge calculation module is in communication connection with the robot control module;
the user terminal module, the charging cart and the transportation cart are physically separated in structure.
2. The separated charger robot according to claim 1, wherein the transportation vehicle and the charging vehicle adopt a one-to-many mode, that is, one transportation vehicle corresponds to one or more charging vehicles.
3. The separated charger robot according to claim 1, wherein the transportation vehicle communication module comprises a data transmission sub-module and a wireless communication sub-module, the data transmission sub-module transmits data to the edge calculation module in response to data of the pan-tilt camera module, and then transmits an instruction generated by the edge calculation module to the robot control module, so as to control the mechanical arm in real time, and the data transmission sub-module transmits map information to the edge calculation module in response to map information of the navigation module, calculates an optimal path, and transmits the optimal path to the transportation vehicle mobile base; the wireless communication sub-module is used for communicating with the user terminal module and communicating with the charging car, responding to the assignment of the charging task, the transport vehicle conveys the charging car to a specified charging place, responding to an instruction that the charging car completes charging, and the transport vehicle takes the charging car back to the charging station.
4. The separated charger robot according to claim 3, wherein the wireless communication sub-module is a WIFI module or a GPRS module.
5. The separated charger robot according to claim 1, characterized in that the algorithm of the navigation module comprises monte carlo adaptive positioning and SLAM technique.
6. The detachable charger robot of claim 5, wherein the SLAM technology comprises laser SLAM and visual SLAM.
7. The separated charger robot according to claim 6, wherein the laser SLAM employs a 2D laser radar and/or a 3D laser radar, the 2D laser radar performs scanning measurement on a plane, and the 3D laser radar performs scanning mapping on a three-dimensional space.
8. A charging method using the separated charger robot according to any one of claims 1 to 7, characterized by comprising the steps of:
s100, issuing a charging task, wherein a user issues the charging task to the transport vehicle through the user terminal module;
s200, conveying the charging vehicle, wherein in response to the assignment of the charging task, the transport vehicle conveys the charging vehicle to the position of the electric vehicle to be charged under the guidance of the navigation module;
s300, butting a charging port, wherein a charging gun of the charging vehicle is butted with the charging port of the electric vehicle to be charged;
s400, starting charging, returning the transport vehicle to standby, and waiting for a new charging instruction or a charging completion instruction sent by the charging vehicle;
and S500, completing charging, and taking back the charging vehicle by the transport vehicle in response to the charging vehicle charging completion instruction.
9. The charging method according to claim 8, wherein the step S300 includes:
s310, identifying a charging port, wherein the cradle head camera module acquires the 3D pose of the electric vehicle to be charged, the transport vehicle acquires information around the electric vehicle to be charged for one circle, and the visual servo is adopted to identify the charging port and find the position of the charging port;
s320, grabbing a charging gun, wherein the edge calculation module calculates the relative positions of the mechanical arm, the charging gun and the charging port, and sends an instruction to control the mechanical arm to clamp the charging gun;
s330, adjusting a mechanical arm, wherein the cradle head camera module observes the relative position of the charging gun and the charging port to serve as feedback, and adjusts the motion track of the mechanical arm in real time;
s340, completing butt joint of the charging gun and the charging port of the electric automobile to be charged, and recovering the mechanical arm.
10. The charging method according to claim 9, wherein in step S310, the pan-tilt camera module is trained through a neural network, the model used for deep learning is a deep neural network model and includes a neural network with a plurality of hidden layers, the deep learning uses the hidden layers in the model to convert the original input into a shallow layer feature, a middle layer feature and a high layer feature layer by layer in a feature combination manner until a final task target is reached, and a discovery process is completed by using a back propagation algorithm.
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