CN114523866A - Guide rail type mobile sharing charging robot and control method thereof - Google Patents
Guide rail type mobile sharing charging robot and control method thereof Download PDFInfo
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- CN114523866A CN114523866A CN202210424170.7A CN202210424170A CN114523866A CN 114523866 A CN114523866 A CN 114523866A CN 202210424170 A CN202210424170 A CN 202210424170A CN 114523866 A CN114523866 A CN 114523866A
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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
- B60L53/31—Charging columns specially adapted for electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—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
- 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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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a guide rail type mobile sharing charging robot and a control method thereof, wherein the charging robot comprises a control module and functional modules in signal connection with the control module, and each functional module comprises: the communication module is used for realizing the signal transmission between the control module and the remote control end; the walking module and the positioning module are respectively used for realizing walking driving and walking positioning of the robot body; the lifting module is used for realizing charging butt joint of the charging circuit and the distribution box; the rotating module is used for realizing the rotation driving of the mechanical arm; and the charging module is used for realizing charging control of the charging circuit. The guide rails arranged above the parking spaces provide reliable moving routes for the charger robot, and meanwhile, the distribution boxes corresponding to the parking spaces provide reliable charging power sources for the charger robot, so that flexible and stable power supply for the parking spaces is realized, the charging efficiency and the utilization rate are effectively improved, and the construction cost and the power grid pressure are greatly reduced.
Description
Technical Field
The invention relates to a guide rail type mobile sharing charging robot and a control method thereof, and belongs to the technical field of electric automobile charging.
Background
Along with the development of new energy automobile industry, the quantity of filling electric pile increases year by year, however present charging mode is filling electric pile for a parking stall fixed mounting mostly, leads to filling electric pile's availability factor low, and the construction cost is high. In order to reduce construction costs and grid pressure, mobile car charging devices have been increasingly developed and popularized.
Chinese patent CN112776623A published on 2021, 5 months and 11 days provides a mobile charging pile charging system and a mobile charging pile charging and managing method, the charging system includes an AI vision mechanism, a mobile mechanism and a charging mechanism including a storage battery, a power converter and the like, and can realize complete intellectualization of the mobile charging pile, without human intervention, and charge a new energy electric vehicle for 24 hours, but the mobile charging pile still has the following disadvantages: 1) the mobile charging pile adopts the storage battery to store electric energy, and an internal power converter is added, so that the mobile charging pile is large in size and mass, and meanwhile, certain loss exists in the charging and discharging processes of the storage battery, so that the electric energy utilization rate is reduced; 2) because this removal fills electric pile and goes on ground, to the vehicle of business turn over parking area, have certain traffic safety hidden danger.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the technical problems in the prior art, the invention provides a guide rail type mobile sharing charging robot and a control method thereof, on one hand, a safe mobile route is provided for the charging robot through a guide rail arranged above a parking space, on the other hand, a reliable charging power supply is provided for the charging robot through a distribution box corresponding to each parking space, so that flexible, flexible and stable power supply of each parking space is realized, the charging and discharging conversion is not needed in the charging process, the charging efficiency and the equipment utilization rate are effectively improved, and the construction cost and the power grid pressure are greatly reduced.
The technical scheme is as follows: in order to achieve the purpose, the invention provides a guide rail type mobile sharing charging robot which comprises a robot body, a charging joint and a mechanical arm, wherein the robot body travels along a guide rail through traveling wheels, the charging joint is arranged on the robot body, the tail end of the mechanical arm is inserted with a charging gun, the charging gun is connected with the charging joint through a charging circuit, the guide rail is erected above a plurality of parking spaces, and distribution boxes corresponding to the parking spaces are arranged above the guide rail;
the robot is characterized in that the robot body is provided with a control module and each functional module in signal connection with the control module, the functional modules comprise a communication module, a walking module, a lifting module, a rotating module, a charging module and a positioning module, wherein the communication module is used for realizing signal transmission between the control module and a remote control end, the walking module and the positioning module are respectively used for realizing walking driving and walking positioning of the robot body, the lifting module is used for realizing lifting driving of a charging connector, further realizing charging butt joint of the charging connector and a distribution box, the rotating module is used for realizing rotating driving of a mechanical arm, and the charging module is used for realizing charging control of a charging circuit.
Furthermore, the walking module comprises a walking motor, a first motor driving circuit and a first motor feedback circuit, the walking motor is in driving connection with the walking wheel, the control module realizes driving control of the walking motor through the first motor driving circuit and acquires a state signal of the walking motor through the first motor feedback circuit;
the control module realizes the driving control of the lifting motor through the second motor driving circuit and acquires a state signal of the lifting motor through the second motor feedback circuit;
the rotating module comprises a rotating motor, a third motor driving circuit and a third motor feedback circuit, the rotating motor is in driving connection with the mechanical arm, the control module achieves driving control over the rotating motor through the third motor driving circuit, and state signals of the rotating motor are obtained through the third motor feedback circuit.
Furthermore, the positioning assembly corresponding to each parking space is arranged on the guide rail and comprises a positioning separation blade and a positioning hole, the positioning module comprises a positioning sensor and an electromagnetic lock, the control module realizes walking positioning of the robot body through induction recognition of the positioning separation blade by the positioning sensor, and walking locking of the robot body is realized through cooperation of the electromagnetic lock and the positioning hole, so that accurate butt joint of a charging connector and a distribution box is ensured.
Furthermore, the function module comprises a position detection module, parking space labels corresponding to the parking spaces are arranged on the guide rails, real-time detection of parking space numbers is realized by the control module through the position detection module for sensing and identifying the parking space labels, the accuracy of mobile positioning is further improved, and the influence on the charging process caused by the positioning error of the charger robot is avoided.
Furthermore, the charging module comprises a relay circuit and a CP signal processing circuit, the control module acquires the CP signal state of the charging gun in real time through the CP signal processing circuit, and the charging control of the charging circuit is realized through the relay circuit so as to realize the real-time control of the charging process.
Further, the function module comprises an electric energy metering module, the electric energy metering module comprises a charging detection circuit and an electric energy metering circuit, the control module acquires state parameters of the charging circuit through the charging detection circuit and acquires output parameters of the charging gun through the electric energy metering circuit so as to realize accurate monitoring of a charging process.
In addition, the invention also provides a control method based on the guide rail type mobile sharing charging robot, which comprises the following steps:
s1, the control module receives a driving command of the remote control end through the communication module, and judges the walking direction and distance according to the target parking space in the command and the current position of the robot body;
s2, the control module realizes the walking drive of the robot body through the walking module, and then realizes the walking positioning of the robot body at the target parking space through the positioning module;
s3, the control module drives the charging connector and the corresponding distribution box to complete charging butt joint through the lifting module;
s4, the control module drives the mechanical arm to rotate downwards to a set angle through the rotating module, releases the charging gun, judges whether the charging gun is inserted into a charging port of the target vehicle according to a feedback signal of the charging module, and sends a charging gun butt joint completion signal to the remote control end through the communication module if the charging gun is inserted;
s5, when the control module receives a charging starting command of the remote control terminal, controlling the charging module to start charging;
s6, in the charging process, the control module periodically acquires the state parameters of the charging circuit and the output parameters of the charging gun and sends the state parameters and the output parameters to the remote control end through the communication module;
s7, when the control module receives a charging ending command of the remote control terminal, controlling the charging module to end charging;
and S8, when the control module detects that the charging gun is reset, the mechanical arm is driven by the rotating module to rotate upwards to reset, and the charging gun is withdrawn.
Further, in the step S2, the control module adjusts the walking speed in real time through fuzzy PID control according to the feedback signal of the walking module and the distance between the target parking space and the current position, so that the robot body can reach the target parking space in the shortest time.
Further, in step S2, the control module calculates the longest walking time according to the distance between the target parking space and the initial position, starts the timing function, and stops walking immediately and sends an overtime alarm to protect the walking mechanism if the longest walking time reaches the timing time and the longest walking time does not reach the target parking space.
Further, in the step S6, the control module adjusts the output power of the charging gun in real time through the charging module according to the power consumption capacity data sent by the remote control terminal, so as to achieve the purpose of orderly charging and flexible charging.
Further, after the charging gun is released in the step S4, a timing function is started, and if the charging gun is pulled out from the mechanical arm within a set time, timing is stopped, and it is determined whether the charging gun is inserted into a charging port of the target vehicle; if the timing time is reached and the charging gun is still on the mechanical arm, the control module controls the rotating module to withdraw the charging gun.
Has the beneficial effects that: compared with the prior art, the guide rail type mobile sharing charging robot and the control method thereof provided by the invention have the following advantages:
1. the guide rail type mobile charging robot is combined with the multipoint distributed distribution box, the flexible, efficient, stable and reliable mobile sharing charging function is innovatively realized, the requirements of 'adjacent parking space sharing', 'one-pile multiple-vehicle' and 'charging parking space time-sharing' are met, and the charging problem of electric automobiles in old communities is effectively solved;
2. in the robot motion control, the walking speed of the charging robot is adjusted by adopting fuzzy PID control according to the distance between the current position of the charging robot and a target parking space, so that the purpose of time optimal control is achieved, and the working efficiency of the charging robot is improved.
Drawings
Fig. 1 is a schematic view illustrating a walking state of a charging robot according to an embodiment of the present invention;
FIG. 2 is a schematic overall structure diagram of the charging robot according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of the internal structure of the charging robot according to the embodiment of the present invention;
FIG. 4 is a schematic structural view of a power distribution box according to an embodiment of the present invention;
FIG. 5 is a diagram showing a control system of the charging robot according to the embodiment of the present invention;
fig. 6 is a flowchart of a control method of the charging robot in the embodiment of the present invention;
fig. 7 is an application scenario diagram of the charging robot in the embodiment of the present invention;
the figure includes: 101. the robot comprises a walking module, 102, a rotating module, 103, a lifting module, 104, a charging module, 105, a CPU module, 106, an electric energy metering module, 107, a position detection module, 108, a positioning module, 109, a communication module, 201, a robot body, 202, a walking wheel, 203, a charging joint, 204, a mechanical arm, 205, a charging gun, 206, a walking motor, 207, a lifting motor, 208, a rotating motor, 209, a rotating shaft, 210, a positioning sensor, 211, an electromagnetic lock, 212, a position sensor, 213, a support, 214, an elastic butt joint, 215 and an elastic thimble.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to more clearly and completely illustrate the technical solutions of the present invention.
Fig. 1 shows a guide rail type mobile sharing charging robot, which comprises a robot body 201 traveling along a guide rail 308, wherein the guide rail 308 is erected above parking spaces through a bracket 213, and 1-6 distribution boxes 301-306 corresponding to 1-6 parking spaces 309-314 are arranged above the guide rail 308.
As shown in fig. 2 and 3, the two sides of the robot body 201 have four walking wheels 202, the top of the robot body 201 is provided with a charging connector 203, the bottom of the robot body 201 is provided with a groove for accommodating the mechanical arm 204, the tail end of the mechanical arm 204 is inserted with a charging gun 205, and the charging gun 205 is connected with the charging connector 203 through a charging circuit.
After receiving the charging instruction, the charger robot walks to the specified parking space along the guide rail, and realizes charging butt joint with the corresponding distribution box through the charging connector, and then releases the mechanical arm and the charging gun for the user to perform charging operation. The guide rail type mobile charging robot is combined with the multipoint distributed distribution box, the flexible, efficient, stable and reliable mobile sharing charging function is realized, the storage and discharge conversion is not needed in the charging process, the charging efficiency and the equipment utilization rate are effectively improved, and the construction cost and the power grid pressure are greatly reduced.
As shown in fig. 5, the robot body 201 is provided with a CPU module 105 and functional modules in signal connection with the CPU module, where each functional module includes a walking module 101, a rotation module 102, a lifting module 103, a charging module 104, an electric energy metering module 106, a position detection module 107, a positioning module 108, and a communication module 109, the communication module 109 is used to implement information interaction between the CPU module and the cloud platform, the walking module 101 and the positioning module 108 are respectively used to implement walking driving and walking positioning, the lifting module 103 is used to implement lifting driving of a charging connector 203, the rotation module 102 is used to implement rotation driving of a robot arm 204, the charging module 104 is used to implement charging control, the electric energy metering module 106 is used to implement charging detection, and the position detection module 107 is used to implement parking space number identification. The circuits are connected to the input and output pins of the CPU module through corresponding signal conversion circuits.
Specifically, the walking module 101 includes a walking motor 206, a first motor driving circuit and a first motor feedback circuit, the walking motor 206 is drivingly connected to the walking wheel 202 through a reduction box, the CPU module realizes driving control of the walking motor 206 through the first motor driving circuit, and obtains a state signal (including a rotation speed, a current, and the like) of the walking motor 206 through the first motor feedback circuit.
The lifting module 103 comprises a lifting motor 207, a second motor driving circuit and a second motor feedback circuit, the lifting motor 207 is in driving connection with the charging connector 203, the CPU module realizes driving control of the lifting motor 207 through the second motor driving circuit, and acquires a state signal (including a rotating speed, a current and the like) of the lifting motor 207 through the second motor feedback circuit.
The rotation module 102 includes a rotation motor 208, a third motor driving circuit and a third motor feedback circuit, the rotation motor 208 is in driving connection with the robot arm 204 through a rotation shaft 209, the CPU module realizes driving control of the rotation motor 208 through the third motor driving circuit, and obtains a state signal (including a rotation speed, a current, etc.) of the rotation motor 208 through the third motor feedback circuit.
Further, the locating component that corresponds with each parking stall is arranged to guide rail 308 one side, and locating component includes location separation blade and locating hole, and orientation module 108 includes positioning sensor 210 and electromagnetic lock 211, realizes robot body 201's walking location through the response identification of positioning sensor 210 to the location separation blade to realize robot body 201's walking locking through the cooperation of electromagnetic lock 211 and locating hole, in order to ensure the accurate butt joint of the joint that charges and block terminal.
In this embodiment, the location separation blade is arranged with group as the unit, and every group location separation blade corresponds a parking stall, and every group location separation blade includes the wide separation blade of both sides and the narrow separation blade in the middle of, and wide separation blade is used for realizing thick location (producing the signal of slowing down), and narrow separation blade is used for realizing the accurate positioning (producing stop signal), guarantees positioning accuracy from this.
Further, the same side of the guide rail 308 is also provided with a parking space tag corresponding to each parking space, the position detection module 107 adopts the position sensor 212, and real-time detection of the parking space number is realized through the sensing identification of the position sensor 212 on the parking space tag.
Specifically, the charging module 104 includes a relay circuit and a CP signal processing circuit, wherein the CP signal processing circuit is used for acquiring a CP signal state of the charging gun in real time, and the relay circuit is used for realizing charging switch control. The electric energy metering module 106 includes a charging detection circuit for acquiring charging state parameters (including current, voltage, etc.) and an electric energy metering circuit for acquiring charging output parameters (including power, electric energy, etc.).
As shown in fig. 4, elastic docking joints 214 are arranged on the distribution boxes 301 to 306 of nos. 1 to 6, and the rigid charging joint 203 is driven by the lifting motor 207 to be in compression docking with the elastic docking joints 214, so that charging docking is realized. In addition, an elastic thimble 215 is further arranged on the 1-6 distribution boxes 301-306, a detection circuit is arranged on the charging connector 203, and the butt joint detection of the charging connector 203 and the elastic butt joint 214 is realized through the connection of the detection circuit and the elastic thimble 215, so that the accuracy of the butt joint of the connectors is ensured.
As shown in fig. 6, the method for controlling the guide rail type mobile sharing charging robot includes the following steps:
s1, the CPU module receives a call command of the cloud platform through the communication module 109, and judges the walking direction (forward, backward or not) and distance according to the parking space number in the command and the current parking space number of the robot;
s2, the CPU module realizes walking drive control through the walking module 101 according to the read position sensor data and the positioning sensor data;
s3, the CPU module controls the charging connector 203 to be connected with a 220V alternating current power supply through the lifting module 103;
s4, the CPU module controls the mechanical arm 204 to release the charging gun through the rotating module 102;
s5, the CPU module receives a charging starting command forwarded by the cloud platform and controls the charging module 104 to start charging;
s6, the CPU module periodically calculates the alternating voltage and alternating current values, periodically reads the power and the electric energy values of the electric energy metering circuit, and sends the power and the electric energy values to the cloud platform through the communication module 109;
s7, the CPU module receives a charging ending command sent by the cloud platform and controls the charging module 104 to end charging;
s8, the CPU module detects whether the gun is parked through the parking sensor on the robot arm 204, and determines whether to control the rotation module to retract the gun.
In step S2, the CPU module calculates the maximum time and starts the timing function according to the distance between the target parking space and the initial parking space, and once the timing time is reached and the target parking space is not reached, the CPU module immediately stops traveling and issues an overtime alarm to protect the traveling mechanism.
In step S6, the CPU module may also receive the power consumption capacity data sent from the transformer area, and control the charging power by adjusting the CP signal of the charging module, thereby achieving the purpose of orderly charging and flexible charging.
Fig. 7 is an application scene diagram of the guide rail type mobile sharing charging robot. Wherein, 301-306 are No. 1-6 distribution boxes, which correspond to six parking spaces respectively, and provide 220V ac power for each parking space, 307 is a charger robot, 308 is a guide rail, and provides a running track for the robot, and 309-314 are six adjacent automobile parking spaces, which correspond to numbers 1-6 respectively. No. 1-6 block terminals are fixed above the guide rail 308, and the length of the guide rail can cover six automobile parking spaces.
At an initial moment, the charger robot 307 stops on the track above the No. 3 parking space 311, the charging connector 203 is connected with the alternating current power supply of the No. 3 distribution box 303, and the charger robot 307 performs data interaction with the cloud platform through the communication module 109 and analyzes data received by the communication module 109.
When the charger robot 307 receives a command of 'go to No. 6 parking space', the CPU module sends a signal to the lifting module 103 to control the charging connector to be disconnected from the No. 3 distribution box 303, because the current parking space number of the robot is 3 and the received target parking space number is 6, the CPU module sends a signal to the walking module 101 to control the robot 307 to go forward to No. 6 parking space, and simultaneously, the timer is started to start timing, the CPU module synthesizes the rotating speed, the current signal, the running time and the data fed back by the walking module 101, and controls the speed of the walking mechanism in real time through fuzzy reasoning. In the walking process, the CPU module periodically reads data fed back by the position detection module 107, when the data reach a target parking space area, the positioning module 108 is enabled to work, and when the CPU module reads a deceleration signal output by the positioning module 108, the CPU module outputs a signal to the walking module 101 to reduce the walking speed; when the CPU module reads the stop signal output by the positioning module 108, the CPU module outputs a signal to the traveling module 101 to stop the traveling drive.
Then, the CPU module sends a signal to the lifting module 103 to control the charging connector to be connected to the ac 220V power supply of the No. 6 distribution box 306, and simultaneously reads data output by the charging detection circuit in the electric energy metering module 106, determines whether the ac 220V power supply is normal, sends an alarm signal if the ac 220V power supply is abnormal, reads voltage, current, power and electric energy parameters output by the electric energy metering module 106 if the ac 220V power supply is normal, and sends the voltage, current, power and electric energy parameters to the cloud platform through the communication module 109. After the AC 220V power supply is judged to be normal, the CPU module sends a signal to the rotation module 102 to control the mechanical arm to release the charging gun, a timer is started to time after the charging gun is released, and in the timing process, if the charging gun is pulled out of the mechanical arm, the timing is stopped; if the charging gun is still on the mechanical arm after the timing is finished, the CPU module sends a signal to the rotating module 102 to control the mechanical arm to withdraw the charging gun.
After the charging gun is pulled out, the CPU module reads the CP signal state in the charging module 104, determines whether the charging gun is inserted into the charging port of the new energy vehicle, and sends the state to the cloud platform through the communication module 109 if the charging gun is inserted. When the CPU module analyzes that there is a command to start charging in the received data, the charging module 104 controls the relay to be closed, starts charging the new energy vehicle, and sends a command execution result to the cloud platform through the communication module 109. In the charging process, the CPU module periodically reads the voltage, the current, the power and the electric energy output by the electric energy metering module 106, and sends the voltage, the current, the power and the electric energy to the cloud platform through the communication module 109, and at the same time, analyzes the received data, and when a charging ending command is included in the analyzed data, the CPU module sends a control command to the charging module 104 to turn off the relay, and stops charging the new energy automobile.
When the CPU module detects that the charging gun is inserted into the mechanical arm, the CPU module sends a signal to the rotating module 102 to control the mechanical arm to withdraw the charging gun, after the mechanical arm rotates and resets, the charging process is finished, and the charger robot enters a standby state to wait for executing a next charging command.
The above detailed description merely describes preferred embodiments of the present invention and does not limit the scope of the present invention. Without departing from the spirit and scope of the present invention, it should be understood that various changes, substitutions and alterations can be made herein by those skilled in the art from the following detailed description and drawings.
Claims (10)
1. A guide rail type mobile sharing charging robot is characterized by comprising a robot body, a charging joint and a mechanical arm, wherein the robot body travels along a guide rail, the charging joint is mounted on the robot body, a charging gun is inserted at the tail end of the mechanical arm and is connected with the charging joint through a charging circuit, the guide rail is erected above a plurality of parking spaces, and distribution boxes corresponding to the parking spaces are arranged above the guide rail;
the robot is provided with control module and each functional module with control module signal connection on the robot body, and the functional module includes communication module, walking module, lifting module, rotation module, module and orientation module charge, wherein communication module is used for realizing the signal transmission between control module and the remote control end, walking module and orientation module are used for realizing the walking drive and the walking location of robot body respectively, lifting module is used for realizing the lift drive of the joint that charges, and then realize the butt joint that charges of joint and block terminal, rotation module is used for realizing the rotation drive of arm, the module of charging is used for realizing charging circuit's charge control.
2. The guide rail type mobile sharing charging robot as claimed in claim 1, wherein the guide rail is provided with a positioning assembly corresponding to each parking space, the positioning assembly comprises a positioning baffle and a positioning hole, the positioning module comprises a positioning sensor and an electromagnetic lock, and the control module realizes walking positioning of the robot body through inductive recognition of the positioning sensor on the positioning baffle and walking locking of the robot body through cooperation of the electromagnetic lock and the positioning hole.
3. The guide tracked mobile sharing charging robot of claim 1, wherein the functional modules comprise position detection modules, and the guide rails are provided with parking space tags corresponding to the respective parking spaces, and the control module realizes real-time detection of the parking space numbers through the position detection modules to sense and identify the parking space tags.
4. The guide tracked mobile sharing charging robot of claim 1, wherein the charging module comprises a relay circuit and a CP signal processing circuit, and the control module obtains a CP signal state of the charging gun in real time through the CP signal processing circuit and realizes charging control of the charging circuit through the relay circuit.
5. The guide tracked mobile sharing charging robot of claim 1, wherein the functional module comprises an electric energy metering module, the electric energy metering module comprises a charging detection circuit and an electric energy metering circuit, and the control module obtains the state parameters of the charging circuit through the charging detection circuit and obtains the output parameters of the charging gun through the electric energy metering circuit.
6. The control method of the guide rail type mobile sharing charging robot based on the claim 1 is characterized by comprising the following steps:
s1, the control module receives a driving command of the remote control end through the communication module, and judges the walking direction and distance according to the target parking space in the command and the current position of the robot body;
s2, the control module realizes the walking drive of the robot body through the walking module, and further realizes the walking positioning of the robot body at the target parking space through the positioning module;
s3, the control module drives the charging connector and the corresponding distribution box to complete charging butt joint through the lifting module;
s4, the control module drives the mechanical arm to rotate downwards to a set angle through the rotating module, releases the charging gun, judges whether the charging gun is inserted into a charging port of the target vehicle according to a feedback signal of the charging module, and sends a charging gun butt joint completion signal to the remote control end through the communication module if the charging gun is inserted;
s5, when the control module receives a charging starting command of the remote control end, controlling the charging module to start charging;
s6, in the charging process, the control module periodically acquires the state parameters of the charging circuit and the output parameters of the charging gun and sends the state parameters and the output parameters to the remote control end through the communication module;
s7, when the control module receives a charging ending command of the remote control terminal, controlling the charging module to end charging;
and S8, when the control module detects that the charging gun is reset, the mechanical arm is driven by the rotating module to rotate upwards to reset, and the charging gun is withdrawn.
7. The control method according to claim 6, wherein in step S2, the control module adjusts the walking speed in real time through fuzzy PID control according to the feedback signal of the walking module and the distance between the target parking space and the current position, so that the robot body reaches the target parking space in the shortest time.
8. The control method according to claim 6, wherein in step S2, the control module calculates the longest walking time and starts a timing function according to the distance between the target parking space and the initial position, and if the timing time is reached and the target parking space is not reached, the control module immediately stops the walking drive and issues an overtime alarm.
9. The control method according to claim 6, wherein in step S6, the control module adjusts the output power of the charging gun in real time through the charging module according to the power consumption capacity data sent by the remote control.
10. The control method according to claim 6, wherein the timing function is started after the charging gun is released in step S4, and if the charging gun is pulled out from the robot arm within a set time, the timing is stopped, and it is determined whether the charging gun is inserted into the charging port of the target vehicle; if the set time is reached and the charging gun is still on the mechanical arm, the control module controls the rotating module to withdraw the charging gun.
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