CN117484525A - Full-automatic charging service robot - Google Patents
Full-automatic charging service robot Download PDFInfo
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- CN117484525A CN117484525A CN202311840347.2A CN202311840347A CN117484525A CN 117484525 A CN117484525 A CN 117484525A CN 202311840347 A CN202311840347 A CN 202311840347A CN 117484525 A CN117484525 A CN 117484525A
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- 230000003993 interaction Effects 0.000 claims abstract description 26
- 238000012806 monitoring device Methods 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims description 42
- 230000008569 process Effects 0.000 claims description 40
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000006641 stabilisation Effects 0.000 claims description 7
- 238000011105 stabilization Methods 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 6
- 239000011229 interlayer Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 10
- 210000000707 wrist Anatomy 0.000 description 9
- 238000004891 communication Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
Abstract
The invention relates to the technical field of intelligent robots, in particular to a full-automatic charging service robot which comprises a movable intelligent platform, a charging pile, an image monitoring device, a multi-degree-of-freedom mechanical arm, an intelligent image sensor, a charging gun head, a cable, a control box and a movable intelligent platform gear train. Through the cooperation use multi freedom arm realization to the full-automatic operation that charges of different electric automobile, promote the service scope of robot, combine image monitoring device to realize outer cover plate and the interface lid model and the position discernment that charges of electric automobile, still possessed the running condition of whole charging station, electric automobile license plate and functions such as the control and the discernment of owner's identity, through cooperation human-computer interaction system for full-automatic service robot that charges to electric automobile's service type of charging is wider, and the application scope is wider.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a fully-autonomous charging service robot.
Background
As is well known, with the development of economy and society in China, intelligent robots are rapidly developed, the practicability of the intelligent robots is gradually developed, convenience is provided for human life, and the intelligent robots are particularly widely applied to the field of electric vehicles, which are indispensable for modern people.
Chinese patent publication No.: CN103078364B discloses a charging system based on a robot, which is used for automatically charging an electric automobile to be charged, and comprises a robot connected with a power supply and a charging management module connected with the electric automobile; the charging management module comprises a communication module, a control instruction output module and a charging mode sending module, wherein the communication module, the control instruction output module and the charging mode sending module are used for being connected with the electric automobile; the method comprises the steps that the position of the electric automobile and the battery information of the electric automobile are obtained through the communication module, the charging mode sending module generates a charging mode instruction according to the battery information, and the control instruction output module generates a charging target instruction and a charging target position instruction according to the battery information and the position of the electric automobile. After receiving the charging mode instruction, the charging target instruction and the charging target position instruction, the robot connected with the charging management module executes a corresponding charging mode according to the charging mode instruction, sets charging parameters according to the charging target instruction and automatically searches for the electric automobile according to the charging target position instruction, so that the electric automobile is automatically and intelligently charged.
Because the capacity of battery is limited, so also must correspond the development to the charging station that realizes quick charge to electric automobile, at present the charging station based on electric pile, because the producer and the model of different electric automobile batteries are all different, can lead to the charging equipment in the electric pile charging station unable accurate positioning to wait to charge the mouth position of vehicle thereby reduce charging equipment work efficiency and can lead to the fact wearing and tearing to vehicle and charging equipment.
Disclosure of Invention
Therefore, the invention provides a fully-autonomous charging service robot and a charging service method thereof, which are used for solving the problems that in the prior art, charging equipment in a power pile charging station cannot be accurately positioned to a charging port of a vehicle to be charged due to different manufacturers and models of different electric automobile batteries, so that the working efficiency of the charging equipment is reduced, and the vehicle and the charging equipment are worn.
To achieve the above object, a fully autonomous charging service robot includes,
the movable intelligent platform is provided with a multi-degree-of-freedom mechanical arm with a charging gun head, and the bottom of the movable intelligent platform is provided with a movable intelligent platform wheel train for driving the movable intelligent platform to move;
The charging pile is connected with the movable intelligent platform through a cable and is used for providing electric energy for the electric automobile to be charged, and an image monitoring device for acquiring image information of the electric automobile to be charged is arranged on the charging pile;
the intelligent image sensor is arranged at the position, close to the charging gun head, of the top end of the multi-degree-of-freedom mechanical arm and is used for accurately acquiring charging port image information of the electric automobile to be charged;
the control box is arranged on the movable intelligent platform and used for placing a main control system and drivers of all components, and a three-dimensional coordinate generating module used for establishing a three-dimensional rectangular coordinate system, a storage module used for storing license plate information and vehicle type information and provided with a first storage unit and a second storage unit, an image processor used for processing image information acquired by the image monitoring device and an embedded controller used for controlling the drivers of all functional components are arranged in the control box;
for an electric vehicle to be charged that can be charged autonomously,
the embedded controller determines the space position of the charging port in the three-dimensional rectangular coordinate system established by the three-dimensional coordinate generation module through the image processor on the analysis result of the image acquired by the image monitoring device, determines a charging parking area meeting the charging requirement of the electric vehicle to be charged, and guides the running route of the electric vehicle;
The embedded controller obtains the space position of the charging port of the electric automobile to be charged in the charging parking area in a three-dimensional rectangular coordinate system, determines the position of the movable intelligent platform meeting the charging requirement, controls the charging gun head to move close to the charging port through the second stage, and adjusts the moving route and the angle of the charging gun head in real time through data detected by the intelligent image sensor when the charging gun head moves through the second stage.
Further, a man-machine interaction system is arranged on the movable intelligent platform and used for a user to communicate with the system to acquire service;
the control box comprises a control box body, wherein a vertical interlayer is arranged in the control box body and is used for accommodating an embedded controller, a power supply voltage transformation and stabilization module, an image processor, a storage module, a mechanical arm driver, an intelligent platform driver, a turntable steering engine driver and a three-dimensional coordinate generation module;
the power supply voltage transformation and stabilization module is arranged in the control box, connected with the charging pile and the charging gun head and used for adjusting the voltage of the charging pile to be stabilized to the voltage required by the electric automobile;
The mechanical arm driver is arranged in the control box, connected with the embedded controller and the multi-degree-of-freedom mechanical arm and used for driving the multi-degree-of-freedom mechanical arm to move, stretch and rotate;
the intelligent platform driver is arranged in the control box, connected with the embedded controller and the movable intelligent platform gear train and used for driving the movable intelligent platform to move;
the turntable steering engine driver is arranged in the control box and is connected with the embedded controller and the turntable steering engine.
Further, the image monitoring device collects the image information of the electric automobile to be charged and transmits the collection result to the image processor, the image processor analyzes the collected data,
if the first storage unit stores data matched with the acquired image information, determining the position information of a charging port of the electric automobile to be charged according to the matched data;
if the second storage unit stores data matched with the acquired image information, determining the position information of a charging port of the electric automobile to be charged according to the matched data;
and if the first storage unit and the second storage unit are not provided with data matched with the acquired image information, the embedded controller controls a loudspeaker of the man-machine interaction system to send out a prompt.
Further, when the image processor analyzes the collected data, the collected data is compared with the image information stored in the first storage unit, and if the first storage unit does not store the data matched with the collected image information, the collected data is compared with the image information stored in the second storage unit;
the image information stored in the first storage unit is information of a plurality of vehicle types and charging port position information corresponding to each vehicle type;
and the image information stored in the second storage unit is license plate information of the electric charging vehicle which is subjected to autonomous charging service by the autonomous charging service robot and charging port position information corresponding to the license plate information.
Further, the image monitoring device acquires image information of the electric automobile to be charged in real time, and the image processor determines coordinates of the charging port in a three-dimensional rectangular coordinate system according to the acquired image information of the electric automobile to be charged and the determined charging port position information;
and if the coordinates of the charging port in the three-dimensional rectangular coordinate system fall into a chargeable coordinate range, the embedded controller controls a loudspeaker of the man-machine interaction system to send out a prompt.
Further, the three-dimensional rectangular coordinate system is established by taking the center of the bottom of the charging pile as an origin, the chargeable coordinate range is a movable range of the charging gun head arranged in the three-dimensional rectangular coordinate system, and when the position information of the charging port falls into the theoretical movable range of the charging gun head, the embedded controller judges that the electric automobile meets the charging position and controls the loudspeaker to play a parking prompt.
Further, the embedded controller acquires the position information of the movable intelligent platform to judge the actual movable range of the charging gun head,
if the charging port position information falls into the actual movable range of the charging gun head, the embedded controller controls the charging gun head to move so that the charging gun head is inserted into the charging port;
if the charging port position information does not fall into the actual movable range of the charging gun head, the embedded controller determines the moving direction and the moving distance of the movable intelligent platform according to the movable intelligent platform position information, so that the charging port position information can fall into the actual movable range of the charging gun head.
Further, the moving process of the charging gun head comprises a primary moving process and a secondary moving process, wherein the primary moving process is an initial moving process of the charging gun head, the multi-degree-of-freedom mechanical arm rapidly moves the charging gun head to be close to the charging port until the intelligent image sensor detects that the distance between the charging gun head and the charging port is smaller than a preset value of the embedded controller, and the charging gun head is switched to the secondary moving process;
The secondary moving process is a moving process of finely adjusting the charging gun head according to the position of the charging port, and in the secondary moving process, the multi-degree-of-freedom mechanical arm slowly adjusts the angle and then moves the charging gun head to insert into the charging port for charging operation.
Further, in the secondary moving process, the intelligent image sensor acquires the horizontal angle of the charging port, determines the working states of the multi-degree-of-freedom mechanical arm and the movable intelligent platform gear train in the process of inserting the charging gun head into the charging port according to the acquired result, and the embedded controller judges whether the multi-degree-of-freedom mechanical arm and the movable intelligent platform gear train are required to be regulated in the secondary moving process according to a first angle range and a second angle range preset in the embedded controller,
if the horizontal angle of the charging port is smaller than or equal to the first angle range, the embedded controller directly adjusts the multi-degree-of-freedom mechanical arm to slowly move the charging gun head to insert the charging port;
if the horizontal angle of the charging port is larger than the first angle range and smaller than or equal to the second angle range, the embedded controller adjusts the horizontal shaft of the multi-degree-of-freedom mechanical arm to rotate until the horizontal angle of the charging port obtained again by the intelligent image sensor is smaller than or equal to the first angle range, and controls the multi-degree-of-freedom mechanical arm to slowly move the charging gun head to insert into the charging port;
If the horizontal angle of the charging port is larger than the second angle range, the embedded controller controls the movable intelligent platform wheel train to move to a state that the horizontal angle of the charging port obtained by the intelligent image sensor again is smaller than or equal to the first angle range, and controls the multi-degree-of-freedom mechanical arm to slowly move the charging gun head to insert into the charging port.
Further, if the movable intelligent platform wheel train moves in the secondary moving process, the embedded controller adjusts the theoretical movable range of the charging gun head corresponding to the current charging vehicle according to the horizontal angle of the charging port;
the embedded controller records license plate information of the vehicle to be charged, the horizontal angle of the charging port of which is larger than the second angle range, calculates and corrects the theoretical movable range of the charging gun head through the moving direction and the moving distance of the movable intelligent platform gear train, and stores the corrected theoretical movable range of the charging gun head in a first storage unit of the storage module.
Compared with the prior art, the full-automatic charging service robot for the unmanned charging station has the beneficial effects that the full-automatic charging service robot for the unmanned charging station is simple in mechanical and electrical structure, has the function of accurately positioning the charging port position information of the vehicles to be charged of different types and license plates, can solve the problem that the charging equipment in the power pile charging station cannot be accurately positioned to the charging port position of the vehicles to be charged due to different manufacturers and types of different electric vehicle batteries in the current charging station, reduces the working efficiency of the charging equipment and can cause abrasion to the vehicles and the charging equipment, and has higher reference value.
Furthermore, the invention not only realizes the functions of navigation, monitoring, identification and the like of the robot by utilizing the machine vision system, but also realizes the model and position identification of the outer cover plate and the charging cover of the charging port of the electric automobile by utilizing the image monitoring device, thereby providing accurate coordinate position information for the full-automatic charging of the subsequent robot. Meanwhile, the two storage units are arranged in the storage module in the system, so that the vehicle information can be quickly identified, and for the old user vehicle frequently using the charging service, the charging port position of the old user vehicle can be quickly determined according to the corresponding license plate information stored in the first storage unit, and the analysis time of the system is saved; for a new user vehicle using the charging service for the first time, the charging port position of the vehicle type can be rapidly determined according to the corresponding vehicle type information stored in the second storage unit, the charging service efficiency is improved, and the fully-autonomous charging service robot has the functions of monitoring, identifying and the like of the model, license plate, corresponding charging port position and the like of the electric vehicle, and is high in automation degree.
Furthermore, the invention can quickly and accurately acquire the real-time position of the charging port of the vehicle to be charged in a data form by establishing the rectangular coordinate system, and calculate the charging position in advance and efficiently and accurately guide out the route of the vehicle to be charged; the movable intelligent platform system is further provided with a moving distance safety value, so that the movable intelligent platform can fall into a chargeable area accurately in the moving process of the movable intelligent platform system, the charging port is prevented from being located outside the chargeable area, and the moving distance accuracy of the movable intelligent platform is improved; meanwhile, the movable range of the charging gun head theory can be corrected, a chargeable area can be rapidly analyzed aiming at a specific electric automobile to be charged, the charging scheme of the automobile can be rapidly adjusted, and the charging efficiency of the system is improved. .
Furthermore, the invention uses the man-machine interaction system as the interaction medium of the main and full-automatic charging service robots of the vehicle, realizes man-machine character, picture, video and voice interaction by matching with the touch screen and the loudspeaker, and realizes fee collection by using the two-dimension code payment of the touch screen, the NFC POS machine and the paper money identification module, thereby not only improving the collection efficiency, but also reducing the circulation rate of paper money and the like, and the collection mode is efficient and convenient, and greatly saves the precious time of the vehicle owner. Meanwhile, the interaction medium is utilized, so that the study work of vehicle owners and staff on the fully-autonomous charging service robot is realized, and the fully-autonomous charging service robot is wider in charging service type of the electric vehicle by matching with the searching function of the network, is wider in application range and is suitable for large-area popularization and operation.
Drawings
Fig. 1 is a schematic structural diagram of a fully autonomous charging service robot according to the present invention;
fig. 2 is a schematic structural diagram of a multi-degree-of-freedom mechanical arm of the fully autonomous charging service robot according to the present invention;
fig. 3 is a schematic structural diagram of a man-machine interaction system of the fully autonomous charging service robot according to the present invention;
fig. 4 is a schematic structural diagram of a control box of the fully autonomous charging service robot according to the present invention;
Fig. 5 is a schematic diagram of an internal structure of a memory module of the fully autonomous charging service robot according to the present invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1 to 5, fig. 1 is a schematic structural diagram of a fully autonomous charging service robot according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a multi-degree-of-freedom mechanical arm of the fully autonomous charging service robot according to an embodiment of the invention; fig. 3 is a schematic structural diagram of a man-machine interaction system of the fully autonomous charging service robot according to the present invention; fig. 4 is a schematic structural diagram of a control box of the fully autonomous charging service robot according to the embodiment of the invention; fig. 5 is a schematic diagram of an internal structure of a storage module of the fully-autonomous charging service robot according to an embodiment of the invention.
The invention discloses a fully autonomous charging service robot, which comprises,
the mobile intelligent platform 1 is used as basic hardware for autonomous movement of the fully autonomous charging service robot;
the charging pile 2 is connected with the movable intelligent platform through a cable and is used for providing electric energy for an electric automobile to be charged;
the image monitoring device 3 is arranged on the charging pile and is used for acquiring image information of the electric automobile to be charged, and the image monitoring device 3 can be used as a common visual navigation camera at ordinary times and can realize visual navigation walking action of the whole charging service robot; meanwhile, the device can also be used as a common monitoring camera, and can realize the functions of monitoring and identifying the running condition of the whole charging station, the model number of the electric automobile, the license plate, the identity of the owner and the like. When the fully-autonomous charging service robot performs charging on the electric automobile, the image monitoring device 3 locates three coordinates of an outer cover plate of the battery box, a battery box cover, a charging port and the like, and provides locating information for subsequent operations of the multi-degree-of-freedom mechanical arm 4 and the like;
The multi-degree-of-freedom mechanical arm 4 is arranged on the movable intelligent platform 1, and the multi-degree-of-freedom mechanical arm 4 is a six-axis joint mechanical arm and is used for adjusting multi-degree-of-freedom and multi-position pose changes;
the turntable steering engine 5 is arranged between the multi-degree-of-freedom mechanical arm 4 and the movable intelligent platform 8 and is used for remotely controlling the motion of the multi-degree-of-freedom mechanical arm 4;
the charging gun head 6 is arranged at the top of the multi-degree-of-freedom mechanical arm 4 and is connected with the top of the multi-degree-of-freedom mechanical arm 4;
a cable 7 disposed between the charging gun head 6 and the charging pile 2 for connecting the charging gun head 6 and the charging pile 2;
the man-machine interaction system 8 is arranged on the movable intelligent platform 1 and is used for enabling a user to communicate with the system to acquire service;
the control box 9 is arranged on the movable intelligent platform 1 and is used for placing a master control system and drivers of all functional components;
the movable intelligent platform wheel system 10 is arranged on the movable intelligent platform 1 and is used for the remote transmission of the movable intelligent platform 1 between two shafts, the embedded controller 91 controls and drives a plurality of groups of wheel systems 10 so as to realize the functions of pushing and walking of the whole set of service robots, and the movable intelligent platform wheel system 10 has a certain load capacity, and the load is required to be added on the movable platform 1 for preventing damage and theft;
The intelligent image sensor 11 is arranged at the position, close to the charging gun head 6, of the top end of the multi-degree-of-freedom mechanical arm 4 and used for detecting the position distance and the butt joint angle of the charging gun head 6 and the charging port, and the intelligent image sensor is provided with a binocular camera.
The multi-degree-of-freedom mechanical arm 1 directly drives six joint shafts to rotate through six servo motors through a speed reducer, a synchronous pulley and the like, and comprises a rotation A1 shaft 11, a lower arm A2 shaft 22, an upper arm A3 shaft 33, a wrist rotation A4 shaft 44, a wrist swing A5 shaft 55 and a wrist rotation A6 shaft 66, and the six joint shafts are combined to realize six-degree-of-freedom motion of the tail end.
The six joint axes may comprise a plurality of joint axes,
the rotating A1 shaft 11 is arranged on the column at the bottom of the multi-degree-of-freedom mechanical arm 4 and drives the multi-degree-of-freedom mechanical arm to rotate in the horizontal direction;
the lower arm A2 shaft 22 is arranged on a transverse column in the middle of the multi-degree-of-freedom mechanical arm 4, and the top of the multi-degree-of-freedom mechanical arm rotates in the column direction of the lower arm A2 shaft 22;
an upper arm A3 shaft 33 disposed on a column perpendicular to the column where the lower arm A2 shaft 22 is located at the top of the multiple degree of freedom mechanical arm 4, wherein the top of the multiple degree of freedom mechanical arm 4 rotates in the column direction where the upper arm A3 shaft 33 is located;
The wrist rotating A4 shaft 44 is arranged on a column body of the multi-degree-of-freedom mechanical arm top 4 perpendicular to the lower arm A2 shaft 22, and the multi-degree-of-freedom mechanical arm top 4 rotates in the column body direction of the wrist rotating A4 shaft 44;
a wrist swing A5 shaft 55 disposed on a slender column parallel to the lower arm A2 shaft 22 at the top of the multi-degree of freedom mechanical arm 4, wherein the foremost end portion of the top of the multi-degree of freedom mechanical arm 4 rotates in the column direction of the wrist swing A5 shaft 55;
the wrist rotation A6 shaft 66 is disposed on a cylinder of the top forefront end of the multi-degree of freedom mechanical arm 4, and the top forefront end portion of the multi-degree of freedom mechanical arm 4 rotates in the cylinder direction of the wrist rotation A6 shaft 66.
The man-machine interaction system 8 comprises a touch screen 81, an NFC POS machine 82, a paper money identification module 83, a loudspeaker 84 and an interaction module main body 85, wherein the touch screen 81, the NFC POS machine 82, the paper money identification module 83 and the loudspeaker 84 are all installed on the interaction module main body 85, and the interaction module main body 85 is installed on the movable platform 1. The touch screen 81, the NFC POS device 82, the bill recognition module 83, and the speaker 84 are all mounted on the interaction module body 85. The touch screen 81 may implement display interaction in man-machine, including text, pictures, and video. For example, the touch screen 81 may display information such as parameter information of the electric vehicle, a model number of the battery, a current charged amount, and an in-card balance; in addition, the owner can also realize the payment of WeChat, payment treasures and the like through the payment two-dimensional code information displayed on the touch screen 81. The NFC POS machine 82 is a POS machine with an NFC function, which not only can realize card swiping consumption of a common Unionpay card and the like, but also supports an NFC payment function of a mobile phone, so that payment of a vehicle owner becomes extremely convenient, simple and efficient. Since there is a significant proportion of owners using cash at the current charging station, the human-computer interaction system 8 of the present invention also incorporates the banknote recognition module 83 to suit owners who pay for banknotes in common use. The speaker 84 mainly realizes voice interaction in man-machine, such as warm prompt, warning information, etc. for the car owner.
The control box 9 comprises a control box body 9, a vertical interlayer is arranged inside the control box body 9 and is used for accommodating an embedded controller 91, a power supply voltage transformation and stabilization module 92, an image processor 93, a storage module 94, a mechanical arm driver 95, an intelligent platform driver 96, a turntable steering engine driver 98 and a three-dimensional coordinate generation module 98, the embedded controller 91 is connected with the other modules, the power supply voltage transformation and stabilization module 92 is connected with the electric modules and the drivers, the image processor 93 is connected with a camera in the image monitoring device 3 and sends processed signals to the embedded controller 91, the mechanical arm driver 95 is connected with the embedded controller 91 and the multi-degree-of-freedom mechanical arm 4, the intelligent platform driver 96 is connected with the embedded controller 91 and the movable intelligent platform 1, the turntable steering engine driver 98 is connected with the embedded controller 91 and is connected with the turntable steering engine 5, and the three-dimensional coordinate generation module 98 is connected with the embedded controller 91.
The embedded controller 91 is disposed in the control box 9, and is used for controlling drivers of the functional components;
the power supply voltage transformation and stabilization module 92 is arranged in the control box 9, is connected with the charging pile 2 and the charging gun head 6, and is used for adjusting the voltage of the charging pile 2 to be stabilized to the voltage required by the electric automobile;
The image processor 93 is disposed in the control box 9, connected to the embedded controller 91 and the image monitoring device 3, and configured to process image information of the electric vehicle collected by the image monitoring device 3;
the storage module 94 is disposed in the control box 9, connected to the embedded controller 91, and used for storing license plate information, vehicle type information, and the like;
the mechanical arm driver 95 is disposed in the control box 9, connected to the embedded controller 91 and the mechanical arm 4 with multiple degrees of freedom, and used for driving the mechanical arm 4 with multiple degrees of freedom to move, stretch and rotate;
the intelligent platform driver 96 is disposed in the control box 9, connected to the embedded controller 91 and the movable intelligent platform train 10, and used for driving the movable intelligent platform 1 to move;
the turntable steering engine driver 98 is arranged in the control box 9 and is connected with the embedded controller 91 and the turntable steering engine 5;
and the three-dimensional coordinate generation module 98 is arranged in the control box, and establishes a three-dimensional rectangular coordinate system by taking the center of the bottom of the charging pile as an origin.
The storage module 94 includes a first storage unit 941 and a second storage unit 942, wherein the first storage unit 941 stores vehicle type information of a plurality of electric energy vehicles and corresponding charging port position information, the second storage unit 942 stores preset charging electric vehicle information, any one of the preset charging electric vehicle information includes license plate information and charging port position information,
The first storage unit 941 is provided therein with first-type vehicle type information S1, second-type vehicle type information S2, & gt, nth-type vehicle type information Sn, and for i-type vehicle type information Si, i=1, 2, & gt, N, the first storage unit is provided therein with corresponding charging port position information Ti,
the second storage unit 942 is internally provided with a first license plate information C1, a second license plate information C2, an nth license plate information Cn, and for a j-th license plate information Cj, j=1, 2, an N, a corresponding charging port position information Dj is arranged in the second storage unit,
the image monitoring device 3 collects the image information of the electric vehicle to be charged, and transmits the collection result to the image processor 93, the image processor 93 analyzes the collected data to obtain license plate information C and vehicle type information S, and transmits the obtained license plate information and vehicle type information to the embedded controller 91, the embedded controller 91 matches the license plate information with the preset electric vehicle charging information stored in the second storage unit 942,
if the j-th license plate information Cj in the second storage unit 942 satisfies cj=c, the embedded controller 91 determines that the charging port position information is Dj,
if the j-th license plate information Cj does not exist in the second storage unit 942 and satisfies cj=c, the embedded controller 91 matches the collected vehicle type information with the vehicle type information of the electric energy vehicle stored in the first storage unit 941, if the i-th vehicle type information Si exists in the first storage unit 941 and satisfies si=s, the embedded controller 91 determines that the charging port position information is Ti, and if the i-th vehicle type information Si exists in the first storage unit 941 and does not satisfy si=s, the embedded controller 91 controls the human-computer interaction system to send a prompt. For the vehicle to be charged, the image information of which is neither in the first storage unit 941 nor in the second storage unit 942, the user selects to use the manual charging mode or end the charging.
The storage module 94 is provided with two storage units, so that vehicle information can be quickly identified, and for an old user vehicle frequently using the charging service, the charging port position of the old user vehicle can be quickly determined according to the corresponding license plate information stored in the first storage unit 941, and the system analysis time is saved; for a new user vehicle using the charging service for the first time, the charging port position of the vehicle type can be rapidly determined according to the corresponding vehicle type information stored in the second storage unit 942, so that the efficiency of the charging service is increased.
The embedded controller 91 determines a charging area of the electric vehicle to be charged on the left side or the right side of the charging robot according to the obtained charging port position information of the electric vehicle to be charged, and guides the running route of the electric vehicle through the speaker 84;
the embedded controller 91 determines a chargeable area of a corresponding electric car according to the determined electric car charging port position,
the image processor 93 analyzes the position information of the electric vehicle to be charged acquired in real time by the image monitoring device 3, determines real-time position information of a charging port of the electric vehicle to be charged, and the embedded controller 91 brings the real-time position information of the charging port of the electric vehicle to be charged into a three-dimensional rectangular coordinate system until the real-time position information of the charging port of the electric vehicle to be charged falls into a determined chargeable area;
The three-dimensional coordinate generating module 98 establishes a three-dimensional rectangular coordinate system with the center of the bottom of the charging pile 2 as an origin, an X-axis of the three-dimensional rectangular coordinate system is a straight line where the bottom edge of the front face of the charging pile 2 is located, a right side, which is right opposite to the front face of the charging pile 2, of the X-axis is a positive direction of the X-axis, a Y-axis of the three-dimensional rectangular coordinate system is a straight line perpendicular to the straight line where the bottom edge of the front face of the charging pile 2 is located, a direction, which is close to the front face of the charging pile 2, of the Y-axis is a positive direction of the Y-axis, a Z-axis of the three-dimensional rectangular coordinate system is a straight line perpendicular to the bottom face of the charging pile 2, an upward direction of the bottom face of the charging pile 2 is a positive direction of the Z-axis, the image monitoring device 3 acquires charging port position information of an electric automobile to be charged in real time, the image processor 93 brings the charging port position information into the three-dimensional rectangular coordinate system,
the movable range of the charging gun head 6 is set in the three-dimensional rectangular coordinate system, when the charging port position information falls into the theoretical movable range of the charging gun head 6, the embedded controller 91 determines that the electric automobile satisfies the charging position and controls the speaker 84 to play a parking prompt,
the three-dimensional rectangular coordinate system is provided with a theoretical movable range of the charging gun head 6, and the theoretical movable range comprises a theoretical movable range of an X axis, a theoretical movable range of a Y axis and a theoretical movable range of a Z axis, wherein the movable range of the X axis is (xmin, xmax), xmin is a coordinate value of a starting point of the theoretical movable range of the X axis, xmax is a coordinate value of an ending point of the theoretical movable range of the X axis, the theoretical movable range of the Y axis is (ymin, ymax), ymin is a coordinate value of a starting point of the theoretical movable range of the Y axis, ymax is a coordinate value of an ending point of the theoretical movable range of the Y axis, the theoretical movable range of the Z axis is (zmin, zmax), zmin is a coordinate value of the starting point of the theoretical movable range of the Z axis, zmax is a coordinate value of the ending point of the theoretical movable range of the Z axis,
The image monitoring device 3 acquires the position W of the charging port in real time, wherein W is the center point of the charging port, the coordinate of W is (X, Y, Z), X is the coordinate value of the charging port on the X axis in the three-dimensional rectangular coordinate system, Y is the coordinate value of the charging port on the Y axis in the three-dimensional rectangular coordinate system, Z is the coordinate value of the charging port on the Z axis in the three-dimensional rectangular coordinate system,
when the coordinates (x, y, z) of the real-time position W of the charging port satisfy (x is greater than or equal to xmin)/(x is greater than or equal to xmax)/(y is greater than or equal to ymin)/(y is greater than or equal to ymax)/(z is greater than or equal to zmin)/(z is less than or equal to zmax), the embedded controller 91 determines that the electric automobile satisfies the charging position and controls the speaker 84 to play a parking reminder, wherein ∈ represents a logical AND operator, and represents that all conditions must be satisfied simultaneously.
The real-time position of the charging port of the vehicle to be charged can be rapidly and accurately acquired in a data form by establishing a rectangular coordinate system, and the charging position is calculated in advance and the route of the vehicle to be charged is guided out efficiently and accurately.
When the fully autonomous charging service robot detects that the vehicle owner is far away from the vehicle body, the embedded controller 91 drives the movable intelligent platform train 10 to advance by controlling the intelligent platform driver 96 and advance to a proper position, the embedded controller 91 acquires the current position of the movable intelligent platform 1 and determines the actual movable range of the charging gun head 6 according to the acquired position information of the movable intelligent platform 1,
The image monitoring device 3 obtains the movable section of the charging gun head 6 at the current position of the movable intelligent platform 1, detects whether the charging port position falls into the movable section of the charging gun head 6,
setting a moving distance safety value, for example, xc= |x-xb|, xc is the difference value of the out-of-tolerance interval, xb is the out-of-tolerance direction edge point coordinate, calculating a theoretical moving distance L, l=xc×k, K is a moving distance supplementary parameter,
the movable intelligent platform wheel system 10 can be ensured by setting the safety value of the moving distance in the moving process, the movable intelligent platform 1 can accurately fall into a chargeable area, the charging port is prevented from being positioned outside the chargeable area, and the accuracy of the moving distance of the movable intelligent platform 1 is increased.
The embedded controller 91 analyzes coordinates of an observation point of the movable intelligent platform 1 after moving, wherein the observation point is a center point right in front of the movable intelligent platform 1, and if the embedded controller 91 determines that the position of the movable intelligent platform 1 exceeds the movable section after the theoretical moving distance, the movable intelligent platform 1 is moved to a corresponding edge point. This ensures that the position of the mobile intelligent platform 1 is always within a controllable range, whereas, if the position of the mobile intelligent platform 1 is within the movable range, it will move according to the theoretical movement distance,
In this process, the embedded controller 91 controls the mechanical arm driver 94 to drive the multi-degree-of-freedom mechanical arm 4, and at this time, the image monitoring device 3 works, so as to position three-dimensional coordinates of an outer cover plate of the battery box, a battery box cover, a charging port and the like, and provide positioning information for subsequent operations of the multi-degree-of-freedom mechanical arm 4 and the like.
When the charging interface outer cover plate is lifted, the charging port is exposed, at the moment, the charging gun head 6 starts to move and is in butt joint with the charging port,
the charging gun head 6 moving process comprises a primary moving process and a secondary moving process, wherein the primary moving process is the initial moving process of the charging gun head 6,
in the primary movement process, the mechanical arm 4 with multiple degrees of freedom rapidly adjusts the angle until the intelligent image sensor 11 detects that the distance between the charging gun head 6 and the charging port is smaller than the preset value N of the embedded controller 91,
the intelligent image sensor 11 acquires the positions of the charging gun head 6 and the charging port, detects the distance M between the positions of the charging gun head 6 and the charging port,
when M is more than or equal to N, continuing the primary movement process;
when M is less than N, ending the primary moving process and switching to the secondary moving process;
In the secondary movement process, the embedded controller 91 obtains the charging port horizontal angle R through the binocular camera of the intelligent image sensor 11, and determines an adjustment scheme according to the angle range, wherein,
the embedded controller 91 is preset with a first angle range R1 and a second angle range R2, the first angle range R1 is used for determining whether the charging gun head 6 needs to perform adjustment of the rotation A1 axis 11 of the multi-degree-of-freedom mechanical arm 4, the second angle range R2 is used for determining whether the position of the movable intelligent platform 1 needs to be adjusted,
when R is less than or equal to R1, the embedded controller 91 directly adjusts the multi-degree-of-freedom mechanical arm 4 to slowly move the charging gun head 6 to be inserted into the charging port;
when R1 is more than or equal to R2, the embedded controller 91 adjusts the rotation A1 shaft 11 of the multi-degree-of-freedom mechanical arm 4 to rotate, the rotation angle is R, after the rotation is completed, the binocular camera acquires the horizontal angle R ' of the charging port again, and compares R ' with R1 and R2 until R ' is less than or equal to R1, and the embedded controller 91 controls the multi-degree-of-freedom mechanical arm 4 to slowly move the charging gun head 6 to insert into the charging port;
when R > R2, the embedded controller 91 controls the movable intelligent platform train 10 to move,
And after the movement is completed, the binocular camera acquires the horizontal angle R ' of the charging port again, compares R ' with R1 and R2 until R ' is less than or equal to R1, and the embedded controller 91 controls the multi-degree-of-freedom mechanical arm 4 to slowly move the charging gun head 6 to be inserted into the charging port.
After each time of charging, the embedded controller 91 controls the movable intelligent platform 1 to return to the initial position;
the embedded controller 91 records license plate information of the vehicle to be charged, in which the charging port horizontal angle R is greater than the second angle range R2, and corrects the theoretical movable range of the charging gun head 6,
setting the coordinate value of the starting point of the theoretical movable range of the charging gun head in the X-axis direction after correction as xmin',
xmin' =xmin+ (R-R2) X H1, where H1 is a first calculated compensation parameter of a theoretical movable range of a charging port angle to an X-axis direction when a vehicle to be charged is parked,
setting the coordinate value of the end point of the theoretical movable range of the charging gun head in the X-axis direction after correction as xmax',
xmax' =xmax+ (R-R2) X H1, wherein H1 is a first calculated compensation parameter of a theoretical movable range of a charging port angle to an X-axis direction when a vehicle to be charged is parked,
Setting the coordinate value of the starting point of the theoretical movable range of the charging gun head in the Y-axis direction after correction as ymin',
ymin' =ymin+ (R-R2) x H2, wherein H2 is a first calculated compensation parameter of a theoretical movable range of a charging port angle to a Y-axis direction when a vehicle to be charged is parked,
setting the coordinate value of the end point of the theoretical movable range of the charging gun head in the Y-axis direction after correction as ymax',
ymax' =ymax+ (R-R2) ×h2, where H2 is the first calculated compensation parameter of the theoretical movable range of the charging port angle to the Y-axis direction when the vehicle to be charged is parked,
the embedded controller 91 stores the corrected charging gun head theoretical movable range in the first storage unit 941 of the storage module 94.
The charging gun head theory movable range is corrected, the chargeable area can be rapidly analyzed aiming at a specific electric automobile to be charged, the charging scheme of the automobile can be rapidly adjusted, and the charging efficiency of the system is improved.
After the car owner stops the electric car to be charged at the chargeable area according to the voice prompt, the embedded controller 91 controls the speaker 84 in the man-machine interaction system 8 to send out the voice prompt, for example, "please select charging model and charge and pay", at this time, the car owner performs corresponding operation according to the information of the electric car and selects a payment mode suitable for the situation of the car owner to pay.
When the embedded controller 91 receives the input information of the vehicle owner through the touch screen 81 in the man-machine interaction system 8, and obtains the payment information through one of two-dimensional code scanning payment, NFC POS or banknote recognition modules, the embedded controller 91 controls the speaker 84 in the man-machine interaction system 8 to send out voice to prompt the vehicle owner to open the battery box cover electric control switch and leave the vehicle body.
And when the charging operation is finished, reversely operating the charging operation steps in the steps, namely realizing the separation of the charging gun heads. Thereafter, the embedded controller 91 drives the movable intelligent platform wheel system 10 to retreat to the side of the charging pile 2 by controlling the intelligent platform driver 96, and sends out a voice prompt through a loudspeaker, such as "charging is finished, welcome to visit again", etc.; so far, the one-time charging operation of the fully autonomous charging service robot is ended.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A fully autonomous charging service robot is characterized by comprising,
the movable intelligent platform is provided with a multi-degree-of-freedom mechanical arm with a charging gun head, and the bottom of the movable intelligent platform is provided with a movable intelligent platform wheel train for driving the movable intelligent platform to move;
the charging pile is connected with the movable intelligent platform through a cable and is used for providing electric energy for the electric automobile to be charged, and an image monitoring device for acquiring image information of the electric automobile to be charged is arranged on the charging pile;
the intelligent image sensor is arranged at the position, close to the charging gun head, of the top end of the multi-degree-of-freedom mechanical arm and is used for accurately acquiring charging port image information of the electric automobile to be charged;
the control box is arranged on the movable intelligent platform and used for placing a main control system and drivers of all components, and a three-dimensional coordinate generating module used for establishing a three-dimensional rectangular coordinate system, a storage module used for storing license plate information and vehicle type information and provided with a first storage unit and a second storage unit, an image processor used for processing image information acquired by the image monitoring device and an embedded controller used for controlling the drivers of all functional components are arranged in the control box;
For an electric vehicle to be charged that can be charged autonomously,
the embedded controller determines the space position of the charging port in the three-dimensional rectangular coordinate system established by the three-dimensional coordinate generation module through the image processor on the analysis result of the image acquired by the image monitoring device, determines a charging parking area meeting the charging requirement of the electric vehicle to be charged, and guides the running route of the electric vehicle;
the embedded controller obtains the space position of the charging port of the electric automobile to be charged in the charging parking area in a three-dimensional rectangular coordinate system, determines the position of the movable intelligent platform meeting the charging requirement, controls the charging gun head to move close to the charging port through the second stage, and adjusts the moving route and the angle of the charging gun head in real time through data detected by the intelligent image sensor when the charging gun head moves through the second stage.
2. The fully autonomous charging service robot of claim 1, wherein,
the movable intelligent platform is provided with a man-machine interaction system which is used for a user to communicate with the system to acquire service;
the control box comprises a control box body, wherein a vertical interlayer is arranged in the control box body and is used for accommodating an embedded controller, a power supply voltage transformation and stabilization module, an image processor, a storage module, a mechanical arm driver, an intelligent platform driver, a turntable steering engine driver and a three-dimensional coordinate generation module;
The power supply voltage transformation and stabilization module is arranged in the control box, connected with the charging pile and the charging gun head and used for adjusting the voltage of the charging pile to be stabilized to the voltage required by the electric automobile;
the mechanical arm driver is arranged in the control box, connected with the embedded controller and the multi-degree-of-freedom mechanical arm and used for driving the multi-degree-of-freedom mechanical arm to move, stretch and rotate;
the intelligent platform driver is arranged in the control box, connected with the embedded controller and the movable intelligent platform gear train and used for driving the movable intelligent platform to move;
the turntable steering engine driver is arranged in the control box and is connected with the embedded controller and the turntable steering engine.
3. The fully autonomous charging service robot of claim 2, wherein,
the image monitoring device collects the image information of the electric automobile to be charged and transmits the collection result to the image processor, the image processor analyzes the collected data,
if the first storage unit stores data matched with the acquired image information, determining the position information of a charging port of the electric automobile to be charged according to the matched data;
If the second storage unit stores data matched with the acquired image information, determining the position information of a charging port of the electric automobile to be charged according to the matched data;
and if the first storage unit and the second storage unit are not provided with data matched with the acquired image information, the embedded controller controls a loudspeaker of the man-machine interaction system to send out a prompt.
4. The fully autonomous charging service robot of claim 3, wherein,
when the image processor analyzes the acquired data, comparing the acquired data with the image information stored in the first storage unit, and if the first storage unit does not store the data matched with the acquired image information, comparing the acquired data with the image information stored in the second storage unit;
the image information stored in the first storage unit is information of a plurality of vehicle types and charging port position information corresponding to each vehicle type;
and the image information stored in the second storage unit is license plate information of the electric charging vehicle which is subjected to autonomous charging service by the autonomous charging service robot and charging port position information corresponding to the license plate information.
5. The fully autonomous charging service robot of claim 3, wherein,
the image monitoring device acquires image information of the electric automobile to be charged in real time, and the image processor determines coordinates of the charging port in a three-dimensional rectangular coordinate system according to the acquired image information of the electric automobile to be charged and the determined charging port position information;
and if the coordinates of the charging port in the three-dimensional rectangular coordinate system fall into a chargeable coordinate range, the embedded controller controls a loudspeaker of the man-machine interaction system to send out a prompt.
6. The fully autonomous charging service robot of claim 5, wherein,
the three-dimensional rectangular coordinate system is established by taking the center of the bottom of the charging pile as an origin, the chargeable coordinate range is a movable range of the charging gun head arranged in the three-dimensional rectangular coordinate system, and when the position information of the charging port falls into the theoretical movable range of the charging gun head, the embedded controller judges that the electric automobile meets the charging position and controls the loudspeaker to play a parking prompt.
7. The fully autonomous charging service robot of claim 6, wherein,
The embedded controller acquires the position information of the movable intelligent platform to judge the actual movable range of the charging gun head,
if the charging port position information falls into the actual movable range of the charging gun head, the embedded controller controls the charging gun head to move so that the charging gun head is inserted into the charging port;
if the charging port position information does not fall into the actual movable range of the charging gun head, the embedded controller determines the moving direction and the moving distance of the movable intelligent platform according to the movable intelligent platform position information, so that the charging port position information can fall into the actual movable range of the charging gun head.
8. The fully autonomous charging service robot of claim 7, wherein,
the charging gun head moving process comprises a primary moving process and a secondary moving process, wherein the primary moving process is an initial moving process of the charging gun head, the multi-degree-of-freedom mechanical arm rapidly moves the charging gun head to be close to the charging port until the intelligent image sensor detects that the distance between the charging gun head and the charging port is smaller than a preset value of the embedded controller, and the charging gun head is switched to the secondary moving process;
The secondary moving process is a moving process of finely adjusting the charging gun head according to the position of the charging port, and in the secondary moving process, the multi-degree-of-freedom mechanical arm slowly adjusts the angle and then moves the charging gun head to insert into the charging port for charging operation.
9. The fully autonomous charging service robot of claim 8, wherein,
in the secondary moving process, the intelligent image sensor acquires the horizontal angle of the charging port, determines the working states of the multi-degree-of-freedom mechanical arm and the movable intelligent platform gear train in the process of inserting the charging gun head into the charging port according to the acquired result, and the embedded controller judges whether the multi-degree-of-freedom mechanical arm and the movable intelligent platform gear train need to be regulated in the secondary moving process according to a first angle range and a second angle range preset in the embedded controller,
if the horizontal angle of the charging port is smaller than or equal to the first angle range, the embedded controller directly adjusts the multi-degree-of-freedom mechanical arm to slowly move the charging gun head to insert the charging port;
if the horizontal angle of the charging port is larger than the first angle range and smaller than or equal to the second angle range, the embedded controller adjusts the horizontal shaft of the multi-degree-of-freedom mechanical arm to rotate until the horizontal angle of the charging port obtained again by the intelligent image sensor is smaller than or equal to the first angle range, and controls the multi-degree-of-freedom mechanical arm to slowly move the charging gun head to insert into the charging port;
If the horizontal angle of the charging port is larger than the second angle range, the embedded controller controls the movable intelligent platform wheel train to move to a state that the horizontal angle of the charging port obtained by the intelligent image sensor again is smaller than or equal to the first angle range, and controls the multi-degree-of-freedom mechanical arm to slowly move the charging gun head to insert into the charging port.
10. The fully autonomous charging service robot of claim 9, wherein the battery charger is configured to provide the battery charger with a battery,
if the movable intelligent platform wheel train moves in the secondary movement process, the embedded controller adjusts the theoretical movable range of the charging gun head corresponding to the current charging vehicle according to the horizontal angle of the charging port;
the embedded controller records license plate information of the vehicle to be charged, the horizontal angle of the charging port of which is larger than the second angle range, calculates and corrects the theoretical movable range of the charging gun head through the moving direction and the moving distance of the movable intelligent platform gear train, and stores the corrected theoretical movable range of the charging gun head in a first storage unit of the storage module.
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