CN109455105B - Gun-grabbing type automatic charging system and control method thereof - Google Patents
Gun-grabbing type automatic charging system and control method thereof Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a gun-catching type automatic charging system and a control method thereof, wherein the gun-catching type automatic charging system comprises: the charging gun and the connector are fixedly arranged on the charging gun, and the charging gun and the connector are arranged in a first direction; the multi-degree-of-freedom mechanical structure comprises a multi-degree-of-freedom mechanical structure, a paw and a vision module, wherein the paw is fixed above the multi-degree-of-freedom mechanical structure, the vision module is fixedly arranged on the paw, the vision module is used for carrying out vision positioning on a charging gun and/or a connector and a charging port, and the paw is used for grabbing the charging gun; a charging port arranged in a second direction; and the control module is used for controlling the movement and/or rotation of the multi-degree-of-freedom mechanical structure. The gun-grabbing type automatic charging system is simple in structure and convenient to control, and can accurately position the charging gun and the charging port so as to perform automatic charging.
Description
Technical Field
The invention relates to the technical field of electric vehicle charging, in particular to a grab gun type automatic charging system and a control method thereof.
Background
Along with the rapid development and popularization of electric vehicles, the rapid charging of electric vehicles becomes the key point for the development of the automobile industry and the energy industry, and along with the maturity of the automatic driving and automatic parking technologies, the demand for the automatic charging technology is more urgent.
In the automatic charging system fixed between the parking spaces in the prior art, the cost of parts such as a mechanical arm and the like forming the system is high, so that the commercial price of the automatic charging system is too high, and the automatic charging system is difficult to popularize and apply in a large quantity in engineering.
Therefore, in order to solve the above technical problems, it is necessary to provide a grab gun type automatic charging system and a control method thereof.
Disclosure of Invention
In view of the above, the present invention provides a grab gun type automatic charging system and a control method thereof.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions:
a pistol-grip automatic charging system, comprising:
the charging gun and the connector are fixedly arranged on the charging gun, and the charging gun and the connector are arranged in a first direction;
the multi-degree-of-freedom mechanical structure comprises a multi-degree-of-freedom mechanical structure, a paw and a vision module, wherein the paw is fixed above the multi-degree-of-freedom mechanical structure, the vision module is fixedly arranged on the paw, the vision module is used for carrying out vision positioning on a charging gun and/or a connector and a charging port, and the paw is used for grabbing the charging gun;
a charging port arranged in a second direction;
and the control module is used for controlling the movement and/or rotation of the multi-degree-of-freedom mechanical structure.
As a further improvement of the present invention, the multiple degree of freedom mechanical structure comprises:
the mechanical arm is used for fixing the paw;
and one or more of a base, a Cartesian three-coordinate robot, a sliding table and a rotating table.
As a further improvement of the present invention, the multi-degree-of-freedom mechanical structure further includes an AVG trolley for driving the automatic charging system to move to each charging position along a preset route.
As a further improvement of the invention, the multi-degree-of-freedom mechanical structure is a six-degree-of-freedom mechanical structure and comprises three degrees of freedom of movement along the first direction, the second direction and the third direction and three degrees of freedom of rotary movement around the first direction, the second direction and the third direction.
The technical scheme provided by another embodiment of the invention is as follows:
a control method of a grab gun type automatic charging system, the control method comprising:
s1, receiving a charging starting instruction;
s2, patrolling the charging gun and the connector in the first direction through the multi-degree-of-freedom mechanical structure and the vision module, and positioning the spatial position of the charging gun;
s3, driving a paw to grab the charging gun according to the space position of the charging gun by the multi-degree-of-freedom mechanical structure, and returning to the initial position;
s4, driving the multi-degree-of-freedom mechanical structure to enable the paw and the charging gun grabbed by the paw to face a second direction;
s5, patrolling the charging port in the second direction through the multi-degree-of-freedom mechanical structure and the vision module to position the spatial position of the charging port;
s6, driving the paw and the charging gun by the multi-degree-of-freedom mechanical structure according to the spatial position of the charging port, and inserting the charging gun and the charging port;
s7, receiving a charging completion instruction;
and S8, the multi-degree-of-freedom mechanical structure drives the gripper to pull out the charging gun and return to the initial position.
As a further improvement of the present invention, the step S2 specifically includes:
pre-positioning, enabling the multi-degree-of-freedom mechanical structure to reciprocate in a second direction, enabling the vision module to acquire first image information, comparing the first image information with the characteristic structure of the connector and/or the charging gun until the similarity value of the first image information with the characteristic structure of the connector and/or the charging gun is higher than a first preset threshold value, and stopping scanning;
and (3) accurate positioning, wherein the multi-degree-of-freedom mechanical structure drives the paw to a first preset distance along a first direction, then drives the paw to rotate along a third direction, the vision module acquires second image information, the second image information is compared with the characteristic structure of the connector and/or the charging gun until the similarity value of the second image information and the characteristic structure of the connector and/or the charging gun is higher than a second preset threshold value, and scanning is stopped.
As a further improvement of the present invention, the step S5 specifically includes:
pre-positioning, enabling the multi-degree-of-freedom mechanical structure to reciprocate in the first direction, enabling the vision module to acquire third image information, comparing the third image information with the characteristic structure of the charging port until the similarity value of the third image information and the characteristic structure of the charging port is higher than a third preset threshold value, and stopping scanning;
and (3) accurate positioning, the multi-degree-of-freedom mechanical structure drives the paw and the charging gun to a second preset distance along a second direction, then the paw and the charging gun are driven to rotate along a third direction, the vision module acquires fourth image information, the fourth image information is compared with the characteristic structure of the charging port until the similarity value of the fourth image information and the characteristic structure of the charging port is higher than a fourth preset threshold value, and scanning is stopped.
As a further improvement of the present invention, the step S4 specifically includes:
the multi-degree-of-freedom mechanical structure is driven to rotate for a certain angle along the third direction, so that the paw and the charging gun grabbed by the paw are changed from facing the first direction to facing the second direction.
As a further improvement of the present invention, the multiple degree of freedom mechanical structure comprises:
the robot comprises a base and a mechanical arm arranged on the base, wherein the base is fixedly arranged, and the mechanical arm has three degrees of freedom for moving along a first direction, a second direction and a third direction and three degrees of freedom for revolving around the first direction, the second direction and the third direction; or the like, or, alternatively,
the robot comprises a base and a mechanical arm arranged on the base, wherein the base is fixedly arranged, and the mechanical arm has three degrees of freedom of movement along a first direction, a second direction and a third direction and two degrees of freedom of rotary movement around the second direction and the third direction; or the like, or, alternatively,
the robot comprises a Cartesian three-coordinate robot and a mechanical arm arranged on the Cartesian three-coordinate robot, wherein the Cartesian three-coordinate robot has three degrees of freedom for moving along a first direction, a second direction and a third direction, and the mechanical arm has three degrees of freedom for revolving around the first direction, the second direction and the third direction; or the like, or, alternatively,
the robot comprises a Cartesian three-coordinate robot and a mechanical arm arranged on the Cartesian three-coordinate robot, wherein the Cartesian three-coordinate robot has three degrees of freedom for moving along a first direction, a second direction and a third direction, and the mechanical arm has two degrees of freedom for rotary motion around the second direction and the third direction; or the like, or, alternatively,
the robot comprises a rotating platform, a sliding table arranged on the rotating platform, a Cartesian three-coordinate robot arranged on the sliding table and a mechanical arm arranged on the Cartesian three-coordinate robot, wherein the rotating platform has one degree of freedom of rotary motion around a third direction, the sliding table has two degrees of freedom of motion along a first direction and a second direction, the Cartesian three-coordinate robot has one degree of freedom of rotary motion along the third direction, and the mechanical arm has two degrees of freedom of rotary motion around the first direction and the second direction; or the like, or, alternatively,
cartesian three-coordinate robot and install the arm on cartesian three-coordinate robot, cartesian three-coordinate robot has along first direction, second direction and the three degree of freedom of third direction motion, the arm has around first direction, second direction and the three degree of freedom of third direction rotary motion, the arm still has along one or more in first direction, second direction and the three redundant degree of freedom of third direction motion.
As a further improvement of the present invention, the multi-degree-of-freedom mechanical structure further includes an AVG trolley for driving the automatic charging system to move to each charging position along a preset route.
The invention has the beneficial effects that:
the gun-grabbing type automatic charging system is simple in structure and convenient to control, and can accurately position a charging gun and a charging port so as to perform automatic charging;
one set of automatic charging system can charge for the vehicle on a plurality of charging positions in a time-sharing manner, so that the overall cost of the automatic charging system is reduced, and the service efficiency of the automatic charging system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a working schematic diagram of a gun-catching type automatic charging system in embodiment 1 of the present invention;
fig. 2 is a schematic diagram of the automatic gun-catching charging system in embodiment 6 of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a grab gun type automatic charging system, which comprises:
the rifle that charges and with rifle fixed mounting's connector that charges, rifle and connector that charge arrange in the first direction:
the charging system comprises a multi-degree-of-freedom mechanical structure, a paw and a visual module, wherein the paw is fixed above the multi-degree-of-freedom mechanical structure, the visual module is fixedly arranged on the paw, the visual module is used for visually positioning a charging gun and/or a connector and a charging port, and the paw is used for grabbing the charging gun;
a charging port arranged in a second direction;
and the control module is used for controlling the movement and/or rotation of the multi-degree-of-freedom mechanical structure.
A control method of a grab gun type automatic charging system comprises the following steps:
s1, receiving a charging starting instruction;
s2, patrolling the charging gun and the connector in the first direction through the multi-degree-of-freedom mechanical structure and the vision module, and positioning the spatial position of the charging gun;
s3, driving a paw to grab the charging gun according to the space position of the charging gun by the multi-degree-of-freedom mechanical structure, and returning to the initial position;
s4, driving the multi-degree-of-freedom mechanical structure to enable the paw and the charging gun grabbed by the paw to face a second direction;
s5, patrolling the charging port in the second direction through the multi-degree-of-freedom mechanical structure and the vision module to position the spatial position of the charging port;
s6, driving the paw and the charging gun by the multi-degree-of-freedom mechanical structure according to the spatial position of the charging port, and inserting the charging gun and the charging port;
s7, receiving a charging completion instruction;
and S8, the multi-degree-of-freedom mechanical structure drives the gripper to pull out the charging gun and return to the initial position.
The first direction referred to in the present invention is the Y direction in fig. 1, the second direction and the X direction in fig. 1, and the third direction is the Z direction in fig. 1.
The present invention will be described in detail with reference to specific examples.
Example 1:
referring to fig. 1, the automatic gun-grabbing charging system in this embodiment includes:
a charging gun 5 and a connector 6 fixedly mounted with the charging gun, the charging gun 5 and the connector 6 being arranged in a first direction (i.e., Y-direction);
the multi-degree-of-freedom charging robot comprises a multi-degree-of-freedom mechanical structure, a paw 4 fixed above the multi-degree-of-freedom mechanical structure and a vision module 3 fixedly installed on the paw, wherein the vision module 3 is used for carrying out vision positioning on a charging gun 5 and/or a connector 6 and a charging port 7, and the paw is used for grabbing the charging gun;
a charging port 7 arranged in a second direction (i.e., X-direction);
and a control module (not shown) for controlling the movement and/or rotation of the multi-degree-of-freedom mechanical structure.
The multi-degree-of-freedom mechanical structure in the embodiment is a six-degree-of-freedom mechanical structure, and includes a base 1 and a robot arm 2 mounted on the base 1, the base 1 is fixedly disposed, and the robot arm 2 has three degrees of freedom for moving in a first direction (Y direction), a second direction (X direction), and a third direction (Z direction), and three degrees of freedom for revolving around the first direction (Y direction), the second direction (X direction), and the third direction (Z direction).
The control method of the gun-grabbing type automatic charging system in the embodiment comprises the following steps:
s1, receiving a charging starting instruction;
s2, patrolling the charging gun and the connector in the first direction through the multi-degree-of-freedom mechanical structure and the vision module, and positioning the spatial position of the charging gun;
s3, driving a paw to grab the charging gun according to the space position of the charging gun by the multi-degree-of-freedom mechanical structure, and returning to the initial position;
s4, driving the multi-degree-of-freedom mechanical structure to enable the paw and the charging gun grabbed by the paw to face a second direction;
s5, patrolling the charging port in the second direction through the multi-degree-of-freedom mechanical structure and the vision module to position the spatial position of the charging port;
s6, driving the paw and the charging gun by the multi-degree-of-freedom mechanical structure according to the spatial position of the charging port, and inserting the charging gun and the charging port;
s7, receiving a charging completion instruction;
and S8, the multi-degree-of-freedom mechanical structure drives the gripper to pull out the charging gun and return to the initial position.
Wherein, the positioning in step S2 and step S5 are both completed by two steps of pre-positioning and precise positioning.
Step S2 specifically includes:
pre-positioning, enabling the multi-degree-of-freedom mechanical structure to reciprocate in a second direction, enabling the vision module to acquire first image information, comparing the first image information with the characteristic structure of the connector and/or the charging gun until the similarity value of the first image information with the characteristic structure of the connector and/or the charging gun is higher than a first preset threshold value, and stopping scanning;
and (3) accurate positioning, wherein the multi-degree-of-freedom mechanical structure drives the paw to a first preset distance along a first direction, then drives the paw to rotate along a third direction, the vision module acquires second image information, the second image information is compared with the characteristic structure of the connector and/or the charging gun until the similarity value of the second image information and the characteristic structure of the connector and/or the charging gun is higher than a second preset threshold value, and scanning is stopped.
Step S5 specifically includes:
pre-positioning, enabling the multi-degree-of-freedom mechanical structure to reciprocate in the first direction, enabling the vision module to acquire third image information, comparing the third image information with the characteristic structure of the charging port until the similarity value of the third image information and the characteristic structure of the charging port is higher than a third preset threshold value, and stopping scanning;
and (3) accurate positioning, the multi-degree-of-freedom mechanical structure drives the paw and the charging gun to a second preset distance along a second direction, then the paw and the charging gun are driven to rotate along a third direction, the vision module acquires fourth image information, the fourth image information is compared with the characteristic structure of the charging port until the similarity value of the fourth image information and the characteristic structure of the charging port is higher than a fourth preset threshold value, and scanning is stopped.
Further, step S4 is specifically:
the multi-degree-of-freedom mechanical structure is driven to rotate for a certain angle along the third direction, so that the paw and the charging gun grabbed by the paw are changed from facing the first direction to facing the second direction.
Referring to fig. 1, the specific charging process and steps in this embodiment are as follows:
(1) the automatic charging system receives a charging instruction and restores the standby state to the working state;
(2) the control module of the automatic charging system controls the mechanical arm 2 to enter the posture of patrolling the position of the charging gun 4, and starts to pre-position the connector 6. The visual module 3 fixed at the tail end of the mechanical arm has a certain distance with the characteristic structure of the connector 6 in space during patrol, the mechanical arm 2 reciprocates in the X-axis direction in a patrol gesture and continuously takes pictures in the motion process, meanwhile, the automatic charging system control module continuously calculates and identifies the picture data, and once the characteristic structure with higher similarity with the connector 6 is found, the scanning identification is stopped;
(3) the mechanical arm 2 approaches the connector 6 along the Y-direction and keeps a correct distance, the connector 6 starts to be accurately positioned, the mechanical arm 2 controls the tail end joint to swing around the Z axis in a small range and continuously take pictures, meanwhile, the automatic charging system control module continuously calculates and identifies photo data, once a characteristic structure with high conformity with the connector 6 is determined, the mechanical arm 2 immediately stops swinging and scanning, and the positioning of the space position of the charging gun is realized (namely, the space coordinate X, Y, Z of the charging gun relative to the mechanical arm, the rotation coordinate Rx around the X axis, the rotation coordinate Ry around the Y axis and the rotation coordinate Rz around the Z axis are obtained).
(4) The mechanical arm 2 approaches the connector 6, the paw 4 grabs the charging gun 5, and the automatic charging system confirms whether the grabbing is successful;
(5) once the gripper 4 successfully grabs the charging gun, the automatic charging system controls the mechanical arm 2 to retract to the pose in the step (2);
(6) the mechanical arm 2 rotates 90 degrees anticlockwise around the Z axis;
(7) the mechanical arm 2 enters the position of the charge port 7 to be patrolled, the charge port 7 is pre-positioned, the visual module 3 fixed at the tail end of the mechanical arm is spaced from the charge port 7 by a certain distance during patrolling, the mechanical arm 2 reciprocates in the Y-axis direction in the patrolling posture and continuously takes pictures in the motion process, meanwhile, the automatic charging system control module continuously calculates and identifies the picture data, and once a characteristic structure with higher similarity to the charge port 7 is found, the scanning identification is stopped;
(8) the mechanical arm 2 approaches the charging port 7 along the X-direction and keeps a correct distance, the charging port 7 starts to be accurately positioned, the mechanical arm 2 controls the tail end joint to swing around the Z axis in a small range and continuously take pictures, meanwhile, the automatic charging system control module continuously calculates and identifies photo data, once a characteristic structure which is in high conformity with the charging port 7 is determined, the mechanical arm 2 stops swinging and scanning immediately, and the positioning of the space position of the charging gun is realized (namely space coordinates X, Y, Z, Rx, Ry and Rz of the charging gun relative to the mechanical arm are obtained).
(9) After the mechanical arm 2 is positioned according to the obtained space of the charging port 7, planning the insertion movement track of the charging gun 5, starting the movement of inserting the charging gun 5, completing the charging connection of the charging gun 5, and starting charging;
(10) the automatic charging system receives a charging completion instruction, controls the mechanical arm 2 to pull out the charging gun 5, and enters the pose in the step (7);
(11) the mechanical arm 2 rotates clockwise by 90 degrees around the Z axis;
(12) the automatic charging system plans a homing motion track of the charging gun 2 according to a preset fixed space position of the charging gun 2, and controls the mechanical arm 2 and the paw 4 to place the charging gun 5 at an initial position when the gun is grabbed;
(13) the automatic charging system finishes a cyclic charging process, returns to a standby position and enters a standby state to wait for a next charging instruction.
Example 2:
the difference from example 1 is that: the multi-degree-of-freedom mechanical structure comprises five degrees of freedom, the multi-degree-of-freedom mechanical structure comprises a base and a mechanical arm arranged on the base, the base is fixedly arranged, the mechanical arm has three degrees of freedom for moving along a first direction, a second direction and a third direction and two degrees of freedom for rotating around the second direction and the third direction, and the multi-degree-of-freedom mechanical structure can realize X, Y, Z, Rx and Rz five-axis movement.
Accordingly, the space coordinates of the charging gun or the charging port relative to the robot arm in the control method include X, Y, Z, the rotation coordinate Rx around the X axis, and the rotation coordinate Rz around the Z axis, which are the same as those in embodiment 1 and will not be described again here.
Example 3:
the difference from example 1 is that: the multi-degree-of-freedom mechanical structure comprises five degrees of freedom, the multi-degree-of-freedom mechanical structure comprises a Cartesian three-coordinate robot and a mechanical arm installed on the Cartesian three-coordinate robot, the Cartesian three-coordinate robot has three degrees of freedom for movement in a first direction, a second direction and a third direction, the mechanical arm has three degrees of freedom for rotary movement in the first direction, the second direction and the third direction, the mechanical arm can achieve Rx, Ry and Rz three-axis movement, Rx and Ry axes are installed and fixed on an Rz axis rotating table, the mechanical arm is installed and fixed on a Z axis workbench of the Cartesian three-coordinate robot, the Z axis workbench is installed and fixed on a Y axis sliding table, the Y axis sliding table is installed and fixed on an X axis sliding table, and the multi-degree-of freedom mechanical structure can achieve X, Y, Z, Rx, Ry and Rz six-axis movement.
The specific charging process and steps are as follows:
(1) the automatic charging system receives a charging instruction and restores the standby state to the working state;
(2) the control module of the automatic charging system controls X, Y and Z axes of the Cartesian three-coordinate robot to move to the pre-positioning position of the charging gun, and the mechanical arm enters the gesture of patrolling the position of the charging gun to start to pre-position the connector. The automatic charging system comprises a vision module, a connector, an automatic charging system control module, a camera module;
(3) the mechanical arm approaches the connector along the Y-direction and keeps a correct distance, the connector starts to be accurately positioned, the mechanical arm controls the tail end joint to swing around the Z axis in a small range and continuously take pictures, meanwhile, the automatic charging system control module continuously calculates and identifies photo data, once a characteristic structure with high conformity with the connector is determined, the mechanical arm immediately stops swinging and scanning, and the positioning of the space position of the charging gun is realized (namely, a space coordinate X, Y, Z of the charging gun relative to the mechanical arm, a rotation coordinate Rx around the X axis, a rotation coordinate Ry around the Y axis and a rotation coordinate Rz around the Z axis are obtained).
(4) The mechanical arm is close to the connector, the gripper grabs the charging gun, and the automatic charging system confirms whether the grabbing is successful;
(5) once the gripper successfully grabs the charging gun, the automatic charging system controls the mechanical arm to retract to the pose in the step (2);
(6) the mechanical arm rotates 90 degrees anticlockwise around the Z axis;
(7) the method comprises the following steps that a mechanical arm enters the gesture of inspecting a charging port, pre-positioning is carried out on the charging port, a visual module fixed at the tail end of the mechanical arm and the charging port are spaced at a certain distance during inspection, the mechanical arm reciprocates in the Y-axis direction in the inspection gesture and continuously shoots in the moving process, meanwhile, an automatic charging system controller continuously calculates and identifies photo data, and scanning identification is stopped once a characteristic structure with high similarity to the charging port is found;
(8) the mechanical arm approaches to the charging port along the X-direction and keeps a correct distance, the charging port is accurately positioned, the mechanical arm controls the tail end joint to swing around the Z axis in a small range and continuously take pictures, meanwhile, the automatic charging system control module continuously calculates and identifies photo data, once a characteristic structure which is in high conformity with the charging port is determined, the mechanical arm immediately stops swinging and scanning, and the positioning of the spatial position of the charging gun is realized (namely, the spatial coordinates X, Y, Z, Rx, Ry and Rz of the charging gun relative to the mechanical arm are obtained).
(9) After the mechanical arm is positioned according to the obtained space of the charging port, planning the insertion movement track of the charging gun, starting the insertion movement of the charging gun, completing the charging connection of the charging gun, and starting charging;
(10) the automatic charging system receives a charging completion instruction, controls the mechanical arm to pull out the charging gun and enters the pose in the step (7);
(11) the mechanical arm rotates clockwise by 90 degrees around the Z axis;
(12) the automatic charging system plans a reset motion track of the charging gun according to a preset fixed space position of the charging gun, and controls the mechanical arm and the paw to place the charging gun at an initial position when the charging gun is grabbed;
(13) the automatic charging system finishes a cyclic charging process, controls the mechanical arm to return to a standby pose and enter a standby state to wait for a next charging instruction.
Example 4:
the difference from example 3 is that: the multi-degree-of-freedom mechanical structure comprises five degrees of freedom, the multi-degree-of-freedom mechanical structure comprises a Cartesian three-coordinate robot and a mechanical arm installed on the Cartesian three-coordinate robot, the Cartesian three-coordinate robot has three degrees of freedom for moving along a first direction, a second direction and a third direction, the mechanical arm has two degrees of freedom for rotary motion around the second direction and the third direction, and the multi-degree-of-freedom mechanical structure can realize X, Y, Z, Rx and Rz five-axis motion.
Accordingly, the space coordinates of the charging gun or the charging port relative to the robot arm in the control method include X, Y, Z, the rotation coordinate Rx around the X axis, and the rotation coordinate Rz around the Z axis, which are the same as those in embodiment 1 and will not be described again here.
Example 5:
the difference from example 3 is that: the multi freedom mechanical structure in this embodiment includes six degrees of freedom, multi freedom mechanical structure includes revolving stage (Rz axle), install the slip table on the revolving stage, install the three coordinate robot of cartesian on the slip table, and install the arm on the three coordinate robot of cartesian, the revolving stage has around three direction rotary motion one degree of freedom, the slip table includes Y slip table and X slip table, two degrees of freedom along first direction and second direction have respectively, three coordinate robot of cartesian still has along three direction motion one degree of freedom, the arm has around first direction and two direction rotary motion two degrees of freedom, multi freedom mechanical structure can realize X, Y, Z, Rx, Ry and Rz six-axis motion.
Accordingly, step (6) varies as: the rotating table drives the mechanical arm to rotate 90 degrees anticlockwise around the Z axis; the step (11) is changed into the following steps: the rotating table drives the mechanical arm to rotate clockwise by 90 degrees around the Z axis.
Example 6:
the difference from example 1 is that: referring to fig. 2, the multiple degree of freedom mechanical structure in this embodiment includes an AVG cart 1 and a robot arm 2 mounted on the AVG cart 1, and the robot arm 2 is a six degree of freedom robot arm as in embodiment 1. The AVG trolley 1 is used for driving the automatic charging system to move to each charging position along a preset route, and the mechanical arm 2, the paw 4 fixed on the mechanical arm and the visual module 3 are installed and fixed on the AGV trolley 1 together and move along with the AGV trolley 1 according to a fixed track. The AGV trolley can be moved between several parking spaces, between which charging guns 5 and their connectors 6 are arranged.
Referring to fig. 2 in detail, the moving tracks of the AGV 1 are a1, AB, B1, BC, MN, N1, etc.; the AGV trolley 1 can continuously move among the parking spaces, sequentially charges vehicles in each parking space, and also can jump among a plurality of parking spaces from A, B to N according to instructions and adjust the moving track in real time according to the charging requirement. When the AGV is stopped at the correct position of each parking space, the specific charging process and steps of the automatic charging system are the same as those in embodiment 1, and are not described herein again.
Example 7:
the difference from example 6 is that: the AGV cart in this embodiment stops at the correct position of each parking space, and the specific charging process and steps of the automatic charging system are the same as those in embodiment 2, and are not described herein again.
Example 8:
the difference from example 6 is that: the AGV cart in this embodiment stops at the correct position of each parking space, and the specific charging process and steps of the automatic charging system are the same as those in embodiment 3, and are not described herein again.
Example 9:
the difference from example 6 is that: the AGV cart in this embodiment stops at the correct position of each parking space, and the specific charging process and steps of the automatic charging system are the same as those in embodiment 4, and are not described herein again.
Example 10:
the difference from example 6 is that: the AGV cart in this embodiment stops at the correct position of each parking space, and the specific charging process and steps of the automatic charging system are the same as those in embodiment 5, which is not described herein again.
Example 11:
the difference from example 3 is that: the multi-degree-of-freedom mechanical structure in the embodiment includes a cartesian three-coordinate robot and a mechanical arm mounted on the cartesian three-coordinate robot, the cartesian three-coordinate robot has three degrees of freedom for movement in a first direction, a second direction and a third direction, the mechanical arm is a four-degree-of-freedom mechanical arm having three degrees of freedom for rotational movement around the first direction, the second direction and the third direction and one of three redundant degrees of freedom for movement in the first direction, the second direction and the third direction, the mechanical arm can realize the rotational movement in the Rx, Ry and Rz directions and the movement in one of the X, Y and Z directions, one of the X, Y and Z directions is a redundant degree of freedom, and the others are the same as those in embodiment 3.
Example 12:
the difference from example 3 is that: the multi-degree-of-freedom mechanical structure in the embodiment comprises a cartesian three-coordinate robot and a mechanical arm arranged on the cartesian three-coordinate robot, wherein the cartesian three-coordinate robot has three degrees of freedom for movement in a first direction, a second direction and a third direction, the mechanical arm is a five-degree-of-freedom mechanical arm which has three degrees of freedom for rotary movement around the first direction, the second direction and the third direction and any two of three redundant degrees of freedom for movement in the first direction, the second direction and the third direction, the mechanical arm can realize rotary movement in the Rx, Ry and Rz directions and movement in two directions of X, Y and Z, the two directions of X, Y and Z are redundant degrees of freedom, and the rest are the same as those in embodiment 3.
Example 13:
the difference from example 3 is that: the multi-degree-of-freedom mechanical structure in the embodiment comprises a cartesian three-coordinate robot and a mechanical arm arranged on the cartesian three-coordinate robot, the cartesian three-coordinate robot has three degrees of freedom for movement along a first direction, a second direction and a third direction, the mechanical arm is a six-degree-of-freedom mechanical arm which has three degrees of freedom for rotary movement around the first direction, the second direction and the third direction and three redundant degrees of freedom for movement along the first direction, the second direction and the third direction, the mechanical arm can realize rotary movement in the Rx, Ry and Rz directions and movement in the X, Y or Z directions, the X, Y or Z directions are redundant degrees of freedom, and the rest are the same as those in embodiment 3.
It should be understood that, in the above embodiments, the charging gun 5 is disposed in the Y-direction and the charging port 7 is disposed in the X-direction as an example, the positions of the charging gun 5 and the charging port may be disposed in other positions, such as:
(1) the charging gun 5 is arranged in the Y + direction, and the charging port 7 is arranged in the X-direction;
(2) the charging gun 5 is arranged in the Y-direction, and the charging port 7 is arranged in the X + direction;
(3) the charging gun 5 is arranged in the Y + direction and the charging port 7 is arranged in the X + direction …
The position arrangement of the charging gun 5 and the charging port 7 does not affect the implementation of the present invention, and the specific charging process and steps in other positions are similar to those in the above embodiments and all belong to the protection scope of the present invention, and are not described in detail herein.
Further, the included angle between the first direction in which the charging gun 5 is located and the second direction in which the charging port 7 is located is not necessarily limited to 90 °, and the included angle can be realized under the condition of other included angles, and only the angle of rotation along the Z axis needs to be adjusted.
According to the technical scheme, the invention has the following beneficial effects:
the gun-grabbing type automatic charging system is simple in structure and convenient to control, and can accurately position a charging gun and a charging port so as to perform automatic charging;
one set of automatic charging system can charge for the vehicle on a plurality of charging positions in a time-sharing manner, so that the overall cost of the automatic charging system is reduced, and the service efficiency of the automatic charging system is improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. A control method of a grab gun type automatic charging system is characterized by comprising the following steps:
s1, receiving a charging starting instruction;
s2, patrol the charging gun and the connector in the first direction through the multi-degree-of-freedom mechanical structure and the vision module, and position the spatial position of the charging gun, specifically:
pre-positioning, enabling the multi-degree-of-freedom mechanical structure to reciprocate in a second direction, enabling the vision module to acquire first image information, comparing the first image information with the characteristic structure of the connector and/or the charging gun until the similarity value of the first image information with the characteristic structure of the connector and/or the charging gun is higher than a first preset threshold value, and stopping scanning;
the method comprises the steps that accurate positioning is conducted, a multi-degree-of-freedom mechanical structure drives a paw to a first preset distance along a first direction, then the paw is driven to rotate along a third direction, a vision module obtains second image information, the second image information is compared with a characteristic structure of a connector and/or a charging gun until the similarity value of the second image information and the characteristic structure of the connector and/or the charging gun is higher than a second preset threshold value, and scanning is stopped;
s3, driving a paw to grab the charging gun according to the space position of the charging gun by the multi-degree-of-freedom mechanical structure, and returning to the initial position;
s4, driving the multi-degree-of-freedom mechanical structure to enable the paw and the charging gun grabbed by the paw to face a second direction;
s5, patrol the charging port in the second direction through the multi-degree-of-freedom mechanical structure and the vision module, and position the spatial position of the charging port, specifically:
pre-positioning, enabling the multi-degree-of-freedom mechanical structure to reciprocate in the first direction, enabling the vision module to acquire third image information, comparing the third image information with the characteristic structure of the charging port until the similarity value of the third image information and the characteristic structure of the charging port is higher than a third preset threshold value, and stopping scanning;
the mechanical structure with multiple degrees of freedom drives the paw and the charging gun to a second preset distance along a second direction, then the paw and the charging gun are driven to rotate along a third direction, the vision module acquires fourth image information, the fourth image information is compared with the characteristic structure of the charging port until the similarity value of the fourth image information and the characteristic structure of the charging port is higher than a fourth preset threshold value, and scanning is stopped;
s6, driving the paw and the charging gun by the multi-degree-of-freedom mechanical structure according to the spatial position of the charging port, and inserting the charging gun and the charging port;
s7, receiving a charging completion instruction;
and S8, the multi-degree-of-freedom mechanical structure drives the gripper to pull out the charging gun and return to the initial position.
2. The control method according to claim 1, wherein the step S4 is specifically:
the multi-degree-of-freedom mechanical structure is driven to rotate for a certain angle along the third direction, so that the paw and the charging gun grabbed by the paw are changed from facing the first direction to facing the second direction.
3. The control method according to claim 1, wherein the multiple degree of freedom mechanical structure includes:
the robot comprises a base and a mechanical arm arranged on the base, wherein the base is fixedly arranged, and the mechanical arm has three degrees of freedom for moving along a first direction, a second direction and a third direction and three degrees of freedom for revolving around the first direction, the second direction and the third direction; or the like, or, alternatively,
the robot comprises a base and a mechanical arm arranged on the base, wherein the base is fixedly arranged, and the mechanical arm has three degrees of freedom of movement along a first direction, a second direction and a third direction and two degrees of freedom of rotary movement around the second direction and the third direction; or the like, or, alternatively,
the robot comprises a Cartesian three-coordinate robot and a mechanical arm arranged on the Cartesian three-coordinate robot, wherein the Cartesian three-coordinate robot has three degrees of freedom for moving along a first direction, a second direction and a third direction, and the mechanical arm has three degrees of freedom for revolving around the first direction, the second direction and the third direction; or the like, or, alternatively,
the robot comprises a Cartesian three-coordinate robot and a mechanical arm arranged on the Cartesian three-coordinate robot, wherein the Cartesian three-coordinate robot has three degrees of freedom for moving along a first direction, a second direction and a third direction, and the mechanical arm has two degrees of freedom for rotary motion around the second direction and the third direction; or the like, or, alternatively,
the robot comprises a rotating platform, a sliding table arranged on the rotating platform, a Cartesian three-coordinate robot arranged on the sliding table and a mechanical arm arranged on the Cartesian three-coordinate robot, wherein the rotating platform has one degree of freedom of rotary motion around a third direction, the sliding table has two degrees of freedom of motion along a first direction and a second direction, the Cartesian three-coordinate robot has one degree of freedom of rotary motion along the third direction, and the mechanical arm has two degrees of freedom of rotary motion around the first direction and the second direction; or the like, or, alternatively,
cartesian three-coordinate robot and install the arm on cartesian three-coordinate robot, cartesian three-coordinate robot has along first direction, second direction and the three degree of freedom of third direction motion, the arm has around first direction, second direction and the three degree of freedom of third direction rotary motion, the arm still has along one or more in first direction, second direction and the three redundant degree of freedom of third direction motion.
4. The control method of claim 3, wherein the multi-degree-of-freedom mechanical structure further comprises an AVG cart for driving the automatic charging system to move along a predetermined path to each charging position.
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| CN111823915A (en) * | 2020-07-20 | 2020-10-27 | 武汉工程大学 | Automatic charging device of electric automobile |
| CN112060950A (en) * | 2020-09-23 | 2020-12-11 | 上海电气集团股份有限公司 | An intelligent charging system and method of using the same |
| CN113022354A (en) * | 2021-04-13 | 2021-06-25 | 上海电气集团股份有限公司 | One-to-many charger robot and charging method |
| CN114800544B (en) * | 2022-03-09 | 2025-04-01 | 始途科技(杭州)有限公司 | Robot control method, robot control device and robot |
| CN114619906A (en) * | 2022-04-22 | 2022-06-14 | 北京海舶无人船科技有限公司 | Unmanned ship automatic charging device, charging control method and system |
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