CN114701372A - Automatic wireless charging system and method based on mechanical arm - Google Patents
Automatic wireless charging system and method based on mechanical arm Download PDFInfo
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- CN114701372A CN114701372A CN202210300530.2A CN202210300530A CN114701372A CN 114701372 A CN114701372 A CN 114701372A CN 202210300530 A CN202210300530 A CN 202210300530A CN 114701372 A CN114701372 A CN 114701372A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic wireless charging system and method based on a mechanical arm, and relates to the technical field of wireless charging, wherein the device comprises a numerical control device, a visual positioning device and the mechanical arm; the visual positioning device is used for acquiring pose information of a charging receiving end of a vehicle to be charged in the charging parking space; the numerical control device is used for determining the movement track of the mechanical arm based on the pose information of the charging receiving end after receiving a charging signal of the vehicle to be charged, and outputting a movement instruction based on the movement track of the mechanical arm; the movement instruction is used for controlling the arm body structure and the wrist structure in the mechanical arm to move so that the charging emission end mounted on the wrist structure reaches the target pose. The invention can realize a charging mode of the electric automobile which is more automatic, intelligent, safer and higher in system transmission efficiency.
Description
Technical Field
The invention relates to the technical field of wireless charging, in particular to an automatic wireless charging system and method based on a mechanical arm.
Background
In the field of wireless power supply of electric automobiles, a non-contact transformer with completely separated primary and secondary sides is basically adopted, electric energy is transmitted through high-frequency magnetic coupling, and the primary side (power supply side) and the secondary side (power utilization side) are not physically connected in the energy transfer process. Compared with the traditional contact type power supply device, the non-contact type power supply device has the advantages of convenience and safety in use, difficulty in electric leakage, no spark, no electric shock hazard and the like.
In a non-contact power supply device, a secondary coil is generally installed in an electric vehicle, and a primary coil is installed in a parking space. When the electric automobile stops at the preset charging position on the parking space, the primary coil and the secondary coil form a loose coupling transformer, a high-frequency magnetic field emitted by the primary coil can be received by the secondary coil in an electromagnetic induction mode, and then the high-frequency magnetic field is converted into electric energy by the secondary coil, so that wireless transmission of the electric energy is realized, and the purpose of wirelessly charging the electric automobile is achieved. Meanwhile, electric energy can produce a strong magnetic field in the wireless transmission process, if a metal foreign body or a nonmetal foreign body enters a charging interval by mistake, the charging efficiency can be reduced, or harm is caused to some organisms, and the potential safety hazard of wireless charging is increased.
Disclosure of Invention
Aiming at the problems of complex operation, high labor intensity, potential safety hazard and the like existing in the conventional wired charging mode and the current situation that the transmission efficiency is greatly reduced due to the deviation of the primary coil and the secondary coil when the traditional wireless charging mode is stopped, the invention provides an automatic wireless charging system and method based on a mechanical arm.
In order to achieve the purpose, the invention provides the following scheme:
an automated wireless charging system based on a robotic arm, comprising: the device comprises a numerical control device, a visual positioning device and a mechanical arm;
the mechanical arm at least comprises an arm body structure and a wrist structure; the arm body structure is respectively connected with the numerical control device and the wrist structure, and the wrist structure is also used for connecting a charging transmitting terminal; the arm body structure is used for adjusting the space position of the charging transmitting end; the wrist structure is used for adjusting the space posture of the charging transmitting end;
the visual positioning device is used for acquiring pose information of a charging receiving end of a vehicle to be charged in the charging parking space;
the numerical control device is used for determining the movement track of the mechanical arm based on the pose information of the charging receiving end after receiving a charging signal of the vehicle to be charged, and outputting a movement instruction based on the movement track of the mechanical arm; the movement instruction is used for controlling the arm body structure and the wrist structure to move so that the charging emission end installed on the wrist structure reaches a target pose.
Optionally, the robotic arm further comprises a base; the base is internally provided with the numerical control device and the visual positioning device, and the visual positioning device faces towards the charging parking space.
Optionally, a drive motor is further included;
the arm body structure at least comprises three joints, namely a first joint, a second joint and a third joint; the wrist structure at least comprises two joints, namely a fourth joint and a fifth joint;
a first connecting rod is arranged between the base and the first joint; a second connecting rod is arranged between the first joint and the second joint; a third connecting rod is arranged between the second joint and the third joint; a fourth connecting rod is arranged between the third joint and the fourth joint; a fifth connecting rod is arranged between the fourth joint and the fifth joint;
the first joint, the second joint, the third joint, the fourth joint and the fifth joint are respectively connected with one driving motor.
Optionally, in terms of determining the movement track of the mechanical arm based on the pose information of the charging receiving end, the numerical control device is configured to:
determining the relative pose relationship among all joints in the mechanical arm;
determining a pose matrix of the target joint based on the relative pose relationship among the joints; the target joint is a joint connected with the charging transmitting end in the wrist structure;
converting the pose information of the charging receiving end to determine target pose information; the target pose information is pose information of the charging receiving end under a mechanical arm base coordinate system;
determining end point pose information of each joint in the mechanical arm based on the target pose information and the pose matrix of the target joint; the end point pose information comprises an end point position and an end point joint angle; the terminal joint angle is the joint angle of each joint in the mechanical arm when the charging emission end reaches a target pose;
determining the movement track of each joint in the mechanical arm based on the end point pose information and the starting point pose information of each joint in the mechanical arm; the start position and orientation information includes a start position and a start joint angle.
Optionally, a connecting rod is arranged between each joint of the mechanical arm;
in determining the relative pose relationship between the joints in the mechanical arm, the numerical control device is configured to:
establishing a right-hand Cartesian coordinate system of the connecting rod for each connecting rod in the mechanical arm; the origin of the right-hand Cartesian coordinate system of the connecting rod is coincided with the center of a joint, the Z axis of the right-hand Cartesian coordinate system of the connecting rod is coincided with the axis of the joint, and the X axis of the right-hand Cartesian coordinate system of the connecting rod points to the next joint; the Y axis of the right-hand Cartesian coordinate system of the connecting rod is vertical to the target connecting rod; the target connecting rod is a connecting rod between the next joint and the first joint;
and determining the relative pose relationship among all joints in the mechanical arm based on the right-hand Cartesian coordinate system of the connecting rod and the homogeneous transformation matrix.
Optionally, in the aspect of determining the movement track of each joint in the mechanical arm based on the end point pose information and the start point pose information of each joint in the mechanical arm, the numerical control device is configured to:
determining a motion function of the joint angle variable;
determining a first constraint and a second constraint; the first constraint condition is a constraint condition of a starting joint angle and an end joint angle which are required to be met by the motion function; the second constraint condition is a constraint condition of an initial speed and a termination speed which are required to be met by the motion function;
and determining the moving track of each joint in the mechanical arm by adopting a cubic polynomial function based on the motion function, the first constraint condition, the second constraint condition and the end point pose information and the start point pose information of each joint in the mechanical arm.
Optionally, the visual positioning device comprises: 3D camera, infrared equipment and visual positioning module, wherein, visual positioning module is used for: and calculating the pose of the charging receiving end based on the 3D camera and the infrared equipment to obtain the pose information.
Optionally, the visual positioning device is configured to:
acquiring image information of a vehicle to be charged in a charging parking space and image information of a charging receiving end of the vehicle to be charged;
and determining the pose information of the charging receiving end based on the image information of the vehicle to be charged and the image information of the charging receiving end of the vehicle to be charged.
An automatic wireless charging method based on a mechanical arm is applied to an automatic wireless charging system based on the mechanical arm; the automatic wireless charging system based on the mechanical arm at least comprises the mechanical arm; the mechanical arm at least comprises an arm body structure and a wrist structure; the arm body structure is respectively connected with the numerical control device and the wrist structure, and the wrist structure is also used for connecting a charging transmitting terminal; the arm body structure is used for adjusting the space position of the charging transmitting end; the wrist structure is used for adjusting the space posture of the charging transmitting end; the automatic wireless charging method comprises the following steps:
acquiring pose information of a charging receiving end of a vehicle to be charged in a charging parking space;
after receiving a charging signal of the vehicle to be charged, determining a movement track of the mechanical arm based on pose information of the charging receiving end, and outputting a movement instruction based on the movement track of the mechanical arm; the movement instruction is used for controlling the arm body structure and the wrist structure to move so that the charging emission end installed on the wrist structure reaches a target pose.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention mainly aims at the problems of potential safety hazards such as easy equipment aging and electric spark contact existing in the traditional wired charging mode of an electric automobile, and the problems of great reduction of charging power and efficiency after deviation existing in the wireless charging mode, and provides a mechanical arm structure capable of automatically and wirelessly charging the electric automobile, namely an automatic wireless charging system and method based on the mechanical arm. The existing wireless charging mode of this charging mode dustproof and waterproof, potential safety hazard advantage such as little, solved again effectively under the traditional wireless charging mode, because of the driver parks the problem of former, the skew of secondary winding that causes, satisfied the needs for electric automobile automatic charging, also promoted electric automobile user's intelligent experience simultaneously greatly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a structural diagram of an automatic wireless charging system based on a robot arm according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a robotic arm according to an embodiment of the present invention;
FIG. 3 is an elevation view of a robotic arm provided in accordance with an embodiment of the present invention;
FIG. 4 is a side view of a robotic arm provided in accordance with an embodiment of the present invention;
FIG. 5 is a top view of a robotic arm provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of various joints in a robotic arm provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic diagram of a wrist structure provided by an embodiment of the present invention;
FIG. 8 is a right-hand Cartesian coordinate system diagram of a robot arm linkage according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of link parameters provided in accordance with an embodiment of the present invention;
FIG. 10 is a schematic diagram of key parameters of a robotic arm according to an embodiment of the present invention;
FIG. 11 is a schematic view of a three-link coordinate system of a robotic arm according to an embodiment of the present invention;
fig. 12 is a flowchart of an automatic wireless charging method based on a robot arm according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 provides an automatic wireless charging system and method based on a mechanical arm, aiming at solving the influence of space distance and other uncontrollable factors (such as ground foreign matters) on a wireless charging system of an electric automobile at one time, so that the charging efficiency and the safety of wireless charging of the electric automobile are improved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
When a user parks and prepares for charging, a parking position can have a certain deviation from an ideal position, so that the designed automatic wireless charging system based on the mechanical arm can move, and the position of a primary coil, namely a charging transmitting end, is adjusted, so that the charging is normally operated. Because the parking position of electric automobile not only has the deviation in the horizontal plane, to different motorcycle types, its interface that charges, the height that charges the receiving terminal promptly also has difference, so set for the position adjustment range of this automatic wireless charging system's the transmission end that charges: the X axis is not less than +/-30 cm, the Y axis is not less than +/-30 cm, and the Z axis is not less than +/-30 cm.
Example one
As shown in fig. 1, an automatic wireless charging system based on a robot arm according to an embodiment of the present invention includes: numerical control device, vision positioner and arm.
As shown in fig. 2 to 5, the robot arm includes at least an arm body structure and a wrist structure; the arm body structure is respectively connected with the numerical control device and the wrist structure, namely one side of the arm body structure is connected with the numerical control device, the other side of the arm body structure is connected with one side of the wrist structure, and the other side of the wrist structure is used for connecting a charging transmitting terminal; the arm body structure is used for adjusting the spatial position information of the charging transmitting end, namely X, Y, Z; the wrist structure is used for adjusting the space attitude information of the charging transmitting terminal, namely alpha, beta and gamma.
And the visual positioning device is used for acquiring the pose information of the charging receiving end of the vehicle to be charged in the charging parking space.
The numerical control device is used for determining the movement track of the mechanical arm based on the pose information of the charging receiving end after receiving a charging signal of the vehicle to be charged, and outputting a movement instruction based on the movement track of the mechanical arm; the movement instruction is used for controlling the arm body structure and the wrist structure to move so that the charging emission end mounted on the wrist structure reaches a target pose; the target pose is the posture and the position area of the charging transmitting terminal when the charging vehicle on the charging parking space is charged efficiently and safely.
As a preferred implementation manner, the robot arm provided by the embodiment of the present invention further includes a base; the base is internally provided with the numerical control device and the visual positioning device, and the visual positioning device faces towards the charging parking space.
Furthermore, the visual positioning device comprises a 3D camera, infrared equipment and a visual positioning module, so that the purpose of high-precision visual positioning is achieved. The method specifically comprises the following steps:
the visual positioning device adopts a 3D camera, infrared equipment and a visual positioning technology to scan a vehicle to be charged in a charging parking space and a charging receiving end of the vehicle to be charged in real time (the default vehicle to be charged can stop in a near area of an automatic wireless charging system), image data of the vehicle to be charged and the charging receiving end are obtained, and pose information, namely space position information and space pose information, of the charging receiving end is calculated from the image through intelligent identification and positioning analysis.
The visual positioning device is used for: acquiring image information of a vehicle to be charged in a charging parking space and image information of a charging receiving end of the vehicle to be charged; and determining the pose information of the charging receiving end based on the image information of the vehicle to be charged and the image information of the charging receiving end of the vehicle to be charged.
Further, the automatic wireless charging system based on the mechanical arm provided by the embodiment of the invention further comprises a driving motor and a detection device.
The mechanical arm provided by the embodiment of the invention is a hinged mechanical arm. Articulated arms are widely used in the industrial field and generally consist of two parts, namely an arm body structure and a wrist structure, wherein the arm body structure generally comprises three joints which determine the spatial position of the end execution; the wrist structure typically includes two to three joints to control the pose performed by the tip.
Firstly, a base and a connecting rod connected with the base are connected through a crossed roller bearing rotating around a Z axis (the supporting function is provided while the rotational freedom degree is ensured), then the connecting rod and the connecting rod adopt the most common hinge type connection form, and one side of the connecting rod is connected with a driving motor through a fixed flange disc (the driving motor drives the connecting rod to act); the other side of the connecting rod is connected with the upper connecting rod through a bearing.
One example is: as shown in fig. 6, the arm body structure at least includes three joints, namely a first joint, a second joint and a third joint; the wrist structure at least comprises two joints, namely a fourth joint and a fifth joint; a first connecting rod is arranged between the base and the first joint; a second connecting rod is arranged between the first joint and the second joint; a third connecting rod is arranged between the second joint and the third joint; a fourth connecting rod is arranged between the third joint and the fourth joint; and a fifth connecting rod is arranged between the fourth joint and the fifth joint. Wherein the wrist structure may further comprise a wrist 1, a wrist 2 and a wrist 3 as shown in fig. 7.
The first joint, the second joint, the third joint, the fourth joint and the fifth joint are respectively connected with one driving motor. The first joint, the second joint, the third joint, the fourth joint and the fifth joint are respectively connected with an examination device; the detection device is used for acquiring joint angles of joints in real time.
The numerical control device adopted by the embodiment of the invention drives the driving motor through the I/O interface, and further drives the mechanical arm to move.
In summary, the mechanical connection form of the embodiment of the present invention: the numerical control device is placed on the base, the base is connected with the mechanical arm connecting rods (the connecting rods are joints 1, 2 and 3), the connecting rods are connected with the wrist structures (joints 4, 5 and 6), and the wrist structures are connected with the charging transmitting end.
The electrical connection form is as follows: the numerical control device is connected with a driving motor of each joint and a detection module (I/O interface connection) of each joint.
As a preferred implementation manner, the modeling according to the embodiment of the present invention transforms the pose of the charging-emission-end target: in an original coordinate system of the mechanical arm, a visual positioning device starts scanning, a numerical control device calculates attitude position information of a wireless charging receiving end, and the numerical control device determines a space position model of the wireless charging receiving end and a wireless charging transmitting end through modeling (for example, two ends are parallel to each other and the distance between the two ends is 13cm is taken as a reference), so that a target pose (end position) (tail end position X/Y/Z, tail end attitude alpha, beta and gamma) of the wireless charging transmitting end is calculated.
As a preferred implementation, the action form described in the embodiment of the present invention: charging is started, a charging automobile end sends a charging signal, an automatic wireless charging system receives the charging signal, a vision positioning device starts scanning, an original coordinate system is taken as reference, a numerical control device calculates the posture position of a wireless charging receiving end and calculates the target pose information of a wireless charging transmitting end through modeling conversion, the numerical control device calculates the joint target position through mathematical calculation (inverse kinematics calculation and track planning), track planning is made, an action instruction is sent to each joint driving motor, each joint driving motor drives a joint and a wrist to move, each joint detection device detects the moving position in real time and feeds the moving position back to the numerical control system for comparison and processing until the driving joint reaches the target position.
Further, in order to better describe the relative pose relationship between the links of the mechanical arm, a respective coordinate system needs to be established on each link. Generally, the coordinate system is a right-handed cartesian coordinate system, the Z-axis coincides with the axis of the rotating joint, and the X-axis points to the next joint.
Referring to fig. 8, after the coordinate system of each link is established, coordinate parameters between two adjacent links need to be established, and each link of the robot arm can be described by four parameters, i.e., a, α, d, and θ. For a known mechanical arm, only the value of a joint variable at a joint is changed during movement, and other three link parameters are fixed according to the determination of the mechanical arm. The rule that a, alpha, D and theta are used for describing the motion relationship among the connecting rods becomes a Denavit-Hartenberg parameter, which is called D-H parameter for short, and is specifically shown in FIG. 9.
The positional relationship between the lever i-1 and the lever i is shown in FIG. 9, and the link characteristics are represented by ai-1And alphai-1Two parameters are described. a isi-1The length of the rod i-1 represents the length of the axis i-1 and the common perpendicular to the axis i. Alpha is alphai-1For link angle, axis i-1 and axis i are shown as being perpendicular to ai-1Is included in the plane.
A common joint axis is arranged between adjacent connecting rods i-1 and i, and the connecting rods are connected by diAnd thetaiTwo parameters are described. diCalled link offset, representing the common vertical line ai-1And the public vertical line aiDistance in the direction of the joint axis i along the common axis. ThetaiCalled joint angle, representing the common vertical line ai-1The extension line and the common perpendicular line aiAngle of rotation about the common axis joint axis i.
After the D-H parameters of each joint are obtained, a homogeneous transformation matrix between adjacent connecting rods can be obtained, and the general expression form is as follows:
in the formula, c represents cos and s represents sin.
And multiplying the connecting rod transformation matrixes to obtain a transformation matrix of the coordinate system { N } relative to the coordinate system {0 }:
the aim of the arm length design of the mechanical arm is to meet the requirement that the moving range of the charging end in the performance index is larger than or equal to 30cm in the X, Y, Z direction. The final critical dimension parameters for the robotic arm were determined as shown in figure 10 and table 1.
Table 1 mechanical arm key size parameter table
After the degree of freedom distribution and the critical dimension parameters of the mechanical arm are determined, the D-H parameters are also uniquely determined. The link coordinate system shown in fig. 11 was established on the base and the first three links according to the specific rules described above, and then the D-H parameters thereof were written as shown in table 2.
TABLE 2D-H PARAMETERS TABLE
In view of this, in determining the movement trajectory of the robot arm based on the pose information of the charge receiving terminal, the numerical control device is configured to:
and determining the relative pose relationship among all joints in the mechanical arm.
Determining a pose matrix of the target joint based on the relative pose relationship among the joints; the target joint is a joint connected with the charging transmitting end in the wrist structure.
Converting the pose information of the charging receiving end to determine target pose information; the target pose information is pose information of the charging receiving end under a mechanical arm base coordinate system. The robot arm base coordinate system is shown in figure 8.
Determining terminal position and attitude information of each joint in the mechanical arm based on the target position and attitude information and the position and attitude matrix of the target joint; the end point pose information comprises an end point position and an end point joint angle; and the terminal joint angle is the joint angle of each joint in the mechanical arm when the charging emission end reaches a target pose.
Determining the movement track of each joint in the mechanical arm based on the end point pose information and the starting point pose information of each joint in the mechanical arm; the start position and orientation information includes a start position and a start joint angle.
In the aspect of determining the relative pose relationship between the joints in the mechanical arm, the numerical control device is configured to:
establishing a right-hand Cartesian coordinate system of the connecting rod for each connecting rod in the mechanical arm; the origin of the right-hand Cartesian coordinate system of the connecting rod is coincided with the center of a joint, the Z axis of the right-hand Cartesian coordinate system of the connecting rod is coincided with the axis of the joint, and the X axis of the right-hand Cartesian coordinate system of the connecting rod points to the next joint; the Y axis of the right-hand Cartesian coordinate system of the connecting rod is vertical to the target connecting rod; the target link is a link between the next joint and the one joint.
And determining the relative pose relationship among all joints in the mechanical arm based on the right-hand Cartesian coordinate system of the connecting rod and the homogeneous transformation matrix.
In determining a movement locus of each joint in the robot arm based on an initial joint angle and a target joint angle of each joint in the robot arm, the numerical control device is configured to:
a motion function of the joint angle variables is determined.
Determining a first constraint and a second constraint; the first constraint condition is a constraint condition of a starting joint angle and an end joint angle which are required to be met by the motion function; the second constraint condition is a constraint condition of an initial speed and a termination speed which are required to be met by the motion function.
And determining the moving track of each joint in the mechanical arm by adopting a cubic polynomial function based on the motion function, the first constraint condition, the second constraint condition and the end point pose information and the start point pose information of each joint in the mechanical arm.
The embodiment of the present invention takes an arm body structure including a joint 1, a joint 2, and a joint 3, and a wrist structure including a joint 4, a joint 5, and a joint 6 as an example to describe a process of determining a movement trajectory of a mechanical arm. The process for determining the movement track of the mechanical arm comprises the following steps.
1. Establishing the relative pose relationship among all joints in the mechanical arm
The right-hand cartesian coordinate system of the mechanical arm connecting rod is the basis for the trajectory planning. The rule for establishing the right-hand cartesian coordinate system of the mechanical arm connecting rod is that the Z-axis coincides with the axis of the joint, and the X-axis points to the next joint. Wherein the right hand cartesian coordinate system of the robot arm linkage is shown in figure 5.
2. Establishing coordinate parameter relation between two adjacent connecting rods
After a Cartesian coordinate system of the right hand of the connecting rods of the mechanical arm is established, coordinate parameter relation between two adjacent connecting rods needs to be established, and coordinates of each connecting rod of the mechanical arm can be described by four parameters, namely a, alpha, d and theta. For one mechanical arm, only the value of a joint variable theta at a joint is changed during movement, and other three link parameters are fixed according to the determination of the mechanical arm. The rule that a, alpha, D and theta are used for describing the motion relation among the connecting rods is called as a Denavit-Hartenberg parameter, and is called as a D-H parameter for short. The D-H parameters a, alpha, D and theta of the mechanical arm system can be obtained by the Cartesian coordinate system of the right hand of the mechanical arm connecting rod.
The homogeneous transformation matrix between adjacent links is known as:
in the formula, c represents cos and s represents sin.
The D-H parameters are brought into the homogeneous transformation matrix general formula, and a pose transformation matrix between the base and the joint 1 is obtained through calculation:
the pose transformation matrix between the joint 1 and the joint 2 is as follows:
the pose transformation matrix between the joint 2 and the joint 3 is as follows:
the pose transformation matrix between the joint 3 and the joint 4 is as follows:
the pose transformation matrix between the joint 4 and the joint 5 is:
the pose transformation matrix between the joint 5 and the joint 6 is as follows:
the pose matrix of the joint 6 thus obtained is:
in the formula:
r11＝-s6[-s5(s3c4-s4c3)(c1s2+s1c2)-c5(c3c4+s3s4)(c1s2+s1c2)]
(9)；
r12＝s5s3(s4+c4)(c1s2-s1c2)-c5(s3c4+s4c3)(c1s2-s1c2)
(10)；
r13＝s6(c1c2-s1s2)-c6s5(s3c4-s4c3)(c1s2+s1c2) -c5c6(c3c4+s3s4)(c1s2+s1c2)
(11)；
r21＝s6c5(c3c4+s3s4+c4s3-c3s4)(s1s2-c1c2)+c6(c1s2+s1c2)
(12)；
r22＝s5(c3c4+s3s4)(s1s2-c1c2)-c5(s3c4-c3s4)(s1s2-c1c2)
(13)；
r23＝-s5c6(c4s3-c3s4)(s1s2-c1c2)-c5c6(s3s4+c3c4)(s1s2-c1c2) +s6(c1s2+s1c2)
(14)；
r31＝s6s5(c3c4+s3s4)-s6c5(s3c4-c3s4)
(15)；
r32＝s5(c3s4-c4s3)-c5(s3s4+c3c4)
(16)；
r33＝-c6s5(c3c4+s3s4)-c5(c4s3-c3s4)
(17)；
px＝480s3(c1s2+s1c2)-35s6(c1s2+s1c2)+200c1s2 -35c6s5(c4s3-c3s4)(c1s2+s1c2)-35(c6+1)c5(c4c3+s3s4)(c1s2+s1c2) +200s1c2-35s5(s3c4-s4c3)(c1s2+s1c2)+480(c4s3-c3s4)(c1s2+s1c2)
(18)；
py＝480s3(c4+1)(s1s2-c1c2)+35s6(c1s2+s1c2) -35s5(c6-1)(c4s3+s4c3)(s1s2-c1c2)-36c5(c4c3+s4s3)(s1s2-c1c2) +200(s1s2-c1c2)+480(c4s3-s4c3)(s1s2-c1c2)
(19)；
pz＝480(c4+1)c3+480s3s4-35(c6+1)s5(c3c4+s3s4) +35(c6+1)c5(c4s3-c3s4)
(20)；
wherein s1 denotes sin θ1And c1 denotes cos θ1The other s and c are derived in turn.
The relative pose relationship among the joints is determined through the calculation, and basic preparation is made for solving the transformation quantity required by each joint when the initial pose is transformed to the target pose through inverse kinematics calculation in the next step.
3. Inverse kinematics solution of the mechanical arm (shortest path of decision movement):
inverse kinematics is the amount of transformation required for each joint to resolve when transforming from an initial pose to a target pose, given the target pose information (x, y, z, α, β, γ).
On the premise of knowing the target pose information (x, y, z, alpha, beta, gamma), a homogeneous transformation matrix T can be obtained, and the specific form of the homogeneous transformation matrix T is as follows:
the position of the rigid body links is represented by a 3 x 1 matrix, i.e. [ p ]x py pz]TThe attitude information is represented by a rotation matrix R, and if the attitude of a rigid body in a coordinate system is known, the rotation matrix can be obtained by the following formula:
x, Y, Z are coordinate axes of the base coordinate system respectively; x ', Y ', Z ' are the coordinate axes of the end effector coordinate system, i.e. the joint 6 coordinate system, respectively. From this, an end pose matrix can be obtained
Two-sided simultaneous left ride
The following can be obtained:
from the elements of the second row and the fourth column of the matrix, one can obtain:
pyc1-pxs1＝0 (25)；
therefore, the method comprises the following steps:
From the matrix elements (1, 4) and elements (3, 4), one can obtain:
two equations are collated and squared and then added to obtain:
(pxc1+pys1-35c234)2＝4802(c23+c2)2
(pz-280-35s234)2＝4802(s23+s2)2
(pxc1+pys1-35c234)2+(pz-280-35s234)2＝2×4802+2×4802(s23s2+c23c2)
transforming according to a trigonometric function:
s23s2+c23c2＝cos[(θ2+θ3)-θ2]＝cosθ3
therefore, the method comprises the following steps:
in the formula, except for s234And c234The outer is a known quantity, and s will be solved in the following solving process234And c234The value of (1) can be solved to form theta3The value of (c).
Since the joints 2, 3, 4 are parallel to each other, left-hand
No effect is produced, the inverse of the first four joint transformation matrices will be multiplied next, i.e.:
after unfolding, the following can be obtained:
from the matrix elements (2, 3) we can obtain:
-s234(axc1+ays1)+c234az＝0
Then, theta is calculated with reference to the formula2The value of (c):
pxc1+pys1＝35c234+480(c23+c2)
pz-280＝35s234+480(s23+s2)
due to c12＝c1c2-s1s2、s12＝s1c2+c1s2Substituting the above equation can result in:
the above equation set has only two unknowns, and can be solved simultaneously:
this gives:
at this time, θ2And theta3Are all obtained, so that θ4The value of (d) can also be found:
θ4＝θ234-θ2-θ3 (35)；
from the matrix elements (1, 3) and elements (3, 3), one can obtain:
obtaining by solution:
from the matrix elements (2, 1) and elements (2, 2), one obtains:
therefore, the method comprises the following steps:
at the moment, the angles theta of the six joints in the joint coordinate system are all obtained, and finally, the numerical control device selects an optimal solution for the solution according to the 'shortest travel' principle with weight, so that under the condition of current target pose information (x, y, z, alpha, beta and gamma), the terminal angle theta of each joint is solved when each joint is transformed to the target pose information.
4. And planning a track.
Considering how a joint moves from an initial angle (initial position) to a target angle (target position), i.e. a motion function θ (t) for determining a variable of the joint angle is required, the function value at the time when t is 0 is the initial angle of the joint, and the function value at t is the target angle of the jointfThe function value at the time is the target angle of the joint (the angle θ of the six joints in the joint coordinate system obtained above)1-6). The invention interpolates theta (t) by using a cubic polynomial function which is the most common smooth function.
In order to obtain a certain polynomial function curve, certain constraints are required, and first, the motion function needs to satisfy the constraints of an initial angle and a target angle, that is:
in order to satisfy the condition that the speed is continuous in the motion process of the mechanical arm, the initial speed and the final speed need to be restrained:
in order to satisfy the above four constraints simultaneously, the degree of the polynomial is at least 3, and four coefficients a of the cubic polynomial are then0、a1、a2、a3Exists and is unique. The concrete form of the cubic polynomial is as follows:
θ(t)＝a0+a1t+a2t2+a3t3 (42)；
the velocity and acceleration at which the joint moves are then:
it can be seen that the speed and the acceleration in the joint motion process are both limited and continuous, and the stability of the motion process is ensured.
Substituting four constraints into equations (40) and (41) yields:
solving this system of equations yields:
the four coefficients of the cubic polynomial can be found using equation (45), i.e., the cubic polynomial function can be run from any starting angle to the end point angle.
The numerical control device successively substitutes the angles theta according to the joint sequence1-6The motion track functions of all joints are sequentially solved, the numerical control device automatically sends an instruction to the driving motor, and the driving motor is driven to move to a specified position (angle) according to the track determined by the motion track functions.
In conclusion, by establishing a relationship equation among joints, inverse kinematics calculation and track planning function establishment, the numerical control device can automatically make track planning under the condition of any known target position coordinates (x, y, z, alpha, beta and gamma), and output an instruction to the driving motor in real time according to the track planning, and the driving motor drives the joints to reach the specified positions in real time.
On the basis of the first embodiment, the invention also provides an automatic wireless charging method based on the mechanical arm, which is shown in fig. 12 and is applied to an automatic wireless charging system based on the mechanical arm; the automatic wireless charging system based on the mechanical arm at least comprises the mechanical arm; the mechanical arm at least comprises an arm body structure and a wrist structure; the arm body structure is respectively connected with the numerical control device and the wrist structure, and the wrist structure is also used for connecting a charging transmitting terminal; the arm body structure is used for adjusting the space position of the charging transmitting end; the wrist structure is used for adjusting the space posture of the charging transmitting end; the automatic wireless charging method comprises the following steps:
step 100: acquiring pose information of a charging receiving end of a vehicle to be charged in a charging parking space;
step 200: after receiving a charging signal of the vehicle to be charged, determining a movement track of the mechanical arm based on pose information of the charging receiving end, and outputting a movement instruction based on the movement track of the mechanical arm; the movement instruction is used for controlling the arm body structure and the wrist structure to move so that the charging emission end installed on the wrist structure reaches a target pose.
Wherein, the determining the movement track of the mechanical arm based on the pose information of the charging receiving end specifically comprises:
determining the relative pose relationship among all joints in the mechanical arm; determining a pose matrix of the target joint based on the relative pose relationship among the joints; the target joint is a joint connected with the charging transmitting end in the wrist structure; determining a target joint angle of each joint in the mechanical arm based on the pose information of the charging receiving end and the pose matrix of the target joint; the target joint angle is the joint angle of each joint in the mechanical arm when the charging emission end reaches a target pose; and determining the movement track of each joint in the mechanical arm based on the initial joint angle and the target joint angle of each joint in the mechanical arm.
The invention can realize the mechanical arm structure for automatically charging the electric automobile in a wireless manner, the charging manner has the advantages of a wireless charging manner, such as dust prevention, water prevention, low maintenance cost, small potential safety hazard and the like, the problem of deviation of primary and secondary side coils caused by parking of a driver in the traditional wireless charging manner is effectively solved, the requirement for automatically charging the electric automobile is met, and meanwhile, the intelligent experience of electric automobile users is greatly improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. An automatic wireless charging system based on arm, its characterized in that includes: the device comprises a numerical control device, a visual positioning device and a mechanical arm;
the mechanical arm at least comprises an arm body structure and a wrist structure; the arm body structure is respectively connected with the numerical control device and the wrist structure, and the wrist structure is also used for connecting a charging transmitting terminal; the arm body structure is used for adjusting the space position of the charging transmitting end; the wrist structure is used for adjusting the space posture of the charging transmitting end;
the visual positioning device is used for acquiring pose information of a charging receiving end of a vehicle to be charged in the charging parking space;
the numerical control device is used for determining the movement track of the mechanical arm based on the pose information of the charging receiving end after receiving a charging signal of the vehicle to be charged, and outputting a movement instruction based on the movement track of the mechanical arm; the movement instruction is used for controlling the arm body structure and the wrist structure to move so that the charging emission end installed on the wrist structure reaches a target pose.
2. The robotic-based automated wireless charging system of claim 1, wherein the robotic arm further comprises a base; the base is internally provided with the numerical control device and the visual positioning device, and the visual positioning device faces towards the charging parking space.
3. The robotic-arm-based automated wireless charging system of claim 2, further comprising a drive motor;
the arm body structure at least comprises three joints, namely a first joint, a second joint and a third joint; the wrist structure at least comprises two joints, namely a fourth joint and a fifth joint;
a first connecting rod is arranged between the base and the first joint; a second connecting rod is arranged between the first joint and the second joint; a third connecting rod is arranged between the second joint and the third joint; a fourth connecting rod is arranged between the third joint and the fourth joint; a fifth connecting rod is arranged between the fourth joint and the fifth joint;
the first joint, the second joint, the third joint, the fourth joint and the fifth joint are respectively connected with one driving motor.
4. The automatic wireless charging system based on mechanical arm according to claim 1, wherein in determining the moving track of the mechanical arm based on the pose information of the charging receiving end, the numerical control device is configured to:
determining the relative pose relationship among all joints in the mechanical arm;
determining a pose matrix of the target joint based on the relative pose relationship among the joints; the target joint is a joint connected with the charging transmitting end in the wrist structure;
converting the pose information of the charging receiving end to determine target pose information; the target pose information is pose information of the charging receiving end under a mechanical arm base coordinate system;
determining end point pose information of each joint in the mechanical arm based on the target pose information and the pose matrix of the target joint; the end point pose information comprises an end point position and an end point joint angle; the terminal joint angle is the joint angle of each joint in the mechanical arm when the charging emission end reaches a target pose;
determining the movement track of each joint in the mechanical arm based on the end point pose information and the starting point pose information of each joint in the mechanical arm; the start position and orientation information includes a start position and a start joint angle.
5. The automatic wireless charging system based on mechanical arm as claimed in claim 4, wherein, a connecting rod is arranged between each joint of the mechanical arm;
in determining the relative pose relationship between the joints in the mechanical arm, the numerical control device is configured to:
establishing a right-hand Cartesian coordinate system of the connecting rod for each connecting rod in the mechanical arm; the origin of the right-hand Cartesian coordinate system of the connecting rod is coincided with the center of a joint, the Z axis of the right-hand Cartesian coordinate system of the connecting rod is coincided with the axis of the joint, and the X axis of the right-hand Cartesian coordinate system of the connecting rod points to the next joint; the Y axis of the right-hand Cartesian coordinate system of the connecting rod is vertical to the target connecting rod; the target connecting rod is a connecting rod between the next joint and the first joint;
and determining the relative pose relationship among all joints in the mechanical arm based on the right-hand Cartesian coordinate system of the connecting rod and the homogeneous transformation matrix.
6. The system according to claim 4, wherein in the aspect of determining the movement track of each joint in the robot arm based on the end-point pose information and the start-point pose information of each joint in the robot arm, the numerical control device is configured to:
determining a motion function of the joint angle variable;
determining a first constraint and a second constraint; the first constraint condition is a constraint condition of a starting joint angle and an end joint angle which are required to be met by the motion function; the second constraint condition is a constraint condition of an initial speed and a termination speed which are required to be met by the motion function;
and determining the moving track of each joint in the mechanical arm by adopting a cubic polynomial function based on the motion function, the first constraint condition, the second constraint condition and the end point pose information and the start point pose information of each joint in the mechanical arm.
7. The robotic-arm-based automated wireless charging system of claim 1, wherein the visual positioning device comprises: 3D camera, infrared equipment and visual positioning module, wherein, visual positioning module is used for: and calculating the pose of the charging receiving end based on the 3D camera and the infrared equipment to obtain the pose information.
8. The robotic-arm-based automated wireless charging system of claim 1, wherein the visual positioning device is configured to:
acquiring image information of a vehicle to be charged in a charging parking space and image information of a charging receiving end of the vehicle to be charged;
and determining the pose information of the charging receiving end based on the image information of the vehicle to be charged and the image information of the charging receiving end of the vehicle to be charged.
9. An automatic wireless charging method based on a mechanical arm is characterized in that the automatic wireless charging method is applied to an automatic wireless charging system based on the mechanical arm; the automatic wireless charging system based on the mechanical arm at least comprises the mechanical arm; the mechanical arm at least comprises an arm body structure and a wrist structure; the arm body structure is respectively connected with the numerical control device and the wrist structure, and the wrist structure is also used for connecting a charging transmitting terminal; the arm body structure is used for adjusting the space position of the charging transmitting end; the wrist structure is used for adjusting the space posture of the charging transmitting end; the automatic wireless charging method comprises the following steps:
acquiring pose information of a charging receiving end of a vehicle to be charged in a charging parking space;
after receiving a charging signal of the vehicle to be charged, determining a movement track of the mechanical arm based on pose information of the charging receiving end, and outputting a movement instruction based on the movement track of the mechanical arm; the movement instruction is used for controlling the arm body structure and the wrist structure to move so that the charging emission end installed on the wrist structure reaches a target pose.
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