CN113752892A - Intelligent charging system and method - Google Patents
Intelligent charging system and method Download PDFInfo
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- CN113752892A CN113752892A CN202010490512.6A CN202010490512A CN113752892A CN 113752892 A CN113752892 A CN 113752892A CN 202010490512 A CN202010490512 A CN 202010490512A CN 113752892 A CN113752892 A CN 113752892A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to the technical field of intelligent charging, in particular to an intelligent charging system and method, wherein the system comprises: a vehicle identification device; a movable mechanical arm; a controller coupled to the vehicle recognition device and the robotic arm for: when a vehicle needs to be charged, vehicle information of the vehicle is identified through a vehicle identification device; according to the vehicle information, first position information of a first charging interface of the vehicle is obtained; the mechanical arm is controlled to grab the charging gun from the charging pile; controlling the mechanical arm to move to a first charging interface position based on the first position information; the control arm will charge the rifle and insert first interface that charges. Thereby realized through the controller that the arm of a motor vehicle snatch the rifle that charges, the rifle that charges of centre gripping removes to the first interface position that charges of vehicle to the rifle that will charge inserts the first interface that charges and charges the vehicle, greatly improved the convenience of electric automobile charging process, improved user experience.
Description
Technical Field
The invention relates to the technical field of intelligent charging, in particular to an intelligent charging system and method.
Background
With the development of new energy, China begins to popularize electric automobiles vigorously, the electric automobiles are driven by electric power, compared with the traditional automobiles driven by oil or gas, the electric automobiles can greatly reduce the damage degree to the environment, and the electric automobiles are low in price and have wide development prospects.
At present, the charging mode of the electric automobile is that the electric automobile goes to a charging station suitable for the charging standard of the electric automobile, a charging device is selected, and after the charging authority is obtained, a user takes a gun to insert into a charging port of a vehicle for charging.
The stake of filling of current charging station still needs the driver to accomplish get off and get operations such as rifle, gun insertion, and the comprehensive weight of a handle rifle and cable that charges moreover is heavier to some users, consequently, in the whole charging process, user experience is not good.
Disclosure of Invention
The invention aims to provide an intelligent charging system and method, and aims to solve the technical problem that in the prior art, the user experience is poor in the charging process of an electric automobile.
The embodiment of the invention provides the following scheme:
according to a first aspect of the present invention, an embodiment of the present invention provides an intelligent charging system, including:
a vehicle identification device;
a movable mechanical arm;
a controller coupled to the vehicle identification device and the robotic arm for: when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device; according to the vehicle information, first position information of a first charging interface of the vehicle is obtained; controlling the mechanical arm to grab the charging gun from the charging pile; controlling the mechanical arm to move to the first charging interface position based on the first position information; and controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle.
Preferably, the controller is further configured to:
according to the vehicle information, second position information of a charging gun matched with the vehicle is obtained; planning a path according to the second position information to obtain a first path; controlling the mechanical arm to move to the position of the charging gun according to the first path; and controlling the mechanical arm to grab the charging gun.
Preferably, the controller is further configured to:
planning a path according to the first position information and the second position information to obtain a second path; and controlling the mechanical arm to move to the first charging interface position according to the second path.
Preferably, the system further comprises:
the device comprises a plurality of sections of guide rails, a power supply and a power supply, wherein the sections of guide rails are arranged on the ground of a charging station, a connection structure is arranged between two adjacent sections of guide rails, and the connection structure is used for realizing the assembly and disassembly of the two sections of guide rails;
the bottom of the mechanical arm is provided with a sliding device, and the sliding device is positioned on the guide rail;
the controller is further used for controlling the mechanical arm to slide to the first charging interface position on the guide rail through the sliding device.
Preferably, the guide rail is provided with a derailing switch, and the derailing switch is used for separating the mechanical arm from the guide rail.
Preferably, the system further comprises:
an alignment recognition device connected with the controller;
the controller is further configured to: scanning the first charging interface through the alignment identification device to obtain three-dimensional position information of the first charging interface; and controlling the mechanical arm to insert the charging gun into the first charging interface based on the three-dimensional position information.
Preferably, the system further comprises:
the charging gun is arranged on the charging pile;
and the power supply is arranged in the charging pile, and the output end of the power supply is connected with the input end of the charging gun.
Preferably, the robot arm includes:
the clamping device is connected with the controller;
the controller is also used for controlling the clamping device to grab the charging gun from the charging pile.
Preferably, the system further comprises:
the input end of the charging base is connected with the output end of the power supply;
the arm still includes: the output end of the second charging interface is connected with the input end of the battery pack;
the controller is further configured to: after charging is completed, detecting the residual electric quantity of the battery pack; when the residual electric quantity is lower than a preset electric quantity, controlling the mechanical arm to move to the position of the charging base; and controlling the mechanical arm to connect the second charging interface with the charging base so that the charging base charges the battery pack.
According to a second aspect of the present invention, an intelligent charging method is provided in an intelligent charging system, where the system includes a vehicle identification device and a movable mechanical arm, and the method includes:
when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device;
according to the vehicle information, first position information of a first charging interface of the vehicle is obtained;
controlling the mechanical arm to grab the charging gun from the charging pile;
controlling the mechanical arm to move to the first charging interface position based on the first position information;
and controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle.
Preferably, control the arm is from filling electric pile and snatching the rifle that charges, include:
according to the vehicle information, second position information of a charging gun matched with the vehicle is obtained;
planning a path according to the second position information to obtain a first path;
controlling the mechanical arm to move to the position of the charging gun according to the first path;
and controlling the mechanical arm to grab the charging gun.
Preferably, the controlling the mechanical arm to move to the first charging interface position includes:
planning a path according to the first position information and the second position information to obtain a second path;
and controlling the mechanical arm to move to the first charging interface position according to the second path.
Preferably, the system further comprises: the bottom of the mechanical arm is provided with a sliding device, and the sliding device is positioned on the guide rail; the controlling the mechanical arm to move to the first charging interface position includes:
and controlling the mechanical arm to slide to the first charging interface position on the guide rail through the sliding device.
Preferably, the system further comprises: an alignment recognition device; the control the arm will charge the rifle and insert the first interface that charges, include:
scanning the first charging interface through the alignment identification device to obtain three-dimensional position information of the first charging interface;
and controlling the mechanical arm to insert the charging gun into the first charging interface based on the three-dimensional position information.
Preferably, the robot arm includes: a clamping device; control the arm is from filling electric pile and snatching the rifle that charges, include:
and controlling the clamping device to grab the charging gun from the charging pile.
Preferably, the system further comprises: a charging base; the robot arm further includes: the output end of the second charging interface is connected with the input end of the battery pack;
after the controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle, the method further comprises:
after charging is completed, detecting the residual electric quantity of the battery pack;
when the residual electric quantity is lower than a preset electric quantity, controlling the mechanical arm to move to the position of the charging base;
and controlling the mechanical arm to connect the second charging interface with the charging base so that the charging base charges the battery pack.
According to a third aspect of the present invention, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements any of the method steps according to the second aspect.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the intelligent charging system of the present invention comprises: a vehicle identification device; a movable mechanical arm; a controller coupled to the vehicle identification device and the robotic arm for: when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device; according to the vehicle information, first position information of a first charging interface of the vehicle is obtained; controlling the mechanical arm to grab the charging gun from the charging pile; controlling the mechanical arm to move to the first charging interface position based on the first position information; and controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle. Thereby realized snatching the interface position that charges rifle, centre gripping charge rifle remove to the vehicle automatically through the controller and will the rifle that charges inserts the first interface that charges and charges the vehicle, need not the user and get off, get the rifle and insert a series of operations such as rifle, greatly improved electric automobile charging process's intellectuality and convenience, improved user experience.
Drawings
In order to more clearly illustrate the embodiments of the present specification 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 specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent charging system according to an embodiment of the present invention;
FIG. 2 is a schematic view of vertical distribution of parking spaces according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an example of an exemplary parking space distribution;
fig. 4 is a schematic flowchart of an intelligent charging method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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, rather than all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.
First embodiment
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of an intelligent charging system according to an embodiment of the present invention, fig. 2 is a schematic vertical distribution diagram of parking spaces according to an embodiment of the present invention, and fig. 3 is a schematic oblique distribution diagram of parking spaces according to an embodiment of the present invention.
Arranging a controller 20 at a preset position in the charging station, dividing the charging station into a plurality of areas, arranging a charging pile, a plurality of parking spaces and a plurality of movable mechanical arms 30 in each area, arranging charging guns 40 with various types on the charging pile, and enabling the number of the mechanical arms 30 to be not more than that of the parking spaces in the area; one vehicle recognition device 10 is arranged on each parking space, or one vehicle recognition device 10 is arranged on a certain tall building of the charging station; the controller 20 is connected to each of the charging piles and each of the robot arms 30. For example, as shown in fig. 2, the parking spaces are vertically distributed, P1 to P8 are serial numbers of the parking spaces, one vehicle identification device 10 is arranged on each parking space, the charging station is divided into a left area and a right area, a charging pile is arranged on the left side of the left area, a charging pile is arranged on the right side of the right area, charging guns 40 of various types are respectively arranged on the two charging piles, and a plurality of movable mechanical arms 30 are respectively arranged in the two areas. As shown in fig. 3, the parking spaces are distributed in an oblique arrangement, P1-P6 are serial numbers of the parking spaces, a vehicle identification device 10 is arranged on a tall building of the charging station, the charging station has only one area, a charging pile is arranged in the area, a plurality of types of charging guns 40 are arranged on the charging pile, and a plurality of movable mechanical arms 30 are arranged in the area.
The application scenario of this embodiment is as follows: the user drives the vehicle to reach the charging station, and stops the vehicle at a parking space of the charging station, and an intelligent charging system arranged in the charging station identifies the vehicle information of the vehicle and automatically charges the vehicle. The intelligent charging system comprises:
a vehicle recognition device 10;
a movable robot arm 30;
a controller 20 connected to the vehicle recognition device 10 and the robot arm 30, for: when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device 10; according to the vehicle information, first position information of a first charging interface of the vehicle is obtained; controlling the mechanical arm 30 to grab the charging gun 40 from the charging pile; controlling the mechanical arm 30 to move to the first charging interface position based on the first position information; and controlling the mechanical arm 30 to insert the charging gun 40 into the first charging interface so that the charging pile charges the vehicle.
In the construction of existing charging stations, the charging equipment is an important component of the construction cost, such as charging piles, which mainly include investment in terms of purchase, installation, maintenance and the like. Usually a parking stall corresponds one in the charging station and fills electric pile, has wasted limited also the most precious space resource, also can be in addition because fill electric pile's input quantity greatly further increased the input cost and the equipment maintenance cost in later stage. And this embodiment does not set up a stake of charging in every parking stall, but has set up mobilizable arm 30 and the rifle 40 that charges of multiple model, and this arm 30 can move to arbitrary parking stall after snatching the rifle 40 that charges to the input cost of stake has been saved.
In the construction process of the charging station, the charging station is divided into two sections, one section is a parking section, only parking service is provided, and the intelligent charging system is not required to be arranged; and the second step is that the charging plate block provides charging service, the intelligent charging system is arranged in the charging plate block, a user needing to be charged is guided to enter the charging plate block through the indicating plate, and when a vehicle enters a parking space in the charging plate block, the vehicle is considered to be charged.
The vehicle identification device 10 is used for identifying vehicle information of a vehicle, and a vehicle identification device 10 can be arranged on each parking space and used for identifying the vehicle on the parking space, so that the identification result is high in accuracy and the identification efficiency is high; of course, it is also possible to provide a vehicle identification device 10 on a tall building of the charging station in each direction of the entrance of the charging station for identifying the vehicle entering the charging station from the entrance, which saves the installation costs of the vehicle identification device 10.
The vehicle information includes: vehicle license plate number or vehicle model information. In the prior art, a user manually takes a gun and manually inserts the charging gun 40 into a first charging interface of a vehicle to charge, the user needs to actively search for the position of the first charging interface, and when the vehicle information is the vehicle license plate number, the embodiment pre-acquires a first corresponding relationship between the vehicle license plate number of the user and first position information of the first charging interface, and after the vehicle identification device 10 identifies the vehicle license plate number of the vehicle, the controller 20 automatically searches for the first position information corresponding to the vehicle license plate number in the first corresponding relationship, so that the user does not need to actively search for the position of the first charging interface of the vehicle, user operation is reduced, and user experience is improved. When the vehicle information is the vehicle model information, the controller 20 obtains a second corresponding relationship between the vehicle model information and the first position information, and after the vehicle identification device 10 identifies the vehicle model information of the vehicle, the controller 20 automatically searches the first position information corresponding to the vehicle model information in the second corresponding relationship, so that a user does not need to actively search for the first charging interface position of the vehicle to be charged, user operation is reduced, and user experience is improved.
The robotic arm 30 has three states including: a working state, a standby state and a charging state, wherein the working state is that the electric quantity of the mechanical arm 30 is sufficient and a charging task is being executed; the standby state is that the mechanical arm 30 has sufficient electric quantity and is waiting for executing a charging task; the charging state is that the robot arm 30 is in charge due to insufficient electric power. The robot arm 30 includes: a clamping device connected with the controller 20; the controller 20 is further configured to control the clamping device to grasp the charging gun 40 from the charging pile. The controller 20 selects one of the robot arms 30 in the standby state, and controls the clamping device of the robot arm 30 to grip the charging gun 40 from the charging pile, so that the vehicle can be charged by the charging gun 40 in the following process.
In a specific implementation, the controller 20 controls the robot arm 30 to grasp the charging gun 40, and after the robot arm 30 grasps the charging gun 40, the controller 20 further controls the robot arm 30 to move to the first charging interface position to prepare for charging. Specifically, the controller 20 will control the robot arm 30 to move to the first charging interface position based on the first position information; and controlling the mechanical arm 30 to insert the charging gun 40 into the first charging interface, so that the charging pile charges the vehicle.
In one possible embodiment, the controller 20 is further configured to: according to the vehicle information, second position information of a charging gun 40 matched with the vehicle is obtained; planning a path according to the second position information to obtain a first path; controlling the mechanical arm 30 to move to the charging gun position according to the first path; the robot arm 30 is controlled to grasp the charging gun 40.
It can be understood that the types of charging interfaces of different electric vehicles are different, and in the prior art, a user needs to select a charging gun 40 matched with the vehicle from among multiple types of charging guns 40, and a general user cannot quickly determine the type number of the charging gun matched with the vehicle, so that the charging efficiency is reduced. And the controller 20 obtains the charging gun 40 matched with the vehicle according to the vehicle information, and obtains the second position information of the charging gun 40, so that the user does not need to select the matched charging gun 40 from various models, the user operation is reduced, and the user experience is improved. The mechanical arm 30, the charging gun 40 and the first charging interface are not located at the same position, in order to control the mechanical arm 30 to grasp the charging gun 40 on the charging pile, a path is planned with the position of the mechanical arm 30 as a starting point and the position of the charging gun as an end point to obtain a first path, the mechanical arm 30 is controlled to move to the position of the charging gun according to the first path, and when the mechanical arm 30 reaches the position of the charging gun, the mechanical arm 30 is controlled to grasp the charging gun 40.
In one possible embodiment, the controller 20 is further configured to: planning a path according to the first position information and the second position information to obtain a second path; and controlling the mechanical arm 30 to move to the first charging interface position according to the second path. After controlling the mechanical arm 30 to grasp the charging gun 40, the controller 20 performs path planning according to the first position information and the second position information with the charging gun position as a starting point and the first charging interface position as an ending point to obtain a second path, and controls the mechanical arm 30 to move to the first charging interface position according to the second path, so that the charging gun 40 is accurately grasped to the first charging interface position by the mechanical arm 30.
In one possible embodiment, the system further comprises: the charging gun 40 is arranged on the charging pile; and the power supply is arranged in the charging pile, and the output end of the power supply is connected with the input end of the charging gun 40. The power supply is used for supplying electric energy when the charging gun 40 charges the vehicle.
In one possible embodiment, the system further comprises: the input end of the charging base is connected with the output end of the power supply; the robot arm 30 further includes: the output end of the second charging interface is connected with the input end of the battery pack; the controller 20 is further configured to: after charging is completed, detecting the residual electric quantity of the battery pack; when the residual electric quantity is lower than a preset electric quantity, controlling the mechanical arm 30 to move to the position of the charging base; and controlling the mechanical arm 30 to connect the second charging interface with the charging base so that the charging base charges the battery pack. The mechanical arm 30 is provided with the high-capacity battery pack, the charging wires are not required to be connected in the using process, and the phenomenon that the charging wires of a plurality of mechanical arms 30 are wound with each other in the moving process of the mechanical arm 30 is avoided, so that the using efficiency and the safety of the mechanical arm 30 are improved. After the charging is finished, the controller 20 detects the remaining capacity of the battery pack, and when the remaining capacity is lower than the preset capacity, the mechanical arm 30 is controlled to move to the charging base position for charging, and the charging amount is compensated, so that the influence of the lower capacity of the mechanical arm 30 on the charging efficiency of the vehicle is reduced; and when the residual electric quantity is not lower than the preset electric quantity, controlling the mechanical arm 30 to execute the next charging task, so that the utilization rate of the mechanical arm 30 is improved.
In one possible embodiment, the system further comprises: the device comprises a plurality of sections of guide rails, a power supply and a power supply, wherein the sections of guide rails are arranged on the ground of a charging station, a connection structure is arranged between two adjacent sections of guide rails, and the connection structure is used for realizing the assembly and disassembly of the two sections of guide rails; the bottom of the mechanical arm 30 is provided with a sliding device which is positioned above the guide rail; the controller 20 is further configured to control the mechanical arm 30 to slide on the guide rail to the first charging interface position through the sliding device. The sliding device at the bottom of the mechanical arm 30 can be a pulley, and the pulley is clamped in the guide rail to slide, so that the mechanical arm 30 is driven to slide on the guide rail, the flexibility of movement of the mechanical arm 30 is improved, the movement track of the mechanical arm 30 is limited between the guide rails, the position deviation caused by random movement of the mechanical arm 30 is avoided, and the safety and the standardization of movement of the mechanical arm 30 are improved.
In a possible embodiment, the guide rail is provided with a derailing switch, and the derailing switch is used for separating the mechanical arm 30 from the guide rail, so that the mechanical arm 30 is convenient to overhaul and maintain.
In one possible embodiment, the system further comprises: an alignment recognition device connected to the controller 20; the controller 20 is further configured to: scanning the first charging interface through the alignment identification device to obtain three-dimensional position information of the first charging interface; based on the three-dimensional position information, the mechanical arm 30 is controlled to insert the charging gun 40 into the first charging interface. The first position information is a rough position of the first charging interface on the vehicle, and in order to accurately insert the charging gun 40 into the first charging interface, the first charging interface needs to be accurately positioned, specifically, the alignment identification device is adopted to scan the first charging interface, and the three-dimensional position information of the first charging interface is accurately obtained. After the three-dimensional position information of the first charging interface is located, the controller 20 controls the mechanical arm 30 to insert the charging gun 40 into the first charging interface according to the three-dimensional position information, and controls the charging pile to charge the vehicle. After the charging is completed, the mechanical arm 30 is controlled to pull the charging gun 40 out of the first charging interface, so that the whole charging process is completed.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
the intelligent charging system of this embodiment includes: a vehicle recognition device 10; a movable robot arm 30; a controller 20 connected to the vehicle recognition device 10 and the robot arm 30, for: when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device 10; according to the vehicle information, first position information of a first charging interface of the vehicle is obtained; controlling the mechanical arm 30 to grab the charging gun 40 from the charging pile; controlling the mechanical arm 30 to move to the first charging interface position based on the first position information; and controlling the mechanical arm 30 to insert the charging gun 40 into the first charging interface so that the charging pile charges the vehicle. Thereby realized through controller 20 control arm 30 automatic snatch the interface position that charges rifle 40, centre gripping charge rifle 40 remove to the vehicle and with it is right to charge rifle 40 inserts first interface that charges the vehicle charges, need not the user and gets off, get the rifle and insert a series of operations such as rifle, greatly improved electric automobile charging process's intellectuality and convenience, improved user experience.
Second embodiment
Based on the same inventive concept, as shown in fig. 4, an embodiment of the present invention further provides an intelligent charging method applied to an intelligent charging system, where the system includes a vehicle identification device and a movable mechanical arm, and the method includes:
step S10: when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device;
step S20: according to the vehicle information, first position information of a first charging interface of the vehicle is obtained;
step S30: controlling the mechanical arm to grab the charging gun from the charging pile;
step S40: controlling the mechanical arm to move to the first charging interface position based on the first position information;
step S50: and controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle.
In a possible embodiment, the controlling the mechanical arm to grab the charging gun from the charging pile includes:
according to the vehicle information, second position information of a charging gun matched with the vehicle is obtained;
planning a path according to the second position information to obtain a first path;
controlling the mechanical arm to move to the position of the charging gun according to the first path;
and controlling the mechanical arm to grab the charging gun.
In a possible embodiment, the controlling the mechanical arm to move to the first charging interface position includes:
planning a path according to the first position information and the second position information to obtain a second path;
and controlling the mechanical arm to move to the first charging interface position according to the second path.
In one possible embodiment, the system further comprises: the bottom of the mechanical arm is provided with a sliding device, and the sliding device is positioned on the guide rail; the controlling the mechanical arm to move to the first charging interface position includes:
and controlling the mechanical arm to slide to the first charging interface position on the guide rail through the sliding device.
In one possible embodiment, the system further comprises: an alignment recognition device; the control the arm will charge the rifle and insert the first interface that charges, include:
scanning the first charging interface through the alignment identification device to obtain three-dimensional position information of the first charging interface;
and controlling the mechanical arm to insert the charging gun into the first charging interface based on the three-dimensional position information.
In one possible embodiment, the robotic arm includes: a clamping device; control the arm is from filling electric pile and snatching the rifle that charges, include:
and controlling the clamping device to grab the charging gun from the charging pile.
In one possible embodiment, the system further comprises: a charging base; the robot arm further includes: the output end of the second charging interface is connected with the input end of the battery pack;
after the controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle, the method further comprises:
after charging is completed, detecting the residual electric quantity of the battery pack;
when the residual electric quantity is lower than a preset electric quantity, controlling the mechanical arm to move to the position of the charging base;
and controlling the mechanical arm to connect the second charging interface with the charging base so that the charging base charges the battery pack.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
the embodiment identifies the vehicle information of the vehicle through the vehicle identification device when the vehicle needs to be charged; according to the vehicle information, first position information of a first charging interface of the vehicle is obtained; controlling the mechanical arm to grab the charging gun from the charging pile; controlling the mechanical arm to move to the first charging interface position based on the first position information; and controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle. Thereby realized snatching the interface position that charges that the rifle, the rifle that charges of centre gripping removed to the vehicle automatically through the controller and will the rifle that charges inserts first interface that charges right the vehicle charges, need not the user and get off, get the rifle and insert a series of operations such as rifle, greatly improved electric automobile charging process's intellectuality and convenience, improved user experience.
Third embodiment
Based on the same inventive concept, as shown in fig. 5, an embodiment of the present invention further provides a computer-readable storage medium 300, on which a computer program 311 is stored, where the program 311, when executed by a processor, implements the following steps:
when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device; according to the vehicle information, first position information of a first charging interface of the vehicle is obtained; controlling the mechanical arm to grab the charging gun from the charging pile; controlling the mechanical arm to move to the first charging interface position based on the first position information; and controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle.
In a specific implementation, the computer program 311 may implement the method steps of any one of the second implementation manners described above when executed by a processor.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (modules, systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (17)
1. An intelligent charging system, comprising:
a vehicle identification device;
a movable mechanical arm;
a controller coupled to the vehicle identification device and the robotic arm for: when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device; according to the vehicle information, first position information of a first charging interface of the vehicle is obtained; controlling the mechanical arm to grab the charging gun from the charging pile; controlling the mechanical arm to move to the first charging interface position based on the first position information; and controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle.
2. The system of claim 1, wherein the controller is further configured to:
according to the vehicle information, second position information of a charging gun matched with the vehicle is obtained; planning a path according to the second position information to obtain a first path; controlling the mechanical arm to move to the position of the charging gun according to the first path; and controlling the mechanical arm to grab the charging gun.
3. The system of claim 2, wherein the controller is further configured to:
planning a path according to the first position information and the second position information to obtain a second path; and controlling the mechanical arm to move to the first charging interface position according to the second path.
4. The system of claim 1, further comprising:
the device comprises a plurality of sections of guide rails, a power supply and a power supply, wherein the sections of guide rails are arranged on the ground of a charging station, a connection structure is arranged between two adjacent sections of guide rails, and the connection structure is used for realizing the assembly and disassembly of the two sections of guide rails;
the bottom of the mechanical arm is provided with a sliding device, and the sliding device is positioned on the guide rail;
the controller is further used for controlling the mechanical arm to slide to the first charging interface position on the guide rail through the sliding device.
5. The system of claim 4, wherein the rail includes a derail switch for disengaging the robotic arm from the rail.
6. The system according to any one of claims 1-5, further comprising:
an alignment recognition device connected with the controller;
the controller is further configured to: scanning the first charging interface through the alignment identification device to obtain three-dimensional position information of the first charging interface; and controlling the mechanical arm to insert the charging gun into the first charging interface based on the three-dimensional position information.
7. The system according to any one of claims 1-5, further comprising:
the charging gun is arranged on the charging pile;
and the power supply is arranged in the charging pile, and the output end of the power supply is connected with the input end of the charging gun.
8. The system of claim 7, wherein the robotic arm comprises:
the clamping device is connected with the controller;
the controller is also used for controlling the clamping device to grab the charging gun from the charging pile.
9. The system of claim 8, further comprising:
the input end of the charging base is connected with the output end of the power supply;
the arm still includes: the output end of the second charging interface is connected with the input end of the battery pack;
the controller is further configured to: after charging is completed, detecting the residual electric quantity of the battery pack; when the residual electric quantity is lower than a preset electric quantity, controlling the mechanical arm to move to the position of the charging base; and controlling the mechanical arm to connect the second charging interface with the charging base so that the charging base charges the battery pack.
10. An intelligent charging method is applied to an intelligent charging system, the system comprises a vehicle identification device and a movable mechanical arm, and the method comprises the following steps:
when a vehicle needs to be charged, identifying vehicle information of the vehicle through the vehicle identification device;
according to the vehicle information, first position information of a first charging interface of the vehicle is obtained;
controlling the mechanical arm to grab the charging gun from the charging pile;
controlling the mechanical arm to move to the first charging interface position based on the first position information;
and controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle.
11. The method of claim 10, wherein said controlling said robotic arm to grasp the charging gun from the charging post comprises:
according to the vehicle information, second position information of a charging gun matched with the vehicle is obtained;
planning a path according to the second position information to obtain a first path;
controlling the mechanical arm to move to the position of the charging gun according to the first path;
and controlling the mechanical arm to grab the charging gun.
12. The method of claim 11, wherein the controlling the robotic arm to move to the first charging interface position comprises:
planning a path according to the first position information and the second position information to obtain a second path;
and controlling the mechanical arm to move to the first charging interface position according to the second path.
13. The method of claim 10, wherein the system further comprises: the bottom of the mechanical arm is provided with a sliding device, and the sliding device is positioned on the guide rail; the controlling the mechanical arm to move to the first charging interface position includes:
and controlling the mechanical arm to slide to the first charging interface position on the guide rail through the sliding device.
14. The method according to any one of claims 10-13, wherein the system further comprises: an alignment recognition device; the control the arm will charge the rifle and insert the first interface that charges, include:
scanning the first charging interface through the alignment identification device to obtain three-dimensional position information of the first charging interface;
and controlling the mechanical arm to insert the charging gun into the first charging interface based on the three-dimensional position information.
15. The method of claim 10, wherein the robotic arm comprises: a clamping device; control the arm is from filling electric pile and snatching the rifle that charges, include:
and controlling the clamping device to grab the charging gun from the charging pile.
16. The method according to any one of claims 10-13, wherein the system further comprises: a charging base; the robot arm further includes: the output end of the second charging interface is connected with the input end of the battery pack;
after the controlling the mechanical arm to insert the charging gun into the first charging interface so that the charging pile charges the vehicle, the method further comprises:
after charging is completed, detecting the residual electric quantity of the battery pack;
when the residual electric quantity is lower than a preset electric quantity, controlling the mechanical arm to move to the position of the charging base;
and controlling the mechanical arm to connect the second charging interface with the charging base so that the charging base charges the battery pack.
17. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 10 to 16.
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