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Method and system for localizing charging interface

A positioning method and positioning system technology, which are applied in charging stations, electric vehicle charging technology, electric vehicles, etc., can solve the problems of unstable positioning accuracy, low positioning efficiency, and high cost of visual positioning systems, and achieve simple positioning methods and high efficiency. Effect

Active Publication Date: 2019-03-22
奕充机器人(苏州)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the automatic charging system, the visual system is usually used to locate the spatial position of the charging port, but the cost of the visual positioning system is high, which limits the low-cost mass promotion and application of the automatic charging system
The conventional scanning method based on laser positioning generally adopts the double-scanning method, and the two-time laser scanning has the problems of low positioning efficiency and unstable positioning accuracy.

Method used

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  • Method and system for localizing charging interface
  • Method and system for localizing charging interface
  • Method and system for localizing charging interface

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] ginseng figure 1 As shown, the positioning system in this embodiment is composed of a charging base 10, a laser ranging module 20, and a mechanical arm 30. The charging base 10 includes a base 12 and a circular charging port 11 located on the base. The shape of 11 is a tube with a certain wall thickness, and there is a certain height difference between its end surface and the end surface of the base 12, and the end surface of the base 12 is a plane.

[0054] The robotic arm 20 can drive the laser ranging module 20 to move along the X-axis, Y-axis and Z-axis, so the positioning system can adjust the distance L between the laser ranging module 20 and the charging port 11 in the Y direction through the mechanical arm 20, preferably in this implementation The distance L in the example is 0.2m to 0.6m, which can ensure the measurement accuracy. In addition, the positioning system can also adjust the position of the laser spot emitted by the laser ranging module 20 relative ...

Embodiment 2

[0072] Different from Embodiment 1, the base and the charging port of the charging stand in this embodiment are integrated, and the shape of the charging port is a conical surface.

[0073] The advantage of this embodiment is that the characteristics of the charging port are obvious, even if there is light interference and the scanning data contains noise data, the noise interference data can be filtered out through data processing without affecting the positioning accuracy of the charging port.

Embodiment 3

[0075] Different from Embodiment 2, in this embodiment, a groove with a certain width is provided on the base of the charging stand outside the charging port.

[0076] The distribution structure of the groove can be:

[0077] (1) Set a groove on the left side of X;

[0078] (2) Two grooves are arranged symmetrically in the X direction;

[0079] (3) A groove is provided on the upper side of Z;

[0080] (4) Two grooves are arranged symmetrically in the Z direction.

[0081] By setting the groove structure, the interference data existing in the scanning process can be filtered out more accurately, and the double groove structure is preferably selected, and the positioning effect of the double groove is better than that of the single groove structure.

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Abstract

The invention discloses a method and system for localizing a charging interface. The method for localizing the charging interface includes the steps that S1, a charging base with the charging interface is provided, and height difference exists between the external contour of the charging interface and the interior of the charging interface; S2, a mechanical arm drives a laser distance measurementmodule to conduct scanning along a straight line, critical points with the height difference on the straight line are measured, and the chord length K between two critical points on the charging interface is obtained; S3, whether or not the chord length K meets the formula W<K<S is judged, if yes, a fourth step is executed, and if not, the second step is executed to conduct scanning again; S4, according to a corresponding relation of the chord length K and the center of the charging interface, the position information of the charging interface is obtained. The spatial position of the charginginterface can be localized through one time of scanning, so that the method for localizing the charging interface is simple and high in efficiency; section range scanning is adopted, the influences ofarc geometric features on measurement precision are eliminated, and localizing precision is improved greatly.

Description

technical field [0001] The invention relates to the technical field of electric charging equipment (electric vehicles, etc.), in particular to a positioning method and a positioning system for the position of a charging port. Background technique [0002] With the rapid development of electric vehicles, electric vehicles are rapidly popularizing, and fast charging of electric vehicles has become the focus of the development of the automobile industry and the energy industry. With the maturity of automatic parking technology, self-parking electric vehicles have begun to be used, and the demand for automatic fast charging devices is becoming more and more urgent. [0003] In the automatic charging system, the visual system is usually used to locate the spatial position of the charging port, but the cost of the visual positioning system is high, which limits the low-cost mass promotion and application of the automatic charging system. The conventional scanning method based on ...

Claims

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Application Information

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IPC IPC(8): B60L53/35
CPCY02T10/70Y02T10/7072Y02T90/12
Inventor 狄士春马月鹏王鑫
Owner 奕充机器人(苏州)有限公司
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