Automatic charging system for electric vehicle

Abstract

The present disclosure relates to an automatic charging system for electric vehicles, which includes a track and an automatic charging device sliding on the track; the track includes a transverse track and a plurality of longitudinal tracks perpendicular to the transverse track, a charging parking space is set between two adjacent longitudinal tracks, and the transverse track is connected to the longitudinal track through a track changer. Compared with a charging robot that completes the plug-in action in the parking space of a matching charging pile, the present disclosure does not require high capacity for supporting facilities such as transformers, and saves the construction cost of charging piles and line reconstruction costs under the conditions that the lines in old residential areas are old, the power capacity is limited, and the capacity expansion and reconstruction are difficult. Through the transverse track and the longitudinal track, the automatic charging device can be moved to both sides of the vehicle, which can adapt to the charging interface position of vehicles of different models and has stronger adaptability.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile charging, and in particular relates to an automatic charging system for an electric vehicle. Background Art

[0002] In recent years, the number of electric vehicles and their market share have grown rapidly. Fixed charging piles are still a widely used charging method. However, this charging method is very inconvenient for car owners. Car owners usually need to manually insert the charging gun and return to the charging location to put the charging gun back after charging. Moreover, the longer the battery life of an electric car, the longer it takes to charge. Even for DC fast charging equipment, it takes 1-2 hours to fully charge an electric car. During the charging process, car owners usually have to wait near the vehicle or calculate the charging time to return so that they can drive the vehicle away in time and provide convenience for other car owners to charge.

[0003] At present, some charging robots have appeared to replace manual charging operations for electric vehicles. There are currently a variety of automatic charging robot technologies. First, the charging robot carries the energy storage battery pack and automatically drives to the vicinity of the vehicle location, and automatically connects the charging plug to the charging interface of the electric vehicle. This method generally requires one electric vehicle to correspond to one automatic charging robot and chassis. This solution has high requirements on the battery capacity. When facing a large number of charging needs, the chassis must return to charge the battery after completing one or two charging tasks. At the same time, this type of equipment is usually large in size, and the safety risk of charging and discharging its own energy storage battery is relatively high. In addition, since its own charging time is usually very long, the utilization rate of this type of equipment is very low. Second, some fixed piles are equipped with an automated robotic arm, and the chassis is installed under the robotic arm. When there is a demand for charging service, the automated chassis walks to the vicinity of the vehicle that needs service, and the charging gun is inserted into the charging socket of the electric vehicle through the robotic arm. This method requires that the chassis walking space must be reserved between the parking spaces. However, most of the robotic arms currently used are tandem robotic arms, and it is also necessary to reserve operating space for the movement of the robotic arm. A charging gun docking mechanism is designed in front of the robotic arm to complete the gun removal action. Since the robot arm itself is a serial robot arm, the end of the robot arm is still connected in series with the end tool. There are many serial mechanisms, and the accuracy of plugging the charging gun is prone to deviation. Once there is a deviation, it is easy to damage the charging socket of the electric vehicle. In addition, the load-bearing capacity of the serial robot arm is not high, and it is very easy for high-power DC charging cables to be overloaded and stuck. In addition, this solution requires that each parking space covered by the robot has a charging pile. In theory, all parking spaces must be able to work at the same time, which requires a large capacity of the related transformer equipment. Therefore, this equipment cannot cover a large number of parking spaces at the same time.

[0004] Moreover, in old residential areas, the lines are old and the power capacity is limited, so it is difficult to increase the capacity. The residential area is densely populated, and most of the parking spaces are public. Charging spaces are limited, and gasoline and electric vehicles are parked together. Charging spaces cannot be used normally after being occupied by gasoline vehicles. In addition, the charging ports of electric vehicles are located in different locations. Some charging ports are at the front or rear of the vehicle, and some are located on both sides of the vehicle, which cannot adapt to various scenarios.

[0005] Therefore, it is necessary to provide a new electric vehicle automatic charging system to solve the above technical problems. Summary of the invention

[0006] The purpose of the present disclosure is to provide an automatic charging system for an electric vehicle in order to solve the above-mentioned problems.

[0007] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0008] An automatic charging system for electric vehicles comprises a track and an automatic charging device sliding on the track; the track comprises a transverse track and a plurality of longitudinal tracks perpendicular to the transverse track, a charging parking space is arranged between two adjacent longitudinal tracks, and the transverse track is connected to the longitudinal track via a track changer; the automatic charging device is used to slide on the transverse track and the longitudinal track to the position of the vehicle to be charged to automatically insert the gun, remove the gun and provide charging services.

[0009] As a further optimization solution of the present disclosure, the track is connected to the top of the parking lot via a hanging rod.

[0010] As a further optimization solution of the present disclosure, the hoisting rod is a retractable structure.

[0011] As a further optimization solution of the present disclosure, a cable track groove is provided on the transverse track, a drag chain is provided in the cable track groove, a charging cable is placed on the drag chain, and one end of the charging cable is connected to the automatic charging device.

[0012] As a further optimization solution of the present disclosure, a sliding vehicle is provided on the automatic charging device, and the sliding vehicle can slide on the transverse track and the longitudinal track.

[0013] As a further optimization scheme of the present disclosure, the track changer includes a transition slide, a slide rail arranged on the transverse track and an electric push rod arranged on the transverse track; the transition slide includes a right-side transition slide and a left-side transition slide, and the right-side transition slide and the left-side transition slide are both adapted to the transverse track; the transition slide is provided with a connecting piece that is slidably sleeved with the slide rail, and the output end of the electric push rod is connected to the connecting piece, so as to drive the transition slide to slide transversely through the connecting piece.

[0014] As a further optimization scheme of the present disclosure, the automatic charging device includes a spider arm robot, a charging gun is provided at the end of the spider arm robot, and the spider arm robot is used to autonomously adjust the position of the charging gun at the end and insert the charging gun into the charging port in front of the electric vehicle or unplug the charging gun from the charging port.

[0015] As a further optimization scheme of the present disclosure, a rotating mechanism is arranged on the top side of the spider hand robot, and a telescopic mechanism is arranged on the top side of the rotating mechanism, and the telescopic mechanism is connected to the sliding vehicle. The telescopic mechanism is used to drive the spider hand robot to adjust the height up and down, and the rotating mechanism is used to drive the spider hand robot to rotate.

[0016] As a further optimization solution of the present disclosure, a spring reel is provided on the spider hand robot, and one end of the charging cable is wound on the spring reel.

[0017] As a further optimization solution of the present disclosure, a visual positioning module is provided at the end of the spider hand robot, and the visual positioning module is used to scan the charging interface and determine the position coordinates of the charging interface.

[0018] As a further optimization solution of the present disclosure, the specific process of the visual positioning module cooperating with the spider hand robot to control the posture of the charging gun is as follows:

[0019] Collect three-dimensional point cloud information of the point cloud collection area;

[0020] The collected three-dimensional point cloud information is subjected to point cloud denoising, point cloud clustering segmentation, and extraction to solve the position information of the charging interface;

[0021] The solved posture information is fed back to the spider-arm robot, and the spider-arm robot is controlled to adjust the posture of the charging gun at the end to complete the gun insertion task.

[0022] As a further optimization solution of the present disclosure, collecting the three-dimensional point cloud information of the point cloud collection area specifically includes:

[0023] Create a template for the vehicle charging port to assist in identifying the charging port on the vehicle and performing the plug-in operation;

[0024] According to the position of the charging interface of each type of vehicle, the robot's posture is determined as the point cloud collection position. The image area collected by the 3D camera of the visual positioning module in this posture is the point cloud collection area. The complete image of the charging interface of the vehicle is placed in the point cloud collection area to collect three-dimensional point cloud information in the point cloud collection area.

[0025] As a further optimization scheme of the present disclosure, the collected three-dimensional point cloud information is subjected to point cloud denoising, point cloud clustering segmentation, and extraction to solve the position information of the charging interface, specifically including:

[0026] Point cloud denoising: The point cloud is processed using the voxel filtering method in the PCL library to remove duplicate information for point cloud denoising;

[0027] Point cloud clustering segmentation: Calculate the normal vectors of all points in the denoised point cloud , after screening, we get the point cloud P i ; The charging interface point cloud cluster Q1 is separated through Euclidean clustering.

[0028] Extraction: Select the point cloud feature values ​​as the boundary fitting circle radius qr, the circle center qc, and the normal vector of the plane where the boundary is located. ; According to the template of the charging port, the point cloud information of the charging port can be extracted by setting a threshold to filter the point clusters whose points are not within 1000-2000; the RANSAC algorithm is used to perform plane fitting on the extracted charging port point cloud information, and then the radius qr and the center qc of the edge of the charging port are fitted by the least squares method;

[0029] Pose solution: refer to the preset charging interface template to calculate the minimum distance between the charging interface coordinates and the charging gun center coordinates, that is, the charging interface position parameters;

[0030] After the position solution is completed, the posture is represented by the homogeneous matrix transformed from the 3D camera coordinate system to the charging interface center coordinate system. The homogeneous matrix of the posture transformation is expressed as:

[0031] ;

[0032] The displacement part is the coordinate qc of the center of the charging interface, and the rotation matrix Ri can be expressed as:

[0033] ;

[0034] in , , is the direction vector of the charging interface center coordinate system, and the normal vector of the charging interface edge plane As the Z direction vector of the charging interface center coordinate system, the specific calculation method is:

[0035] ;

[0036] ;

[0037] ;

[0038] The rotation matrix can be formed by arranging three known orthogonal unit vectors vertically in coordinate order. The rotation matrix is ​​obtained in the camera coordinate system. After being transformed into the spider arm robot coordinate system, the posture information required for the gun insertion action can be calculated, and the spider arm robot end can be controlled to adjust the charging gun posture according to the calculated charging interface posture.

[0039] As a further optimization solution of the present disclosure, a QR code is set in front of each charging parking space, and the automatic charging device is started to provide charging service by scanning the QR code through the APP.

[0040] As a further optimization solution of the present disclosure, the APP will push the real-time charging status to the car owner through the background. After the vehicle battery is fully charged, the background will send a message to the car owner, urging the car owner to complete the settlement and move the vehicle out of the current parking space.

[0041] As a further optimization solution of the present disclosure, the car owner can interrupt the charging service and complete the settlement in advance through the APP.

[0042] The beneficial effects of the present disclosure are:

[0043] 1. The present invention enables the car owner to leave the parking space by simply parking the car normally and opening the charging port at the front of the car. The system will automatically queue up the car owners to complete the charging task.

[0044] 2. An entire row of parking spaces shares one set of automatic charging devices. Compared with charging robots that complete the plug-in action in the parking spaces with matching charging piles, it does not require high capacity for supporting facilities such as transformers. In old residential areas with old lines, limited power capacity, and difficulty in capacity expansion and transformation, it saves the construction cost of charging piles and line transformation costs.

[0045] 3. The charging cable slides along the charging device in the cable track groove, which greatly improves the charging safety compared with the charging robot carrying the energy storage battery.

[0046] 4. The electric vehicle automatic charging device uses a spider-hand robot (parallel robot). The motor of the spider-hand robot is located on the frame and has a small moment of inertia. It does not require a reducer, so the manufacturing cost is lower than that of the common serial robot arm. The kinematics solution of the spider-hand robot is simple, so it is easier to achieve real-time control. The spider-hand robot is a parallel closed-loop structure, which has the advantages of higher repeatability, better dynamic performance and faster movement speed than the serial robot arm. The spider-hand robot driven by the same power motor has a larger load than the serial robot arm.

[0047] 5. Through the horizontal track and the longitudinal track, the automatic charging device can be moved to both sides of the vehicle, which can adapt to the charging interface position of different models of vehicles and has stronger adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall structure of the present disclosure;

[0049] Figure 2 It is a schematic diagram of the structure of the track changer disclosed in the present invention;

[0050] Figure 3 It is a schematic diagram of the structure of the automatic charging device of the present invention located at the longitudinal track position.

[0051] In the figure: 1. track; 2. automatic charging device; 11. horizontal track; 12. longitudinal track; 13. track changer; 131. transition slide; 132. slide rail; 133. electric push rod; 134. right transition slide; 135. left transition slide; 21. telescopic mechanism; 22. rotating mechanism; 23. spider hand robot; 24. charging gun; 25. spring reel; 26. charging cable. DETAILED DESCRIPTION

[0052] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0053] like Figure 1 As shown, an automatic charging system for electric vehicles includes a track 1 and an automatic charging device 2 sliding on the track 1; the track 1 includes a transverse track 11 and a plurality of longitudinal tracks 12 perpendicular to the transverse track 11, the longitudinal track 12 is connected to the top of the parking lot through a hoisting rod, the hoisting rod can be a telescopic structure, the transverse track 11 can be fixed to the ground through a fixed pile, or can also be hoisted on the top of the parking lot through a hoisting rod; a charging parking space is set between two adjacent longitudinal tracks 12, and the transverse track 11 is connected to the longitudinal track 12 through a track changer 13; the automatic charging device 2 is used to slide on the transverse track 11 and the longitudinal track 12 to the position of the vehicle to be charged to automatically insert the gun, remove the gun and provide charging services.

[0054] A cable track groove is provided on the transverse track 11, a drag chain is provided in the cable track groove, a charging cable 26 is placed on the drag chain, and one end of the charging cable 26 is connected to the automatic charging device 2 to ensure that the charging cable 26 can follow the charging device to the front of any parking space to complete the charging service.

[0055] The automatic charging device 2 is provided with a sliding vehicle, and the sliding vehicle can slide on the transverse track 11 and the longitudinal track 12 to drive the automatic charging device 2 to move to the charging interface position.

[0056] like Figure 2 As shown, the track changer 13 includes a transition slide 131, a slide rail 132 arranged on the transverse track 11 and an electric push rod 133 arranged on the transverse track 11; the transition slide 131 includes a right transition slide 134 and a left transition slide 135, and the right transition slide 134 and the left transition slide 135 are both adapted to the transverse track 11; the transition slide 131 is provided with a connecting piece that is slidably sleeved with the slide rail 132, and the output end of the electric push rod 133 is connected to the connecting piece, which is used to drive the transition slide 131 to slide horizontally through the connecting piece.

[0057] like Figure 3 As shown, the automatic charging device 2 includes a spider arm robot 23, and a charging gun 24 is provided at the end of the spider arm robot 23. The spider arm robot 23 is used to autonomously adjust the posture of the charging gun 24 at the end and insert the charging gun 24 into the charging interface in front of the electric vehicle or pull the charging gun 24 out of the charging interface.

[0058] A rotating mechanism 22 is disposed on the top side of the spider hand robot 23. A telescopic mechanism 21 is disposed on the top side of the rotating mechanism 22. The telescopic mechanism 21 is connected to the sliding vehicle. The telescopic mechanism 21 is used to drive the spider hand robot 23 to adjust the height up and down. The rotating mechanism 22 is used to drive the spider hand robot 23 to rotate.

[0059] The spider hand robot 23 is provided with a spring reel 25, and one end of the charging cable 26 is wound on the spring reel 25. When the charging cable 26 is located on the transverse track 11, it slides in the drag chain behind it, and when the automatic charging device 2 slides onto the longitudinal track 12, the sliding is completed by the spring reel 25.

[0060] The charging robot starts working, and the sliding car drives the automatic charging device 2 to move along the transverse track 11 first. When it reaches the track connection, the track changer 13 moves to guide the sliding car into the longitudinal track 12. At the same time, the charging cable 26 slides to the track connection with the drag chain. The spool in the spring reel 25 is pulled out by the traction force of the sliding car to ensure that the sliding car can complete the charging near the vehicle charging port moving along the longitudinal track 12. After charging is completed, the sliding car drives the automatic charging device 2 back to the track connection, and the track changer 13 moves. The sliding car can continue to move along one side of the track changer. At the same time, the spool of the spring reel 25 automatically rewinds the charging cable 26 and retracts it. After passing the track changer 13, the charging cable 26 can continue to move on the transverse track 11 along the drag chain direction. As long as it is an ordinary electric passenger car or even a small truck, no matter where the charging port is, as long as the vehicle information is entered in the system, the automatic charging device can run to a suitable position to charge the vehicle. After the charging operation is completed, the car owner completes the electricity bill settlement, unlocks the charging gun, wakes up the spider hand robot 23, pulls out the charging gun 24, and the automatic charging device 2 returns along the track.

[0061] After the car owner parks the car, he / she opens the charging port cover at the same time. Then the car owner scans the QR code in front of the parking space through the App to start the automatic charging device 2. Then the car owner can leave the parking space, and the background will automatically queue up the cars that need charging services to complete the charging service. The real-time charging status is pushed to the car owner through the background, and once the charging service is queued, it will be completed autonomously by the charging device.

[0062] When the current vehicle battery is fully charged, the backend will send a message to the owner, urging him to complete the settlement and move the vehicle out of the current parking space. The owner can also interrupt the charging service and complete the settlement in advance through the QR code in front of the parking space. After the settlement is completed, the automatic charging device 2 will automatically pull out the charging gun and return to the parking space to prepare for the next car to charge, and the owner can drive away.

[0063] The end of the spider robot 23 is provided with a visual positioning module, which is used to scan the charging interface and determine the position coordinates of the charging interface. The visual positioning module includes a 3D camera, and the accurate positioning of the gun insertion operation is completed by the 3D camera. The 3D camera can obtain 2D images, depth maps and point cloud information. First, create a template for the vehicle charging interface to assist in identifying the charging interface on the vehicle and performing the gun insertion operation.

[0064] Then, according to the approximate location of the charging interface of each type of vehicle, a robot posture is determined as the point cloud acquisition position. The image area collected by the 3D camera in this posture is the point cloud acquisition area. The complete image of the charging interface of the vehicle needs to be placed in the point cloud area. Before each charging gun insertion task, the automatic charging device needs to be moved to this position, and the gun insertion operation is performed after the photo is taken. After each charging task is completed, the spider hand robot 23 performs the gun extraction operation and returns to this posture.

[0065] The 3D camera on the charging gun collects the 3D point cloud information of the front point cloud collection area. The collected 3D point cloud information is mainly subjected to point cloud noise reduction, point cloud clustering segmentation, and extraction to solve the posture information of the charging interface. The solved posture information is fed back to the spider hand robot 23 to control the spider hand robot 23 to adjust the posture of the terminal charging gun to complete the gun insertion task.

[0066] 1. Point cloud denoising: Since the data collected by the 3D camera has nearly 2 million points, and this project only needs to identify the outline of the charging port, the density of the point cloud is not high, and a large amount of data will increase the complexity of subsequent calculations. Therefore, it is necessary to use the voxel filtering method in the PCL library to process the point cloud and remove duplicate information.

[0067] 2. Point cloud clustering segmentation: There is a large gap between the charging port and the point cloud of the background vehicle in the spatial position. First, the normal vector filtering method is used to retain the plane point cloud of the charging gun facing the 3D camera, and then the Euclidean clustering method is used to extract the outline of the charging port based on this point cloud. The specific steps are as follows: calculate the pre-processed point cloud P i The normal vectors of all points , after screening, we get the point cloud P i The charging interface point cloud cluster Q1 is separated through Euclidean clustering.

[0068] 3. Extraction: Select the point cloud feature values ​​as the radius qr, center qc of the boundary fitting circle, and the normal vector of the plane where the boundary is located . The charging port of an electric vehicle is of standard size and is often located on the vertical side of the vehicle body. Based on the previously made template of the charging port, the point cloud information of the charging port can be extracted by setting a threshold to filter the point clusters whose points are not within 1000-2000. Since there are errors in both the 3D camera data collection and the charging port processing, the collected precision point cloud is not a plane. By fitting a plane to this group of point clouds, the error caused by local unevenness can be effectively reduced. Here, the RANSAC algorithm is used to fit the point cloud to a plane, and then the radius qr and the center qc of the edge of the charging interface are fitted by the least squares method.

[0069] 4. Posture solution: According to the geometric features of the national standard charging interface, the lower part of the charging interface outline is a semicircle, and the upper part is a straight line. The center of the charging gun at the end of the robot is known. Referring to the pre-set charging interface template, calculate the minimum distance between the charging interface coordinates and the charging gun center coordinates, that is, the charging interface position parameters.

[0070] After the position solution is completed, the posture is represented by the homogeneous matrix transformed from the 3D camera coordinate system to the charging interface center coordinate system. The homogeneous matrix of the posture transformation is expressed as:

[0071] ;

[0072] The displacement part is the coordinate qc of the center of the charging interface, and the rotation matrix Ri can be expressed as:

[0073] ;

[0074] in , , is the direction vector of the charging interface center coordinate system, and the normal vector of the charging interface edge plane As the Z direction vector of the charging interface center coordinate system, the specific calculation method is:

[0075] ;

[0076] ;

[0077] ;

[0078] In robot kinematics, three orthogonal unit vectors are known. Arranging them vertically in coordinate order can form a rotation matrix. The rotation matrix is ​​obtained in the camera coordinate system. After being transformed in the robot coordinate system, the posture information required for the gun insertion action can be calculated, and the robot end can be further controlled to adjust the charging gun posture according to the calculated charging interface posture to complete the specified plugging operation.

[0079] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present disclosure. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure.

Claims

1. An automatic charging system for electric vehicles, characterized in that: The invention comprises a track (1) and an automatic charging device (2) sliding on the track (1); the track (1) comprises a transverse track (11) and a plurality of longitudinal tracks (12) perpendicular to the transverse track (11); a charging parking space is provided between two adjacent longitudinal tracks (12); the transverse track (11) is connected to the longitudinal track (12) via a track changer (13); the automatic charging device (2) is used to slide on the transverse track (11) and the longitudinal track (12) to the position of a vehicle to be charged and automatically perform gun insertion, gun extraction and charging services; The automatic charging device (2) comprises a spider-hand robot (23), a charging gun (24) being arranged at the end of the spider-hand robot (23), and the spider-hand robot (23) is used to autonomously adjust the posture of the charging gun (24) at the end and to insert the charging gun (24) into a charging interface at the front of the electric vehicle or to remove the charging gun (24) from the charging interface; A visual positioning module is provided at the end of the spider hand robot (23), and the visual positioning module is used to scan the charging interface and determine the position coordinates of the charging interface; The specific process of the visual positioning module cooperating with the spider hand robot (23) to control the position and posture of the charging gun (24) is as follows: Collect three-dimensional point cloud information of the point cloud collection area; The collected three-dimensional point cloud information is subjected to point cloud denoising, point cloud clustering segmentation, and extraction to solve the position information of the charging interface; Feeding back the solved position and posture information to the spider-hand robot (23), and controlling the spider-hand robot (23) to adjust the position and posture of the charging gun (24) at the end to complete the gun insertion task; The collected three-dimensional point cloud information is subjected to point cloud denoising, point cloud clustering segmentation, and extraction to solve the position information of the charging interface, specifically including: Point cloud denoising: The point cloud is processed using the voxel filtering method in the PCL library to remove duplicate information for point cloud denoising; Point cloud clustering segmentation: Calculate the normal vectors of all points in the denoised point cloud , after screening, we get the point cloud P i ; The charging interface point cloud cluster Q1 is separated through Euclidean clustering; Extraction: Select the point cloud feature values ​​as the boundary fitting circle radius qr, the circle center qc, and the normal vector of the plane where the boundary is located. ; According to the template of the charging port, the point cloud information of the charging port can be extracted by setting a threshold to filter the point clusters whose points are not within 1000-2000; the RANSAC algorithm is used to perform plane fitting on the extracted charging port point cloud information, and then the radius qr and the center qc of the edge of the charging port are fitted by the least squares method; Pose solution: refer to the preset charging interface template to calculate the minimum distance between the charging interface coordinates and the charging gun center coordinates, that is, the charging interface position parameters; After the position solution is completed, the posture is represented by the homogeneous matrix transformed from the 3D camera coordinate system to the charging interface center coordinate system. The homogeneous matrix of the posture transformation is expressed as: ； The displacement part is the coordinate of the center of the charging interface qc, and the rotation matrix Ri is expressed as: ； in , , is the direction vector of the charging interface center coordinate system, and the normal vector of the charging interface edge plane As the Z direction vector of the charging interface center coordinate system, the specific calculation method is: ； ； ； A rotation matrix can be formed by vertically arranging three known orthogonal unit vectors in coordinate order. The rotation matrix is ​​obtained in the camera coordinate system and then transformed in the spider arm robot (23) coordinate system to calculate the posture information required for the gun insertion action, and control the end of the spider arm robot (23) to adjust the charging gun posture according to the calculated charging interface posture.

2. The automatic charging system for electric vehicles according to claim 1, characterized in that: The track (1) is connected to the top of the parking lot via a hanging rod.

3. The automatic charging system for electric vehicles according to claim 2, characterized in that: The hoisting rod is a telescopic structure.

4. The automatic charging system for electric vehicles according to claim 2, characterized in that: A cable track groove is provided on the transverse track (11), a drag chain is provided in the cable track groove, a charging cable (26) is placed on the drag chain, and one end of the charging cable (26) is connected to the automatic charging device (2).

5. The automatic charging system for electric vehicles according to claim 2, characterized in that: The automatic charging device (2) is provided with a sliding vehicle, and the sliding vehicle can slide on the transverse track (11) and the longitudinal track (12).

6. The automatic charging system for electric vehicles according to claim 2, characterized in that: The track changer (13) comprises a transition slide (131), a slide rail (132) arranged on the transverse track (11), and an electric push rod (133) arranged on the transverse track (11); the transition slide (131) comprises a right transition slide (134) and a left transition slide (135), and the right transition slide (134) and the left transition slide (135) are both adapted to the transverse track (11); a connecting piece slidably sleeved with the slide rail (132) is provided on the transition slide (131), and an output end of the electric push rod (133) is connected to the connecting piece, so as to drive the transition slide (131) to slide transversely via the connecting piece.

7. The automatic charging system for electric vehicles according to claim 4, characterized in that: A rotating mechanism (22) is disposed on the top side of the spider hand robot (23), and a telescopic mechanism (21) is disposed on the top side of the rotating mechanism (22). The telescopic mechanism (21) is connected to a sliding vehicle, and the telescopic mechanism (21) is used to drive the spider hand robot (23) to adjust its height up and down, and the rotating mechanism (22) is used to drive the spider hand robot (23) to rotate.

8. The automatic charging system for electric vehicles according to claim 7, characterized in that: The spider hand robot (23) is provided with a spring wire reel (25), and one end of the charging cable (26) is wound on the spring wire reel (25).

9. An automatic charging system for electric vehicles according to claim 8, characterized in that: The three-dimensional point cloud information of the acquisition point cloud acquisition area specifically includes: Create a template for the vehicle charging port to assist in identifying the charging port on the vehicle and performing the plug-in operation; According to the position of the charging interface of each type of vehicle, the robot's posture is determined as the point cloud collection position. The image area collected by the 3D camera of the visual positioning module in this posture is the point cloud collection area. The complete image of the charging interface of the vehicle is placed in the point cloud collection area to collect three-dimensional point cloud information in the point cloud collection area.

10. The automatic charging system for electric vehicles according to claim 1, characterized in that: A QR code is provided in front of each charging parking space, and the automatic charging device (2) is activated to provide charging service by scanning the QR code through an APP.

11. An automatic charging system for electric vehicles according to claim 10, characterized in that: The APP will push the real-time charging status to the car owner through the background. After the vehicle battery is fully charged, the background will send a message to the car owner, urging the car owner to complete the settlement and move the vehicle out of the current parking space.

12. The automatic charging system for electric vehicles according to claim 10, characterized in that: Car owners can interrupt the charging service and complete the settlement in advance through the APP.

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