A flexible automatic charging method and system

Abstract

This invention relates to the field of vehicle charging technology, and more specifically, to a flexible automatic charging method and system. The flexible automatic charging method includes the following steps: Step S10, based on the vehicle being within the charging area, a visual sensor acquires first position data of the charging base assembly. Step S20, based on the first position data, the charging head assembly and control assembly synchronously move towards the charging base assembly. Step S30, based on the distance between the visual sensor and the charging base assembly within a second predetermined range, second position data of the charging base assembly is acquired. Step S40, based on the second position data, a multi-axis robotic arm adjusts the center point of the charging head unit of the charging head assembly to align with the central axis of the charging base assembly. Step S50, based on the alignment of the center point of the charging head unit with the central axis of the charging base assembly, the multi-axis robotic arm drives the charging head unit to engage and electrically connect with the charging base assembly. This solves the problem of high cost of automatic charging devices.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle charging, and in particular to a flexible automatic charging method and system. Background Art

[0002] With the rapid development of the automobile industry, more and more people are choosing new energy vehicles when buying vehicles. Charging stations are rapidly deployed in most areas due to their low construction costs, which further brings many conveniences to users who buy new energy vehicles. At present, there are usually two types of charging devices in charging stations: automatic and manual. In order to prevent safety hazards caused by mistakes made by users when manually operating the charging devices, and to reduce the steps of user operation and thus improve user comfort, various manufacturers have launched automatic charging devices.

[0003] Automatic charging equipment usually uses a robotic arm to drive the charging head into the charging base on the vehicle to complete charging. During this process, the charging base needs to be positioned, and real-time positioning is used during the movement of the charging head. This has high requirements for real-time computing power and response speed, which leads to high costs. Summary of the invention

[0004] In order to solve the problem of high cost of automatic charging devices, the present invention provides a flexible automatic charging method.

[0005] In a first aspect, the present invention provides a flexible automatic charging method, the flexible automatic charging method comprising:

[0006] Step S10, based on the vehicle stopping in the charging area, the visual sensor of the control component obtains the first position data of the charging seat component; wherein the distance between the visual sensor and the charging seat component is within a first set range;

[0007] Step S20, based on the first position data, the multi-axis robot drives the charging head assembly and the control assembly to synchronously move toward the direction close to the charging base assembly;

[0008] Step S30, based on the distance between the visual sensor and the charging base assembly being within a second set range, the visual sensor acquires second position data of the charging base assembly;

[0009] Step S40, based on the second position data, the multi-axis robot arm adjusts the center point of the charging head unit of the charging head assembly to align with the central axis of the charging base assembly; wherein the central axis of the charging base assembly is obtained through the second position data;

[0010] Step S50, based on the alignment of the center point of the charging head unit with the central axis of the charging base assembly, the multi-axis robotic arm drives the charging head unit to engage and electrically connect with the charging base assembly; wherein, during the engagement process of the charging head unit with the charging base assembly, the range of movement of the charging head unit relative to the fixed base unit of the charging base assembly is within a third set range.

[0011] In some embodiments, step S50 includes:

[0012] Step S51, based on the alignment of the center point of the charging head unit with the central axis of the charging base assembly, the charging head unit moves toward the charging base assembly;

[0013] Step S52, based on the charging head unit moving toward the charging base assembly, obtaining setting data; wherein the setting data includes the force exerted by the front contact ball on the front positioning module;

[0014] Step S53, based on the fact that the difference in force exerted by each of the front abutting balls on the front positioning module is within a first force range and the force exerted by each of the front abutting balls on the front positioning module is within a second force range, the multi-axis robotic arm drives the charging head unit to engage and electrically connect with the charging base assembly; wherein the range of movement of the charging head unit relative to the fixed base unit is within the third set range.

[0015] In some embodiments, the setting data in step S52 also includes the tension of the front upper tension spring and the front lower tension spring;

[0016] The step S53 is based on the fact that the difference in force generated by each of the front abutting balls on the front positioning module is within the first force range, the force generated by each of the front abutting balls on the front positioning module is within the second force range, and the difference in tension between each of the front upper tension springs and each of the front lower tension springs is within the first tension range, and the multi-axis robotic arm drives the charging head unit to engage and electrically connect with the charging seat assembly; wherein the range of movement of the charging head unit relative to the fixed seat unit is within the third set range.

[0017] In some embodiments, the flexible automatic charging method further includes:

[0018] Step S541, based on the fact that the difference in the force exerted by each of the front abutting balls on the front positioning module is greater than the first force range and less than the first force threshold, and the force exerted by any of the front abutting balls on the front positioning module is within the second force range, the multi-axis robot arm drives the fixing seat unit to move along the radial direction of the charging head unit toward the front abutting ball that exerts the smallest force on the front positioning module;

[0019] Step S542: based on the charging head unit moving a first set distance, the multi-axis robotic arm drives the charging head unit to move along the axial direction of the charging head unit until it is engaged with and electrically connected to the charging base assembly.

[0020] In some embodiments, the setting data in step S52 also includes the tension of the front upper tension spring and the front lower tension spring;

[0021] The step S541 is based on the fact that the difference in force generated by each of the front abutting balls on the front positioning module is greater than the first force range and less than the first force threshold, the force generated by any of the front abutting balls on the front positioning module is within the second force range, and the difference in tension between each of the front upper tension springs and each of the front lower tension springs is greater than or equal to the first tension threshold and less than the second tension threshold, the multi-axis robotic arm drives the fixed seat unit to move along the radial direction of the charging head unit toward the front abutting ball that generates the smallest force on the front positioning module.

[0022] In some embodiments, the flexible automatic charging method further includes:

[0023] Step S551, based on the fact that the difference in the force exerted by each of the front abutting balls on the front positioning module is greater than or equal to the first force threshold and less than the second force threshold, and the force exerted by any of the front abutting balls on the front positioning module is within the second force range, the multi-axis robot arm drives the fixed seat unit to rotate by a set angle toward the direction of the front abutting ball exerting the smallest force on the front positioning module with the end of the charging head unit close to the charging seat assembly as the rotation center;

[0024] Step S552: based on the charging head unit rotating to the set angle, the multi-axis robotic arm drives the charging head unit to move along the axial direction of the charging head unit until it is engaged with and electrically connected to the charging base assembly.

[0025] In some embodiments, the setting data in step S52 also includes the tension of the front upper tension spring and the front lower tension spring;

[0026] The step S551 is based on the fact that the difference in force generated by each of the front abutment balls on the front positioning module is greater than or equal to the first force threshold and less than the second force threshold, the force generated by any of the front abutment balls on the front positioning module is within the second force range, and the difference in tension between each of the front upper tension springs and each of the front lower tension springs is greater than the first tension range and less than the first tension threshold. The multi-axis robotic arm drives the fixed seat unit to rotate a set angle toward the direction of the front abutment ball that generates the smallest force on the front positioning module with the end of the charging head unit close to the charging seat assembly as the rotation center.

[0027] In some embodiments, step S40 includes:

[0028] Step S41, based on the second position data, the multi-axis robot drives the center point of the visual sensor and the central axis of the charging base assembly to approach collinearity; wherein the central axis of the charging base assembly is obtained through the second position data;

[0029] Step S42, based on the multi-axis robotic arm driving the center point of the visual sensor and the central axis of the charging base assembly to approach collinearity, the multi-axis robotic arm drives the charging head unit downward until the center point of the charging head unit and the central axis of the charging base assembly are approaching collinearity.

[0030] In a second aspect, the present invention provides a flexible automatic charging system, the flexible automatic charging system is applied to any of the flexible automatic charging methods in the first aspect, the flexible automatic charging system comprising:

[0031] A charging head assembly, the charging head assembly comprising a fixed seat unit, a front movable seat unit, a rear movable seat unit, and a charging head unit; the front movable seat unit is detachably connected to the fixed seat unit; the rear movable seat unit is detachably connected to the fixed seat unit; the rear movable seat unit is spaced apart from the front movable seat unit; the charging head unit passes through the front movable seat unit and the rear movable seat unit in sequence;

[0032] A multi-axis mechanical arm, wherein the multi-axis mechanical arm is detachably connected to the fixing seat unit;

[0033] A control component, the control component comprising a visual sensor; the visual sensor is detachably connected to the fixing seat unit;

[0034] Charging dock assembly;

[0035] A vehicle, the vehicle comprising a vehicle body and a battery; the vehicle body is electrically connected to the battery; the charging seat assembly is detachably connected to the battery; the charging seat assembly is electrically connected to the battery;

[0036] The flexible automatic charging system includes a charging state; the charging state includes the charging head unit being engaged and electrically connected with the charging base assembly.

[0037] In some embodiments, the visual sensor is disposed below the fixing base unit.

[0038] In order to solve the problem of high cost of automatic charging device, the present invention has the following advantages:

[0039] When the visual sensor detects that the vehicle stops in the charging area, the visual sensor can obtain the first position data of the charging seat assembly, and then control the multi-axis mechanical arm to drive the charging head assembly and the control assembly to move in the direction close to the charging seat assembly at the same time according to the first position data until the distance from the charging seat assembly is within the second set range, so that the visual sensor can obtain the second position data of the charging seat assembly to determine the subsequent control strategy according to the second position data. The first position data can provide a direction for the moving path of the charging head unit, and the second position data can obtain the accurate position of the charging seat assembly. Since the charging head unit and the fixed seat unit are flexibly connected through the front movable seat unit and the rear movable seat unit, the charging head unit can also be inserted into the charging seat assembly and engage with each other when there is an error between the charging seat assembly and the charging head unit, so the accuracy requirements for the visual sensor can be reduced. And this method of obtaining the position of the charging seat assembly multiple times can accurately obtain the position of the charging seat assembly when the accuracy of the visual sensor is low, thereby reducing costs. After the visual sensor obtains the second position data, the multi-axis mechanical arm can adjust the center point of the charging head unit to align with the center axis of the charging seat assembly, and then drive the charging head unit to engage and electrically connect with the charging seat assembly, so as to charge the vehicle in the charging area. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a flexible automatic charging method according to an embodiment is shown;

[0041] Figure 2 A schematic diagram of a charging head assembly and a multi-axis robotic arm according to an embodiment is shown;

[0042] Figure 3 A partial schematic diagram of a charging head assembly and a multi-axis robotic arm according to an embodiment is shown;

[0043] Figure 4 A partial schematic diagram of a charging head assembly according to another embodiment is shown;

[0044] Figure 5 A schematic diagram of a fixing base unit of a charging head assembly according to an embodiment is shown;

[0045] Figure 6 A schematic diagram of a fixing base unit of a charging head assembly according to another embodiment is shown;

[0046] Figure 7 A schematic diagram of a front positioning module of a charging head assembly according to an embodiment is shown;

[0047] Figure 8 A schematic diagram of a front movable seat unit and a rear movable seat unit of a charging head assembly according to an embodiment is shown;

[0048] Fig. 9A schematic diagram of a guide unit and a position sensor of a charging head assembly according to an embodiment is shown;

[0049] Fig.10 A schematic diagram of a charging base assembly according to an embodiment is shown;

[0050] Fig.11 A schematic diagram of a charging base assembly according to another embodiment is shown;

[0051] Fig.12 A schematic diagram of a charging base assembly according to another embodiment is shown;

[0052] Fig.13 A schematic diagram of a flexible automatic charging system according to an embodiment is shown.

[0053] Figure numerals: 01 charging head assembly; 11 fixed seat unit; 111 base; 112 front positioning module; 1121 front positioning plate; 1122 front positioning hole; 1123 front limiting groove; 113 rear positioning module; 1131 rear positioning plate; 1132 rear positioning hole; 1133 rear limiting groove; 114 cable support module; 1141 support rod; 1142 sliding groove; 12 front movable seat unit; 121 front movable module; 1211 front movable plate; 1212 front movable hole; 1213 front sliding hole; 122 front elastic module; 1221 front upper tension spring; 1222 front lower tension spring; 123 front abutting ball; 13 rear movable seat unit; 131 rear movable module; 1311 rear movable plate; 1312 rear movable hole; 1313 rear sliding hole; 1 32 rear elastic module; 1321 rear upper tension spring; 1322 rear lower tension spring; 133 rear abutment ball; 14 guide unit; 15 charging head unit; 151 charging head cover; 152 charging head core; 153 cable; 02 multi-axis robotic arm; 21 support seat; 22 movable arm; 23 distal rotating arm; 03 control component; 31 visual sensor; 32 position sensor; 33 sensor support rod; 04 charging seat assembly; 41 outer seat module; 411 outer seat body; 412 movable cover; 413 elastic part; 414 outer seat positioning hole; 415 installation light hole; 42 charging seat module; 421 charging seat body; 422 charging seat core; 43 movable locking module; 431 elastic ring; 432 locking bolt; 433 nut; 05 vehicle; 51 vehicle body; 52 battery. DETAILED DESCRIPTION

[0054] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0055] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0056] In order to reduce the probability of misoperation during charging and optimize the user experience, more and more automatic charging devices are installed in charging stations. The automatic charging device uses a sensor to obtain the position of the charging seat on the vehicle 05, and then uses the position of the charging seat and the position of the charging head unit 15 as a reference to analyze the movement path of the charging head unit 15 to the insertion of the charging seat. This method has high requirements for accuracy, and charging cannot be completed if there is a slight deviation. In order to solve the problem of high cost of automatic charging devices, this embodiment discloses a flexible automatic charging method, such as Figure 1 As shown, the flexible automatic charging method may include steps S10 to S50, and each step may be described in detail below.

[0057] The flexible automatic charging system may include a charging head assembly 01, a multi-axis robot arm 02, a control assembly 03, a charging seat assembly 04, and a vehicle 05. The charging head assembly 01 may include a fixed seat unit 11, a front movable seat unit 12, a rear movable seat unit 13, and a charging head unit 15. The front movable seat unit 12 may be detachably connected to the fixed seat unit 11. The rear movable seat unit 13 may be detachably connected to the fixed seat unit 11. The rear movable seat unit 13 may be spaced apart from the front movable seat unit 12. The charging head unit 15 may pass through the fixed seat unit 11, the front movable seat unit 12, and the rear movable seat unit 13 in sequence. The charging head unit 15 may move relative to the fixed seat unit 11 along with the front movable seat unit 12 and the rear movable seat unit 13. The multi-axis robot arm 02 may be detachably connected to the fixed seat unit 11. The control assembly 03 may include a visual sensor 31. The visual sensor 31 may be detachably connected to the fixed seat unit 11. The vehicle 05 may include a vehicle body 51 and a battery 52. The vehicle body 51 can be electrically connected to the battery 52. ​​The charging base assembly 04 can be detachably connected to the battery 52. ​​The charging base assembly 04 can be electrically connected to the battery 52. ​​The flexible automatic charging system can include a charging state. The charging state can include the charging head unit 15 being engaged and electrically connected to the charging base assembly 04.

[0058] In step S10, when the visual sensor 31 detects that the vehicle 05 stops in the charging area, the visual sensor 31 can obtain the first position data of the charging seat assembly 04, and can determine the subsequent control strategy based on the first position data, paving the way for the visual sensor 31 to obtain the second position data.

[0059] In step S20, after obtaining the first position data, the multi-axis robot arm 02 can be controlled to drive the charging head assembly 01 and the control assembly 03 to move simultaneously towards the charging base assembly 04 according to the first position data. The closer they move, the more accurately the visual sensor 31 can obtain the position of the charging base assembly 04.

[0060] In step S30, when the visual sensor 31 is driven by the multi-axis robot 02 and moves to a distance from the charging seat assembly 04 within the second set range, the visual sensor 31 can obtain the second position data of the charging seat assembly 04 to determine the subsequent control strategy based on the second position data. The first position data can provide a direction for the moving path of the charging head unit 15, and the second position data can obtain the accurate position of the charging seat assembly 04. Since the charging head unit 15 and the fixed seat unit 11 are flexibly connected through the front movable seat unit 12 and the rear movable seat unit 13, the charging head unit 15 can be inserted into the charging seat assembly 04 and engage with each other when there is an error between the positions of the charging seat assembly 04 and the charging head unit 15, so the accuracy requirements for the visual sensor 31 can be reduced. And this method of obtaining the position of the charging seat assembly 04 multiple times can accurately obtain the position of the charging seat assembly 04 when the accuracy of the visual sensor 31 is low, thereby reducing costs.

[0061] In step S40, after the visual sensor 31 obtains the second position data, the multi-axis robot arm 02 can adjust the center point of the charging head unit 15 of the charging head assembly 01 to align with the central axis of the charging seat assembly 04, so that the charging head unit 15 can be inserted into the charging seat assembly 04. Among them, the central axis of the charging seat assembly 04 is obtained through the second position data. When obtaining the second position data, the visual sensor 31 is close to the charging seat assembly 04, which can ensure the accuracy of the central axis position of the charging seat assembly 04, thereby increasing the success probability of the charging head unit 15 being inserted into the charging seat assembly 04.

[0062] In step S50, when the center point of the charging head unit 15 is aligned with the center axis of the charging base assembly 04, the multi-axis robot arm 02 can drive the charging head unit 15 to engage with the charging base assembly 04 and electrically connect, so as to charge the vehicle 05 in the charging area. In the process of engaging the charging head unit 15 with the charging base assembly 04, the charging head unit 15 can move relative to the fixed seat unit 11 along with the front movable seat unit 12 and the rear movable seat unit 13, and the range of movement of the charging head unit 15 relative to the fixed seat unit 11 of the charging base assembly 04 is within the third set range. In this way, when there is an error in the position of the charging base assembly 04 and the charging head unit 15, the accuracy of the insertion of the charging head unit 15 can still be guaranteed.

[0063] In some embodiments, step S50 may include steps S51 to S53 , and each step may be described in detail below.

[0064] The fixed seat unit 11 may include a base 111 and a front positioning module 112. The base 111 may be detachably connected to the multi-axis robot arm 02. The front positioning module 112 may be detachably connected to the base 111. The front movable seat unit 12 may include a front movable module 121, a front elastic module 122, and a plurality of front abutment balls 123. One end of the front elastic module 122 is detachably connected to the front movable module 121, and the other end is detachably connected to the front positioning module 112. Some of the front abutment balls 123 are embedded in the front movable module 121. One end of the front abutment ball 123 away from the front movable module 121 abuts against the front positioning module 112. The force applied by the front elastic module 122 causes the front movable module 121 and the front positioning module 112 to move toward each other.

[0065] In step S51 , after the center point of the charging head unit 15 is aligned with the center axis of the charging base assembly 04 , the charging head unit 15 can move toward the charging base assembly 04 .

[0066] In step S52, when the charging head unit 15 moves toward the charging base assembly 04, setting data can be obtained, and the setting data can provide a reliable basis for determining the moving path of the charging head unit 15. The setting data may include the force generated by the front contact ball 123 on the rear positioning module 113.

[0067] In step S53, since the charging head unit 15 is detachably connected to the front movable module 121 and the front movable module 121 is connected to the front abutting ball 123, the state of the charging head unit 15 can be determined by the relationship between the front abutting ball 123 and the front positioning module 112. When the difference in the force generated by each front abutting ball 123 on the front positioning module 112 is within the first force range and the force generated by each front abutting ball 123 on the front positioning module 112 is within the second force range, at this time, each front abutting ball 123 is in abutment with the front positioning module 112, and the difference in the force generated by each front abutting ball 123 on the front positioning module 112 is small, and at the same time, the force generated by each front abutting ball 123 on the front positioning module 112 is within the normal working range, it can be determined that the angle and distance between the central axis of the charging head unit 15 and the central axis of the charging seat assembly 04 are within the allowable range, and then the multi-axis robot arm 02 can drive the charging head unit 15 to engage and electrically connect with the charging seat assembly 04, so as to charge the vehicle 05. Among them, the range in which the charging head unit 15 moves relative to the fixed seat unit 11 can be within the third set range. The length of the front elastic module 122 will change during the adaptation of the charging head unit 15. Under the action of the front elastic module 122, even if the charging head unit 15 moves relative to the fixed seat unit 11 during the process of moving closer to the charging seat assembly 04, the charging head unit 15 can also passively adapt to the posture of the charging seat assembly 04, which can reduce the accuracy and computing power requirements of the flexible automatic charging system, thereby reducing costs while ensuring the accuracy of the charging head unit 15 inserted into the charging seat assembly 04.

[0068] In some embodiments, in this embodiment, as Figure 4 As shown, the front elastic module 122 may include two front upper tension springs 1221 and two front lower tension springs 1222. One end of the front upper tension spring 1221 may be detachably connected to one side of the front positioning module 112 along a first direction (the first direction may be the height direction of the front positioning module 112), and the other end of the front upper tension spring 1221 may be detachably connected to the front movable module 121. The two front upper tension springs 1221 may be spaced apart along a second direction (the second direction may be the length direction of the front positioning module 112). One end of the front lower tension spring 1222 may be detachably connected to the other side of the front positioning module 112 along the first direction, and the other end of the front lower tension spring 1222 may be detachably connected to the front movable module 121. The two front lower tension springs 1222 may be spaced apart along the second direction.

[0069] The setting data in step S52 may also include the tension of the upper front tension spring 1221 and the tension of the lower front tension spring 1222. Since the two ends of the upper front tension spring 1221 are detachably connected to the front movable module 121 and the front positioning module 112 respectively, and the two ends of the lower front tension spring 1222 are detachably connected to the front movable module 121 and the front positioning module 112 respectively, the tension of the upper front tension spring 1221 and the lower front tension spring 1222 can be used to more accurately judge the state of the charging head unit 15, so that the movement logic of the charging head unit 15 can be further optimized, thereby improving the success rate of inserting the charging head unit 15 into the charging head unit 15 and reducing the waiting time before charging the vehicle 05.

[0070] Step S53 can be when the difference in the force generated by each front contact ball 123 on the front positioning module 112 is within the first force range, the force generated by each front contact ball 123 on the front positioning module 112 is within the second force range, and the difference in the tension of each front upper tension spring 1221 and each front lower tension spring 1222 is within the first tension range, and the force of the front contact ball 123 on the front positioning module 112 is combined with the tension of the front upper tension spring 1221 and the tension of the front lower tension spring 1222, it can be judged that the angle and distance between the central axis of the charging head unit 15 and the central axis of the charging seat assembly 04 are within the allowable range, that is, the range of movement of the charging head unit 15 relative to the fixed seat unit 11 is within the third set range. Then the multi-axis robot arm 02 can drive the charging head unit 15 to engage and electrically connect with the charging seat assembly 04, so as to charge the vehicle 05. The charging head unit 15 can move relative to the fixed seat unit 11 through the front upper tension spring 1221 and the front lower tension spring 1222 during the movement, and the range of movement can be within the third set range. When the range of movement of the charging head unit 15 relative to the fixed seat unit 11 is within the third set range, the charging head unit 15 can adapt to the posture of the charging seat assembly 04, so as to complete the engagement and electrical connection between the charging head unit 15 and the charging seat assembly 04 when there is an error between the positions of the charging seat assembly 04 and the charging head unit 15.

[0071] In some embodiments, the flexible automatic charging method may further include steps S541 to S542, and each step may be described in detail below.

[0072] In step S541, when the difference in force generated by each front abutting ball 123 on the front positioning module 112 is greater than the first force range and less than the first force threshold, and the force generated by any front abutting ball 123 on the front positioning module 112 is within the second force range, it can be determined that the charging head unit 15 has been displaced along the axial direction of the charging head unit 15, and the front movable module 121 moves with the charging head unit 15, thereby driving the front upper tension spring 1221 and the front lower tension spring 1222 to stretch or compress, and the stretched front upper tension spring 1221 or lower upper tension spring will apply additional force to the front movable module 121, causing the difference in force generated by each front abutting ball 123 on the front positioning module 112 to change, but the force generated by each front abutting ball 123 on the front positioning module 112 is within the normal working range. In which direction the charging head unit 15 moves, the front upper tension spring 1221 or the front lower tension spring 1222 in that direction will be compressed, so that the tension of the front upper tension spring 1221 or the front lower tension spring 1222 on the front movable module 121 is reduced, and then the force exerted on the front positioning module 112 by the front abutting ball 123 close to the direction of the front upper tension spring 1221 or the front lower tension spring 1222 with reduced tension will also be reduced. Then the multi-axis robot arm 02 can drive the fixed seat unit 11 to move along the radial direction of the charging head unit 15 toward the front abutting ball 123 that exerts the least force on the front positioning module 112, so that the front positioning module 112 moves toward the charging head unit 15, so that the range of movement of the charging head unit 15 relative to the fixed seat unit 11 is within the third set range, thereby paving the way for the charging head unit 15 to smoothly engage with the charging seat assembly 04 and be electrically connected.

[0073] Step S542, after the fixed seat unit 11 moves the first set distance, the range of movement of the charging head unit 15 relative to the fixed seat unit 11 is within the third set range, and then the multi-axis robot arm 02 can drive the charging head unit 15 to move along the axial direction of the charging head unit 15 until it is engaged with and electrically connected to the charging seat assembly 04, thereby replenishing energy for the vehicle 05.

[0074] In other embodiments, if it is detected that the force exerted by any front contact ball 123 on the front positioning module 112 is less than the second force range, it can be determined that an abnormal situation has occurred, an alarm is immediately issued, and the movement is stopped.

[0075] In some embodiments, the front elastic module 122 may include two front upper tension springs 1221 and two front lower tension springs 1222. One end of the front upper tension spring 1221 may be detachably connected to one side of the front positioning module 112 along a first direction (the first direction may be the height direction of the front positioning module 112), and the other end of the front upper tension spring 1221 may be detachably connected to the front movable module 121. The two front upper tension springs 1221 may be spaced apart along a second direction (the second direction may be the length direction of the front positioning module 112). One end of the front lower tension spring 1222 may be detachably connected to the other side of the front positioning module 112 along the first direction, and the other end of the front lower tension spring 1222 may be detachably connected to the front movable module 121. The two front lower tension springs 1222 may be spaced apart along the second direction.

[0076] The setting data in step S52 may also include the tension of the upper front tension spring 1221 and the lower front tension spring 1222. Since the two ends of the upper front tension spring 1221 are detachably connected to the front movable module 121 and the front positioning module 112 respectively, and the two ends of the lower front tension spring 1222 are detachably connected to the front movable module 121 and the front positioning module 112 respectively, the tension of the upper front tension spring 1221 and the lower front tension spring 1222 can be used to more accurately judge the state of the charging head unit 15, so that the driving logic of the multi-axis robot arm 02 can be further optimized, thereby improving the success rate of inserting the charging head unit 15 into the charging head unit 15 and reducing the waiting time before charging the vehicle 05.

[0077] Step S541 is based on the fact that the difference in force generated by each front abutting ball 123 on the front positioning module 112 is greater than the first force range and less than the first force threshold, the force generated by any front abutting ball 123 on the front positioning module 112 is within the second force range, and the difference in tension between each front upper tension spring 1221 and each front lower tension spring 1222 is greater than or equal to the first tension threshold and less than the second tension threshold. It can be judged that the charging head unit 15 has been displaced along the axial direction of the charging head unit 15, and the front movable module 121 moves with the charging head unit 15, thereby driving the front upper tension spring 1221 and the front lower tension spring 1222 to stretch or compress, and the stretched front upper tension spring 1221 or lower upper tension spring will apply additional force to the front movable module 121, causing the difference in force generated by each front abutting ball 123 on the front positioning module 112 to change, but the force generated by each front abutting ball 123 on the front positioning module 112 is within the normal working range. In which direction the charging head unit 15 moves, the front upper tension spring 1221 or the front lower tension spring 1222 in that direction will be compressed, so that the tension of the front upper tension spring 1221 or the front lower tension spring 1222 on the front movable module 121 is reduced, and then the force exerted by the front contact ball 123 on the front positioning module 112 in the direction close to the front upper tension spring 1221 or the front lower tension spring 1222 with reduced tension will also be reduced. At the same time, the movement of the front movable module 121 will also change the tension value of each front upper tension spring 1221 and each front lower tension spring 1222, and the tension value of the front upper tension spring 1221 and the front lower tension spring 1222 on the stretched side and the tension value of the front upper tension spring 1221 and the front lower tension spring 1222 on the compressed side will change greatly. By analyzing the tension of each front upper tension spring 1221 and each front lower tension spring 1222, it is possible to avoid misjudgment caused by other factors affecting the force generated by the front abutment ball 123 on the front positioning module 112, thereby making a more accurate judgment on the state of the charging head unit 15. The multi-axis robot arm 02 can then drive the fixed seat unit 11 to move along the radial direction of the charging head unit 15 toward the front abutment ball 123 that generates the smallest force on the front positioning module 112, so that the front positioning module 112 moves toward the charging head unit 15, so that the range of movement of the charging head unit 15 relative to the fixed seat unit 11 is within the third set range, thereby paving the way for the charging head unit 15 to smoothly engage with the charging seat assembly 04 and be electrically connected.

[0078] In some embodiments, the flexible automatic charging method may further include steps S551 to S552, and each step may be described in detail below.

[0079] In step S551, based on the fact that the difference in force exerted by each front abutting ball 123 on the front positioning module 112 is greater than or equal to the first force threshold and less than the second force threshold, and the force exerted by any front abutting ball 123 on the front positioning module 112 is within the second force range, at this time, there is a certain angle between the central axis of the charging head unit 15 and the central axis of the charging seat assembly 04, and thus there is also a certain angle between the front movable module 121 and the front positioning module 112, so that the forces exerted by the front abutting balls 123 at different positions on the front positioning module 112 are inconsistent, and the difference in force exerted by each front abutting ball 123 on the front positioning module 112 is large, but the forces exerted by each front abutting ball 123 on the front positioning module 112 are all within the normal working range (i.e., the second force range). The multi-axis robot arm 02 can then use the end of the charging head unit 15 close to the charging base assembly 04 as the rotation center, drive the fixed base unit 11 to rotate a set angle in the direction of the front abutment ball 123 where the force exerted on the rear positioning module 113 is minimal, and rotate the charging head unit 15 to a range within a third set range relative to the fixed base unit 11, thereby paving the way for the charging head unit 15 to smoothly engage and electrically connect with the charging base assembly 04.

[0080] In step S552, after the charging head unit 15 rotates the set angle, the range of movement of the charging head unit 15 relative to the fixed base unit 11 is within the third set range, and then the multi-axis robot arm 02 drives the charging head unit 15 to move along the axial direction of the charging head unit 15 until it is engaged with and electrically connected to the charging base assembly 04.

[0081] In some embodiments, the front elastic module 122 may include two front upper tension springs 1221 and two front lower tension springs 1222. One end of the front upper tension spring 1221 may be detachably connected to one side of the front positioning module 112 along a first direction (the first direction may be the height direction of the front positioning module 112), and the other end of the front upper tension spring 1221 may be detachably connected to the front movable module 121. The two front upper tension springs 1221 may be spaced apart along a second direction (the second direction may be the length direction of the front positioning module 112). One end of the front lower tension spring 1222 may be detachably connected to the other side of the front positioning module 112 along the first direction, and the other end of the front lower tension spring 1222 may be detachably connected to the front movable module 121. The two front lower tension springs 1222 may be spaced apart along the second direction.

[0082] The setting data in step S52 may also include the tension of the upper front tension spring 1221 and the lower front tension spring 1222. Since the two ends of the upper front tension spring 1221 are detachably connected to the front movable module 121 and the front positioning module 112 respectively, and the two ends of the lower front tension spring 1222 are detachably connected to the front movable module 121 and the front positioning module 112 respectively, the state of the charging head unit 15 can be more accurately judged by the tension of the upper front tension spring 1221 and the lower front tension spring 1222, so that the movement logic of the charging head unit 15 can be further optimized, thereby improving the success rate of inserting the charging head unit 15 into the charging head unit 15 and reducing the waiting time before charging the vehicle 05.

[0083] Step S551 is based on the fact that the difference in force generated by each front abutting ball 123 on the front positioning module 112 is greater than or equal to the first force threshold and less than the second force threshold, the force generated by any front abutting ball 123 on the front positioning module 112 is within the second force range, and the difference in tension between each front upper tension spring 1221 and each front lower tension spring 1222 is greater than the first tension range and less than the first tension threshold. At this time, there is a certain angle between the central axis of the charging head unit 15 and the central axis of the charging seat assembly 04, and thus there is also a certain angle between the front movable module 121 and the front positioning module 112, so that the forces exerted by the front abutting balls 123 at different positions on the front positioning module 112 are inconsistent, and the difference in force generated by each front abutting ball 123 on the front positioning module 112 is large, but the forces generated by each front abutting ball 123 on the front positioning module 112 are all within the normal working range (i.e., the second force range). At the same time, the rotation of the front movable module 121 will also change the tension value of each front upper tension spring 1221 and each front lower tension spring 1222. The tension value of the front upper tension spring 1221 or the front lower tension spring 1222 close to the front abutting ball 123 that is tightly abutted against the front positioning module 112 changes less, and the tension value of the front upper tension spring 1221 or the front lower tension spring 1222 close to the front abutting ball 123 that tends to move away from the front positioning module 112 changes more. Then, the multi-axis robot 02 drives the fixed seat unit 11 to rotate the set angle in the direction of the front abutting ball 123 with the smallest force on the front positioning module 112 with the end of the charging head unit 15 close to the charging seat assembly 04 as the rotation center, so that the range of movement of the charging head unit 15 relative to the fixed seat unit 11 is within the third set range, thereby paving the way for the charging head unit 15 to smoothly engage with the charging seat assembly 04 and be electrically connected.

[0084] In some embodiments, the visual sensor 31 is disposed below the fixing seat unit 11, and the fixing seat unit 11 and the components of the fixing seat unit 11 on the side away from the visual sensor 31 can shield the visual sensor 31 from sunlight, thereby preventing direct sunlight from shining on the visual sensor 31 and causing the visual sensor 31 to be unable to recognize images and prevent overheating.

[0085] Step S40 may include steps S41 and S42, and each step will be described in detail below.

[0086] In step S41, based on the second position data, the multi-axis robot 02 drives the center point of the visual sensor 31 to approach the central axis of the charging base assembly 04 to be collinear, so that the charging head unit 15 moves down to the point where the center point of the charging head unit 15 is collinear with the central axis of the charging base assembly 04. The central axis of the charging base assembly 04 is obtained through the second position data.

[0087] In step S42, based on the multi-axis robot arm 02 driving the center point of the visual sensor 31 to approach collinearity with the center axis of the charging base assembly 04, the multi-axis robot arm 02 can be controlled to drive the charging head unit 15 to move down until the center point of the charging head unit 15 and the center axis of the charging base assembly 04 are approaching collinearity, so as to facilitate the charging head unit 15 to move to engage with the charging base assembly 04 and be electrically connected.

[0088] In this embodiment, a flexible automatic charging system is provided. The flexible automatic charging system is applied to any flexible automatic charging method in the above embodiments, such as Fig.13 As shown, the flexible automatic charging system may include a charging head assembly 01, a multi-axis robotic arm 02, a control assembly 03, a charging base assembly 04, and a vehicle 05.

[0089] The charging head assembly 01 includes a fixed seat unit 11, a front movable seat unit 12, a rear movable seat unit 13, and a charging head unit 15. The front movable seat unit 12 can be detachably connected to the fixed seat unit 11, and the detachable connection method can facilitate assembly. The rear movable seat unit 13 can be detachably connected to the fixed seat unit 11. The rear movable seat unit 13 can be spaced apart from the front movable seat unit 12 to provide a movable space for the front movable seat unit 12. The charging head unit 15 can pass through the front movable seat unit 12 and the rear movable seat unit 13 in sequence, so that the positions of the front movable seat unit 12, the rear movable seat unit 13 and the charging head unit 15 are relatively fixed.

[0090] The multi-axis robot arm 02 is detachably connected to the fixed seat unit 11, and the multi-axis robot arm 02 can drive the fixed seat unit 11 to move according to a predetermined program.

[0091] The control component 03 may include a visual sensor 31. The visual sensor 31 may be detachably connected to the fixing base unit 11. The visual sensor 31 may acquire the position of the charging base component 04.

[0092] The vehicle 05 may include a vehicle body 51 and a battery 52. ​​The vehicle body 51 may be electrically connected to the battery 52, and the battery 52 provides driving energy for the vehicle body 51. The charging base assembly 04 may be detachably connected to the battery 52, and when the service life of the charging base assembly 04 is reached, it may be easily replaced. The charging base assembly 04 may be electrically connected to the battery 52, so that the charging head unit 15 and the charging base assembly 04 are engaged and electrically connected to charge the battery 52.

[0093] The flexible automatic charging system may include a charging state. The charging state includes the charging head unit 15 being engaged and electrically connected with the charging base assembly 04 .

[0094] In other embodiments, Figure 2 , Figure 3 , Fig.13 As shown, the multi-axis robot arm 02 may include a support base 21, a movable arm 22, and a terminal rotating arm 23 that are detachably connected in sequence. The support base 21 may be used to support the movable arm 22 and the terminal rotating arm 23. The movable arm 22 may drive the terminal rotating arm 23 to move according to a predetermined program. The terminal rotating arm 23 may be detachably connected to the base 111, and may drive the base 111 to rotate with the central axis of the terminal rotating arm 23 as the rotation center. The control component 03 may also include a controller, a position sensor 32, and a sensor support rod 33. Fig. 9 As shown, the position sensor 32 can be detachably connected to the guide unit 14 and disposed in the hollow cavity of the guide unit 14, so that the guide unit 14 can protect the position sensor 32 from foreign objects. The controller can be electrically connected to the visual sensor 31, the position sensor 32, the sensor support rod 33, and the multi-axis robot arm 02, respectively, so as to obtain parameters for calculating the moving path of the multi-axis robot arm 02. The fixed seat unit 11 may include a base 111, a front positioning module 112, a rear positioning module 113, and a cable support module 114. The base 111 can be detachably connected to the end rotating arm 23. As shown in FIG. Figure 5 , Figure 7 As shown, the front positioning module 112 may include a front positioning plate 1121, a front positioning hole 1122, and a front limiting groove 1123. Figure 5 , Figure 6As shown, the rear positioning module 113 may include a rear positioning hole 1132 and a rear limiting groove 1133. The front positioning plate 1121 and the rear positioning plate 1131 may be fixedly connected to the base 111 respectively. The front positioning plate 1121 may be parallel to the rear positioning plate 1131 and spaced apart. The front limiting groove 1123 may be recessed from one side of the front positioning plate 1121 close to the rear positioning plate 1131 toward the other side. The front positioning hole 1122 runs through from one side of the front positioning plate 1121 to the other side. The rear limiting groove 1133 may be recessed from one side of the rear positioning plate 1131 away from the front positioning plate 1121 toward the other side. The rear positioning hole 1132 runs through from one side of the rear positioning plate 1131 to the other side. The charging head unit 15 may include a charging head cover 151, a charging head core 152, and a cable 153. The charging head cover 151 can pass through the front positioning hole 1122 and the front positioning hole 1122 in sequence, and be spaced apart from the front positioning hole 1122 and the front positioning hole 1122, respectively. The charging head cover 151 can be sleeved on the outer peripheral side of the charging head core 152 and be detachably connected to the charging head core 152. The cable 153 can be electrically connected and detachably connected to the charging head core 152. The cable support module 114 may include a support rod 1141 and a sliding groove 1142. One end of the support rod 1141 can be detachably connected to the base 111, and the other end can extend in a direction away from the base 111. The sliding groove 1142 can be detachably connected to the end of the support rod 1141 away from the base 111. Part of the cable 153 can be detachably connected to the sliding groove 1142, so as to avoid interference with the cable 153 during the movement of the multi-axis robot 02. The front movable module 121 may include a front movable plate 1211, a front movable hole 1212, and a front sliding hole 1213. One end of the front upper tension spring 1221 is detachably connected to the front movable plate 1211, and the other end can be detachably connected to the front positioning plate 1121. One end of the front lower tension spring 1222 is detachably connected to the front movable plate 1211, and the other end can be detachably connected to the front positioning plate 1121. The front movable plate 1211 is arranged on a side of the front positioning plate 1121 close to the rear positioning plate 1131. The front movable hole 1212 and the front sliding hole 1213 respectively penetrate from one side of the front positioning plate 1121 to the other side. Part of the front abutment ball 123 is embedded in the front movable plate 1211, and the end of the front abutment ball 123 away from the front movable plate 1211 abuts against the front limit groove 1123. The flexible automatic charging system may also include a rear movable seat unit 13. The rear movable seat unit 13 may include a rear movable module 131, a rear elastic module 132, and a rear contact ball 133. Figure 4 , Figure 8As shown, the rear movable module 131 may include a rear movable plate 1311, a rear movable hole 1312, and a rear sliding hole 1313. The rear elastic module 132 may include a rear upper tension spring 1321 and a rear lower tension spring 1322. The rear elastic module 132 may include two rear upper tension springs 1321 and two rear lower tension springs 1322. One end of the rear upper tension spring 1321 may be detachably connected to one side of the rear positioning module 113 along a first direction (the first direction may be the height direction of the front positioning module 112), and the other end of the rear upper tension spring 1321 may be detachably connected to the rear movable module 131. The two rear upper tension springs 1321 may be spaced apart along a second direction (the second direction may be the length direction of the front positioning module 112). One end of the rear upper tension spring 1321 may be detachably connected to the rear movable plate 1311, and the other end may be detachably connected to the rear positioning plate 1131. One end of the rear lower tension spring 1322 can be detachably connected to the rear movable plate 1311, and the other end can be detachably connected to the rear positioning plate 1131. The rear abutment ball 133 can be embedded in the rear movable plate 1311. The side of the rear abutment ball 133 away from the rear movable plate 1311 can abut against the rear limiting groove 1133. The rear movable hole 1312 and the rear sliding hole 1313 can respectively pass through from one side of the rear movable plate 1311 to the other side. The charging head cover 151 can pass through the front positioning hole 1122, the front movable hole 1212, the rear movable hole 1312, and the rear positioning hole 1132 in sequence, and can be detachably connected to the front movable hole 1212 and the rear movable hole 1312 respectively. The guide unit 14 can pass through the front sliding hole 1213 and the rear sliding hole 1313 in sequence, and can be detachably connected to the front sliding hole 1213 and the rear sliding hole 1313 respectively. Fig.10 , Fig.11 , Fig.12As shown, the charging seat assembly 04 may include an outer seat module 41, a charging seat module 42, and a movable locking module 43. The outer seat module 41 may include an outer seat body 411, a movable cover 412, an elastic part 413, an outer seat positioning hole 414, and an installation light hole 415. The outer seat body 411 may be detachably connected to the battery 52. ​​The outer seat body 411 may be electrically connected to the battery 52. ​​The outer seat positioning hole 414 may be recessed from one side of the outer seat body 411 toward the other side. The installation light hole 415 may pass through from one side of the outer seat body 411 to the other side. The elastic part 413 may be detachably connected to the outer seat body 411. The movable cover 412 may be movably connected to the outer seat body 411. The elastic part 413 may be drivably connected to the movable cover 412. The movable cover 412, driven by the elastic part 413, allows the outer seat body 411 and the movable cover 412 to form a closed space, which can prevent foreign objects from entering when the vehicle 05 is not charged. The charging seat module 42 may include a charging seat body 421 and a charging seat core 422; the mounting light hole 415 may be sleeved on the outer peripheral side of the charging seat body 421. The charging seat body 421 may be sleeved on the outer peripheral side of the charging seat core 422, and the charging seat body 421 may be detachably connected to the charging seat core 422. The charging seat core 422 may be electrically connected to the battery 52. ​​The movable locking module 43 may include an elastic ring 431, a locking bolt 432, and a nut 433. The locking bolt 432 may pass through the charging seat body 421, the outer seat body 411, the elastic ring 431, and the nut 433 in sequence, and the nut 433 may be detachably connected to the locking bolt 432. The elastic ring 431 may be a flexible material, which may allow a certain relative displacement between the charging seat body 421 and the outer seat body 411, thereby further reducing the accuracy requirements for automatic charging. The sensor support rod 33 may be detachably connected to the outer seat body 411. The charging state also includes the movable arm 22 driving the charging head cover 151 on the base 111 through the end rotating arm 23, so that the charging head cover 151 and / or the guide unit 14 push the movable cover 412, so that the charging seat core 422 is electrically connected to the charging head core 152, at least part of the guide unit 14 is located in the space surrounded by the outer seat positioning hole 414, and the position sensor 32 is electrically connected to the sensor support rod 33, so that the charging head unit 15 can charge the vehicle 05 through the charging seat assembly 04. The maximum circumscribed circle diameter of the plurality of rear abutting balls 133 can be greater than the maximum circumscribed circle diameter of the rear elastic module 132 at the connection point of the rear movable module 131, which can effectively prevent the rear movable module 131 from being subjected to the force from the charging head unit 15 and the guide unit 14, and the abutting ball on one side abuts against the rear positioning module 113 and the rear abutting ball 133 on the other side is spaced from the rear positioning module 113, so that the charging head unit 15 can be more stable away from the end of the charging seat assembly 04, and can provide stable support when the charging head unit 15 is charging the seat assembly 04. The maximum circumscribed circle diameter of the plurality of rear abutment balls 133 may be greater than the maximum circumscribed circle diameter of the plurality of front abutment balls 123 .In the process of inserting the charging head unit 15 into the charging seat assembly 04, this method allows the front movable module 121 to move flexibly compared to the rear movable module 131, so that the end of the charging head unit 15 close to the charging seat assembly 04 can not only move in a direction parallel to the front positioning module 112, but also change the angle between the central axis of the charging head unit 15 and the side of the front positioning module 112 away from the front movable module 121, so as to adapt to the charging seat assembly 04 more flexibly and quickly, thereby making the process of inserting the charging head unit 15 into the charging seat assembly 04 smoother. The maximum circumscribed circle diameter of the front contact ball 123 can be smaller than the maximum circumscribed circle diameter of the rear elastic module 132 at the connection point of the rear movable module 131, which can further make the front movable module 121 more flexible than the rear movable module 131. The depth of the rear limit groove 1133 can be 1 / 4 to 1 / 3 of the diameter of the rear abutment ball 133, and the diameter of the rear limit groove 1133 can be equal to the diameter of the rear abutment ball 133. When the rotation of the front movable module 121 is supported, the rear abutment ball 133 can have a small range of movement when rolling in the rear limit groove 1133, further expanding the movement range of the front movable module 121 and the charging head unit 15 close to the charging seat assembly 04; when the charging head unit 15 is between the charging seat assembly 04 When the position error is large and the rear movable module 131 needs to have a large displacement, the rear contact ball 133 can move from the rear limit groove 1133 to the surface of the rear positioning plate 1131, so that the end of the charging head unit 15 close to the charging seat assembly 04 and the end of the charging head unit 15 away from the charging seat assembly 04 can float to adapt to the posture of the charging seat assembly 04, so that when there is a position error between the charging head unit 15 and the charging seat assembly 04, the charging head unit 15 can also be smoothly inserted into the charging seat assembly 04. Figure 7As shown, the depth of the front limit groove 1123 can be 1 / 5 to 1 / 4 of the diameter of the rear abutment ball 133; the diameter of the front limit groove 1123 can be larger than the diameter of the rear abutment ball 133. In this way, the front abutment ball 123 has a larger range of movement in the front limit groove 1123, making the front movable module 121 more flexible, thereby making the end of the charging head unit 15 close to the charging seat assembly 04 more flexible. When the position error between the charging seat assembly 04 and the charging head unit 15 is large, the shallow depth of the front limit groove 1123 can also allow the front abutment ball 123 to move from the front limit groove 1123 to the surface of the front positioning plate 1121, so that the front abutment ball 123 can have a larger range of movement according to actual conditions. When there is an error between the position of the charging head unit 15 and the charging seat assembly 04, the charging head unit 15 can also be inserted into the charging seat assembly 04 and start charging. The diameter of the circumscribed circle of the connection point between the two front upper tension springs 1221 and the two front lower tension springs 1222 and the front movable module 121 may be smaller than the diameter of the circumscribed circle of the connection point between the rear elastic module 132 and the rear movable module 131 . The front movable module 121 is closer to the charging seat assembly 04 than the rear movable module 131. This method can make the end of the charging head unit 15 close to the charging seat assembly 04 more flexible. When there is a certain position error between the charging seat assembly 04 and the charging head unit 15, during the process of inserting the charging head unit 15 and the guide unit 14 into the charging seat assembly 04, the charging head unit 15 can rotate around the rear elastic module 132 at the center of the circumscribed circle of the connection point of the rear movable module 131, so that the charging head unit 15 can float more flexibly; when the position error between the charging seat assembly 04 and the charging head unit 15 is large, the end of the charging head unit 15 away from the charging seat assembly 04 floats with the rear movable module 131, and the end of the charging head unit 15 close to the charging seat assembly 04 floats with the front movable module 121, so as to achieve the effect of more smoothly adapting to the charging seat assembly 04. The force exerted by the two front upper tension springs 1221 and the two front lower tension springs 1222 can make the front movable module 121 and the front positioning module 112 move towards each other. Since the central axis of the charging seat assembly 04 can be close to horizontal in most cases after the vehicle 05 stops in the battery exchange area, the force applied by the two front upper tension springs 1221 and the two front lower tension springs 1222 can prevent the charging head unit 15 from being too far away from the horizontal plane when it is not inserted into the charging seat assembly 04, which can reduce the steps of controlling the central axis angle of the charging head unit 15, thereby improving the charging efficiency. Figure 3As shown, since the structure of the front positioning module 112 is compact and the distances between the two front upper tension springs 1221 and the two front lower tension springs 1222 at the connection points with the front movable module 121 are very close, in order to prevent the two front upper tension springs 1221 and the two front lower tension springs 1222 from interfering with each other and the front movable module 121 from being too flexible, the diameter of the circumscribed circle of the connection points between the two front upper tension springs 1221 and the two front lower tension springs 1222 and the front positioning module 112 can be larger than the diameter of the circumscribed circle of the connection points between the two front upper tension springs 1221 and the two front lower tension springs 1222 and the front movable module 121 respectively. This method can also make the two front upper tension springs 1221 and the two front lower tension springs 1222 have a certain inclination relative to the first direction (the first direction can be the height direction of the front positioning module 112) and the second direction (the second direction can be the length direction of the front positioning module 112), so that the two front upper tension springs 1221 and the two front lower tension springs 1222 can provide sufficient force in the first direction and the second direction for the front movable module 121, so as to avoid the front movable module 121 being too flexible and causing the charging head unit 15 to be too flexible, so that the charging head unit 15 is sufficiently stable when inserted into the charging seat assembly 04. The diameter of the circumscribed circle of the connection point between the front elastic module 122 and the front movable module 121 can be smaller than the diameter of the circumscribed circle of the connection point between the two rear upper tension springs 1321 and the two rear lower tension springs 1322 and the rear movable module 131 respectively. The larger the diameter of the circumscribed circle of the connection point, the more stable it is. The front movable module 121 is closer to the charging base assembly 04 than the rear movable module 131. This method can make the end of the charging head unit 15 close to the charging base assembly 04 more flexible. When there is a certain error in the position of the charging base assembly 04 and the charging head unit 15, during the process of inserting the charging head unit 15 and the guide unit 14 into the charging base assembly 04, the charging head unit 15 can rotate around the center of the circumscribed circle of the connection point between the two rear upper tension springs 1321 and the two rear lower tension springs 1322 and the rear movable module 131, respectively, so that the charging head unit 15 can float more flexibly; when the position error between the charging base assembly 04 and the charging head unit 15 is large, the end of the charging head unit 15 away from the charging base assembly 04 and the rear movable module 131, and the end of the charging head unit 15 close to the charging base assembly 04 and the front movable module 121 can float together, thereby achieving the effect of more smoothly adapting to the charging base assembly 04. The force applied by the two rear upper tension springs 1321 and the two rear lower tension springs 1322 can move the rear movable module 131 and the rear positioning module 113 toward each other. Since the central axis of the charging seat assembly 04 can be nearly horizontal after the vehicle 05 stops in the battery exchange area in most cases, the force applied by the two rear upper tension springs 1321 and the two rear lower tension springs 1322 can prevent the charging head unit 15 from being too far away from the horizontal plane when it is not inserted into the charging seat assembly 04, and can reduce the steps of controlling the central axis angle of the charging head unit 15, thereby improving the charging efficiency.As shown in the figure, the diameter of the circumscribed circle of the connection point between the two rear upper tension springs 1321 and the two rear lower tension springs 1322 and the rear positioning module 113 can be smaller than the diameter of the circumscribed circle of the connection point between the two rear upper tension springs 1321 and the two rear lower tension springs 1322 and the rear movable module 131. The distance between the connection points of the two rear upper tension springs 1321 and the two rear lower tension springs 1322 at the rear movable module 131 is large enough, and the distance between the connection points of the two rear upper tension springs 1321 and the two rear lower tension springs 1322 at the rear positioning module 113 is small, so that the charging head assembly 01 can be made compact without interfering with each other between the two rear upper tension springs 1321 and the two rear lower tension springs 1322. At the same time, this method can also make the two rear upper tension springs 1321 and the two rear lower tension springs 1322 have a certain inclination relative to the first direction and the second direction, so that the two front upper tension springs 1221 and the two front lower tension springs 1222 can provide sufficient force along the first direction and the second direction for the front movable module 121. When the position error between the charging head unit 15 and the charging base assembly 04 is small, the two rear upper tension springs 1321 and the two rear lower tension springs 1322 can stably limit the movement range of the charging head unit 15 away from one end of the charging base assembly 04 through the rear movable module 131, so that the charging head unit 15 is more flexible near the end of the charging base assembly 04 and the front movable module 121. The charging head unit 15 away from the end of the charging base assembly 04 and the rear movable module 131 will only be displaced when the position error between the charging base assembly 04 and the charging head unit 15 is large, so that the charging head unit 15 away from the end of the charging base assembly 04 provides support when the position error between the charging base assembly 04 and the charging head unit 15 is small, thereby improving the smoothness of the charging head unit 15 inserted into the charging base assembly 04. The elastic force of the rear elastic module 132 can be greater than the elastic force of the front elastic module 122. When the position error between the charging seat assembly 04 and the charging head unit 15 is small, the end of the charging head unit 15 close to the charging seat assembly 04 moves flexibly together with the front movable module 121, and the end of the charging head unit 15 away from the charging seat assembly 04 provides support together with the rear movable module 131; when the position error between the charging seat assembly 04 and the charging head unit 15 is large, the end of the charging head unit 15 away from the charging seat assembly 04 and the rear movable module 131, and the end of the charging head unit 15 close to the charging seat assembly 04 and the front movable module 121 are displaced, thereby making it smoother for the charging head unit 15 to be inserted into the charging seat assembly 04.

[0095] In some embodiments, the visual sensor 31 can be set under the fixed seat unit 11, and the fixed seat unit 11 and the components of the fixed seat unit 11 on the side away from the visual sensor 31 can block sunlight for the visual sensor 31 to prevent direct sunlight from shining on the visual sensor 31, causing the visual sensor 31 to be unable to recognize images and prevent overheating.

[0096] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A flexible automatic charging method, characterized in that: The flexible automatic charging method comprises: Step S10, based on the vehicle stopping in the charging area, the visual sensor of the control component obtains the first position data of the charging seat component; wherein the distance between the visual sensor and the charging seat component is within a first set range; Step S20, based on the first position data, the multi-axis robot drives the charging head assembly and the control assembly to move synchronously toward the charging base assembly; Step S30, based on the distance between the visual sensor and the charging base assembly being within a second set range, the visual sensor acquires second position data of the charging base assembly; Step S40, based on the second position data, the multi-axis robot arm adjusts the center point of the charging head unit of the charging head assembly to align with the central axis of the charging base assembly; wherein the central axis of the charging base assembly is obtained through the second position data; Step S50, based on the alignment of the center point of the charging head unit with the central axis of the charging base assembly, the multi-axis robot drives the charging head unit to engage and electrically connect with the charging base assembly; wherein, during the engagement of the charging head unit with the charging base assembly, the range of movement of the charging head unit relative to the fixed base unit of the charging base assembly is within a third set range; The step S50 comprises: Step S51, based on the alignment of the center point of the charging head unit with the central axis of the charging base assembly, the charging head unit moves toward the charging base assembly; Step S52, based on the charging head unit moving toward the charging seat assembly, obtaining setting data; wherein the setting data includes the force exerted by the front abutment ball on the front positioning module, the charging head assembly includes the fixed seat unit and the front movable seat unit; the front abutment ball of the front movable seat unit is embedded in the front movable module of the front movable seat unit and abuts against the front positioning module of the fixed seat unit; Step S53, based on the difference in force generated by each of the front abutting balls on the front positioning module being within the first force range and the force generated by each of the front abutting balls on the front positioning module being within the second force range, the multi-axis robot drives the charging head unit to engage and electrically connect with the charging seat assembly; wherein the range in which the charging head unit moves relative to the fixed seat unit is within the third set range; The setting data in step S52 also includes the tension of the front upper tension spring and the front lower tension spring; wherein the front elastic module of the front movable seat unit includes the front upper tension spring and the front lower tension spring; one end of the front upper tension spring and the front lower tension spring are respectively connected to the front positioning module, and the other end is respectively connected to the front movable module; the two front upper tension springs and the two front lower tension springs are arranged at intervals from each other; The step S53 is based on the fact that the difference in force generated by each of the front abutting balls on the front positioning module is within the first force range, the force generated by each of the front abutting balls on the front positioning module is within the second force range, and the difference in tension between each of the front upper tension springs and each of the front lower tension springs is within the first tension range, and the multi-axis robotic arm drives the charging head unit to engage and electrically connect with the charging seat assembly; wherein the range of movement of the charging head unit relative to the fixed seat unit is within the third set range.

2. A flexible automatic charging method according to claim 1, characterized in that: The flexible automatic charging method also includes: Step S541, based on the fact that the difference in the force exerted by each of the front abutting balls on the front positioning module is greater than the first force range and less than the first force threshold, and the force exerted by any of the front abutting balls on the front positioning module is within the second force range, the multi-axis robot arm drives the fixing seat unit to move along the radial direction of the charging head unit toward the front abutting ball that exerts the smallest force on the front positioning module; Step S542: based on the charging head unit moving a first set distance, the multi-axis robotic arm drives the charging head unit to move along the axial direction of the charging head unit until it is engaged with and electrically connected to the charging base assembly.

3. A flexible automatic charging method according to claim 2, characterized in that: The setting data in step S52 also includes the tension of the front upper tension spring and the front lower tension spring; The step S541 is based on the fact that the difference in force generated by each of the front abutting balls on the front positioning module is greater than the first force range and less than the first force threshold, the force generated by any of the front abutting balls on the front positioning module is within the second force range, and the difference in tension between each of the front upper tension springs and each of the front lower tension springs is greater than or equal to the first tension threshold and less than the second tension threshold, the multi-axis robotic arm drives the fixed seat unit to move along the radial direction of the charging head unit toward the front abutting ball that generates the smallest force on the front positioning module.

4. A flexible automatic charging method according to claim 1, characterized in that: The flexible automatic charging method also includes: Step S551, based on the fact that the difference in the force exerted by each of the front abutting balls on the front positioning module is greater than or equal to the first force threshold and less than the second force threshold, and the force exerted by any of the front abutting balls on the front positioning module is within the second force range, the multi-axis robot arm drives the fixed seat unit to rotate by a set angle toward the direction of the front abutting ball exerting the smallest force on the front positioning module with the end of the charging head unit close to the charging seat assembly as the rotation center; Step S552: based on the charging head unit rotating to the set angle, the multi-axis robotic arm drives the charging head unit to move along the axial direction of the charging head unit until it is engaged with and electrically connected to the charging base assembly.

5. A flexible automatic charging method according to claim 4, characterized in that: The setting data in step S52 also includes the tension of the front upper tension spring and the front lower tension spring; The step S551 is based on the fact that the difference in force generated by each of the front abutment balls on the front positioning module is greater than or equal to the first force threshold and less than the second force threshold, the force generated by any of the front abutment balls on the front positioning module is within the second force range, and the difference in tension between each of the front upper tension springs and each of the front lower tension springs is greater than the first tension range and less than the first tension threshold. The multi-axis robotic arm drives the fixed seat unit to rotate a set angle toward the direction of the front abutment ball that generates the smallest force on the front positioning module with the end of the charging head unit close to the charging seat assembly as the rotation center.

6. A flexible automatic charging method according to claim 1, characterized in that: The step S40 comprises: Step S41, based on the second position data, the multi-axis robot drives the center point of the visual sensor and the central axis of the charging base assembly to approach collinearity; wherein the central axis of the charging base assembly is obtained through the second position data; Step S42, based on the multi-axis robotic arm driving the center point of the visual sensor and the central axis of the charging base assembly to approach collinearity, the multi-axis robotic arm drives the charging head unit downward until the center point of the charging head unit and the central axis of the charging base assembly are approaching collinearity.

7. A flexible automatic charging system, characterized in that: The flexible automatic charging system is applied to a flexible automatic charging method according to any one of claims 1 to 6, and the flexible automatic charging system comprises: A charging head assembly, the charging head assembly comprising a fixed seat unit, a front movable seat unit, a rear movable seat unit, and a charging head unit; the front movable seat unit is detachably connected to the fixed seat unit; the rear movable seat unit is detachably connected to the fixed seat unit; the rear movable seat unit is spaced apart from the front movable seat unit; the charging head unit passes through the front movable seat unit and the rear movable seat unit in sequence; A multi-axis mechanical arm, wherein the multi-axis mechanical arm is detachably connected to the fixing seat unit; A control component, the control component comprising a visual sensor; the visual sensor is detachably connected to the fixing seat unit; Charging dock assembly; A vehicle, the vehicle comprising a vehicle body and a battery; the vehicle body is electrically connected to the battery; the charging seat assembly is detachably connected to the battery; the charging seat assembly is electrically connected to the battery; The flexible automatic charging system includes a charging state; the charging state includes the charging head unit being engaged and electrically connected with the charging base assembly.

8. A flexible automatic charging system according to claim 7, characterized in that: The visual sensor is arranged below the fixing seat unit.

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