Automatic parking control system, method and equipment for mobile charging robot

Abstract

The invention discloses an automatic parking control system, method and device for a mobile charging robot, and relates to the field of mobile charging robots, and the system comprises an environment sensing module which is used for collecting image information and position information of the mobile charging robot; the image information is an image of an environment within a preset distance of the mobile charging robot in a moving process of the mobile charging robot; the navigation sensing module is used for collecting the space length and the attitude angle of the mobile charging robot during parking; the main controller is connected with the environment sensing module and the navigation sensing module and used for determining a parking area according to the image information and the position information and sending out a parking instruction to control the mobile charging robot to automatically park in the parking area and further used for judging whether the mobile charging robot completes parking or not according to the space length and the attitude angle. By automatically searching the parking position, automatic parking of the mobile charging robot is achieved, and parking resources are optimized.

Description

Technical Field

[0001] The present application relates to the field of mobile charging robots, and in particular to a mobile charging robot control system. Background Art

[0002] With the rapid development of industrial technology and the introduction of energy-saving and environmental protection concepts, the number of new energy vehicles is increasing, and the problem of charging new energy vehicles has arisen. Traditional fixed charging piles have problems such as low charging efficiency, low parking space utilization, high maintenance costs, and limited time allocation for car owners. With the continuous development of machine vision, sensor technology, and artificial intelligence, mobile charging robots have emerged.

[0003] However, the mobile charging robots currently on the market can only return to the designated location to charge after charging. If the designated location is occupied by other cars, the parking function will not be realized. Especially in old residential areas, the problem of chaotic parking is more common, and there are even cars occupying the designated charging parking spaces of mobile charging robots, gasoline cars parking in the charging spaces of new energy vehicles, and cars parking randomly without stopping in parking spaces, which will make the mobile charging robots unable to park. Summary of the invention

[0004] The purpose of this application is to provide a mobile charging robot automatic parking control system, method and equipment, which realizes automatic parking of the mobile charging robot by automatically searching for parking positions and optimizes parking resources.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a mobile charging robot automatic parking control system, wherein the mobile charging robot automatic parking control system is arranged on the mobile charging robot, and the mobile charging robot automatic parking control system comprises:

[0007] An environment perception module, used to collect image information and location information of the mobile charging robot; the image information is an image of the environment within a preset distance of the mobile charging robot during the movement of the mobile charging robot;

[0008] The navigation perception module is used to collect the spatial length and attitude angle of the mobile charging robot when it is parking;

[0009] The main controller is connected to the environmental perception module and the navigation perception module respectively, and is used to determine the parking area according to the image information and the position information, and issue a parking command to control the mobile charging robot to automatically park in the parking area, and is also used to determine whether the mobile charging robot has completed parking according to the space length and the attitude angle.

[0010] Optionally, the environment perception module includes:

[0011] A camera module, connected to the main controller, for collecting the image information;

[0012] A laser radar sensor is connected to the main controller and is used to collect the position information.

[0013] Optionally, the navigation perception module includes:

[0014] An ultrasonic sensor, connected to the main controller, for detecting the length of the space;

[0015] An angle detection sensor is connected to the main controller and is used to detect the posture angle.

[0016] In a second aspect, the present application provides a mobile charging robot automatic parking control method, which is applied to the mobile charging robot automatic parking control system described in any one of claims 1 to 3, and the mobile charging robot automatic parking control method includes:

[0017] Obtain image information and location information of the mobile charging robot when it moves;

[0018] According to the image information and the position information, a parking model is established by using an optical modeling method and a point cloud modeling method, and a parking area is generated;

[0019] Generate a parking instruction according to the parking area to control the mobile charging robot to automatically park in the parking area;

[0020] Obtain the spatial length and attitude angle of the mobile charging robot when parking;

[0021] Whether the mobile charging robot has completed parking is determined based on the space length and the attitude angle.

[0022] Optionally, the space length includes: the distance between the mobile charging robot and the left obstacle, the distance between the mobile charging robot and the right obstacle, and the distance between the mobile charging robot and the rear obstacle;

[0023] Obtain the spatial length and attitude angle of the mobile charging robot when parking, including:

[0024] A two-dimensional coordinate system is established based on the parking area; the positive direction of the X-axis of the two-dimensional coordinate system is the moving direction of the mobile charging robot, and the positive direction of the Y-axis of the two-dimensional coordinate system is the detection direction of the laser radar sensor;

[0025] According to the coordinate points of the mobile charging robot in the two-dimensional coordinate system, the attitude angle of the mobile charging robot when parking is determined;

[0026] According to the attitude angle during parking, the distance between the mobile charging robot and the obstacle on the left and the distance between the mobile charging robot and the obstacle on the right are calculated;

[0027] The distance between the mobile charging robot and the rear obstacle is determined according to the attitude angle and the coordinate information of the rear obstacle in the two-dimensional coordinate system.

[0028] Optionally, the calculation formula of the attitude angle of the mobile charging robot during parking is:

[0029]

[0030] in, The attitude angle of the mobile charging robot when parking; X A is the X-axis coordinate of the edge point A of the mobile charging robot in the two-dimensional coordinate system; B is the X-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; Y A is the Y-axis coordinate of the edge point A of the mobile charging robot in the two-dimensional coordinate system; B It is the Y-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; judge = 0 means that the line segment AB formed by the edge point A and the edge point B is the side of the mobile charging robot; judge = 1 means that the line segment AB formed by the edge point A and the edge point B is not the side of the mobile charging robot.

[0031] Optionally, the calculation formula of the space length is:

[0032]

[0033]

[0034] Among them, L d2 X is the distance between the mobile charging robot and the obstacle on the right; C2 is the X-axis coordinate of the edge point C2 of the right obstacle in the two-dimensional coordinate system; is the attitude angle of the obstacle on the right; C2 is the Y-axis coordinate of the edge point C2 of the right obstacle in the two-dimensional coordinate system; A2 is the Y-axis coordinate of the edge point A2 of the right obstacle in the two-dimensional coordinate system; A2 is the X-axis coordinate of the edge point A2 of the right obstacle in the two-dimensional coordinate system; L d1 X is the distance between the mobile charging robot and the obstacle on the left; A1 is the X-axis coordinate of the edge point A1 of the left obstacle in the two-dimensional coordinate system; is the attitude angle of the obstacle on the left; C1is the X-axis coordinate of the edge point C1 of the left obstacle in the two-dimensional coordinate system; C1 is the X-axis coordinate of the edge point C1 of the left obstacle in the two-dimensional coordinate system; L c Y is the distance between the mobile robot and the obstacle behind it; B is the Y-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; A3 It is the Y-axis coordinate of the edge point A3 of the rear obstacle in the two-dimensional coordinate system.

[0035] Optionally, the calculation formula of the parking area is:

[0036] L w =X C2 -X A1 ;

[0037] L s =L w -u;

[0038]

[0039] Among them, L w The maximum width of the mobile charging robot when parking; L s is the width of the parking area; u is a constant; L r is the length of the parking area; L e L is the body length of the mobile charging robot; f The width of the mobile charging robot.

[0040] Optionally, judging whether the mobile charging robot has completed parking according to the space length and the attitude angle specifically includes:

[0041] Determining whether a parking condition is met; the parking condition is that the length of the space reaches a minimum length threshold and the attitude angle reaches an angle threshold;

[0042] If so, the mobile charging robot completes parking;

[0043] If not, the mobile charging robot has not completed parking.

[0044] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any one of the above-mentioned mobile charging robot automatic parking control methods.

[0045] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0046] The present application provides a mobile charging robot automatic parking control system, method and device. The main controller collects image information and position information of the mobile charging robot when it moves according to the environment perception module, determines the parking area, and then issues a parking command to control the mobile charging robot to automatically park, thereby realizing automatic search for parking positions and optimizing parking resources. The main controller further collects the spatial length and attitude angle of the mobile charging robot when parking according to the navigation perception module, and continuously adjusts the parking position of the mobile charging robot, so that the mobile charging robot moves to a suitable parking position, thereby realizing automatic parking of the mobile charging robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 This is a schematic diagram of functional modules of an automatic parking control system for a mobile charging robot in one embodiment of the present application;

[0049] Figure 2 A schematic diagram of a flow chart of an automatic parking method for a mobile charging robot provided in one embodiment of the present application;

[0050] Figure 3 The line segment AB formed by the edge point A and the edge point B of the mobile charging robot is a side schematic diagram of the mobile charging robot;

[0051] Figure 4 The line segment AB formed by the edge point A and the edge point B of the mobile charging robot is not a side schematic diagram of the mobile charging robot;

[0052] Figure 5 A schematic diagram of the parking area for the mobile charging robot;

[0053] Figure 6 This is a schematic diagram of functional modules of an automatic charging control system for a mobile charging robot in another embodiment of the present application;

[0054] Figure 7 This is an architecture diagram of an integrated system of intelligent remote control and automatic charging in another embodiment of the present application;

[0055] Figure 8 A schematic diagram of a process of automatic charging of a mobile charging robot provided in another embodiment of the present application;

[0056] Fig. 9It is a schematic diagram of the base coordinate system and module coordinate system of the six-axis robot model;

[0057] Fig.10 Workflow diagram for mobile charging robot;

[0058] Fig.11 A schematic diagram of the structure of a computer device provided in one embodiment of the present application.

[0059] Figure numerals: 1-camera module, 2-lidar sensor, 3-ultrasonic sensor, 4-angle detection sensor, 5-main controller, 6-vision module, 7-motor drive module, 8-motor, 9-charging arm, 10-remote control system, 11-human-computer interaction system, 12-mobile charging robot automatic charging control system. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] The mobile charging robot is a product of the combination of charging piles and smart mobile platforms. It takes artificial intelligence and machine learning as its core technology, and has core competitiveness such as mobile industrial and commercial energy storage, emergency power supply, and peak-valley arbitrage. The mobile charging robot was first launched by Tesla in 2015, announcing an automatic charging robot based on a snake-like arm. This mobile charging robot uses a metal body and is demonstrated using MODELS and a mobile charging robot. When the car approaches the mobile charging robot, the car's charging hatch will automatically open, and then the mobile charging robot will automatically complete the docking work and start charging in about half a minute. The robotic arm is in series form, with about 20 joints. It is a super-redundant robot with a slow movement speed and a small gun head load. At present, this robot has not been used in engineering. In 2018, Samsung Electronics released a mobile charging robot for new energy vehicles called EVAR (Electric Vehicle Automatic Recharging). EVAR uses Samsung's self-developed artificial intelligence, autonomous driving and precise control algorithm technology. When drivers of new energy vehicles want to charge their vehicles, they must tag their smartphones to the wall-mounted device and transmit the charging location information as data to perform the task. Based on the location information, EVAR can automatically move to a new energy vehicle parked anywhere in the parking lot, and then automatically connect to the charger. However, this device requires manual connection of a special EVSE adapter to the car license plate. In 2020, AIWAYS announced a mobile automatic charging robot called CARL. The charging robot will automatically move to the vehicle location entered in the user's APP, automatically identify the charging port, and automatically charge. It uses a built-in battery mode, similar to a mobile power bank. When there is no vehicle that needs to be charged, it will be parked in a location with charging facilities. When a vehicle needs to be charged, it will move over to charge the vehicle. After charging is completed, it will automatically return to the charging facility to replenish the power.

[0062] However, the above three mobile charging robots all have the problem of being unable to park automatically. With the continuous increase in the number of new energy vehicles, the problem of charging new energy vehicles in old communities has become increasingly serious. The parking lot in old communities is complicated, and the charging of new energy vehicles faces many difficulties. Not only is the number of parking spaces in old communities tight, but there is also a situation where oil cars and electric cars are mixed parked, which causes the parking position of electric cars to be uncertain, resulting in the designated charging position of the mobile charging robot being occupied. In addition, when vehicles are parked randomly, it is easy for the mobile charging robot to return, and the road is blocked by randomly parked vehicles, causing the mobile charging robot to be unable to execute the return command. The mobile charging robot stops in the middle of the road, and even causes property losses to users, so it is not suitable for automatic charging tasks in old communities. In order to solve the above-mentioned problems, a mobile charging robot control system that can flexibly and automatically park is needed. In this application, a mobile charging robot that can meet the needs of old communities is designed.

[0063] According to the design requirements of the mobile charging robot, this application mainly aims at the complex parking environment of parking lots in old residential areas, and provides a mobile charging robot automatic parking control system, method and equipment.

[0064] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0065] In an exemplary embodiment, a mobile charging robot automatic parking control system is provided, and the mobile charging robot automatic parking control system is arranged on the mobile charging robot, such as Figure 1 As shown, the mobile charging robot automatic parking control system includes:

[0066] The environment perception module is used to collect image information and position information of the mobile charging robot; the image information is an image of the environment within a preset distance of the mobile charging robot during the movement of the mobile charging robot.

[0067] The navigation perception module is used to collect the spatial length and attitude angle of the mobile charging robot when parking.

[0068] The main controller 5 is connected to the environment perception module and the navigation perception module respectively, and is used to determine the parking area according to the image information and the position information, and issue a parking command to control the mobile charging robot to automatically park in the parking area, and is also used to determine whether the mobile charging robot has completed parking according to the space length and the attitude angle.

[0069] Specifically, the environment perception module includes:

[0070] The camera module 1 is connected to the main controller 5 and is used to collect image information.

[0071] The laser radar sensor 2 is connected to the main controller 5 and is used to collect position information.

[0072] Specifically, the navigation perception module includes:

[0073] The ultrasonic sensor 3 is connected to the main controller 5 and is used to detect the length of the space.

[0074] The angle detection sensor 4 is connected to the main controller 5 and is used to detect the posture angle.

[0075] In an exemplary embodiment, Figure 2 As shown, a mobile charging robot automatic parking control method is provided, and the mobile charging robot automatic parking control method is applied to the above-mentioned mobile charging robot automatic parking control system, and the mobile charging robot automatic parking control method includes:

[0076] Step 1: Obtain image information and location information of the mobile charging robot while it is moving.

[0077] Step 2: Based on the image information and location information, optical modeling methods and point cloud modeling methods are used to establish a parking model and generate a parking area. First, a laser radar is used to collect data about the surrounding environment, and the collected point cloud data and image data are filtered to remove noise and convert the data information to a unified coordinate. Then, optical modeling is used to extract feature points from the image and use the feature points to establish a geometric model to determine the pre-parking area. At the same time, point cloud processing methods are used to identify obstacles in the point cloud and mark them as non-parking areas. Based on the distribution of the ground and obstacles, available parking areas are generated. Finally, the two methods are combined to generate a parking area. Figure 5 As shown, the rectangular frame formed by abcd is the parking area.

[0078] Step 3: Generate a parking instruction according to the parking area to control the mobile charging robot to automatically park in the parking area.

[0079] Step 4: Obtain the spatial length and attitude angle of the mobile charging robot when parking. The spatial length includes: the distance between the mobile charging robot and the left obstacle, the distance between the mobile charging robot and the right obstacle, and the distance between the mobile charging robot and the rear obstacle. The left obstacle, right obstacle, and rear obstacle can be other cars or walls. Figure 5 In the figure, obstacle 1 is the left obstacle, obstacle 2 is the right obstacle, and obstacle 3 is the rear obstacle.

[0080] Step 5: Determine whether the mobile charging robot has completed parking based on the spatial length and attitude angle.

[0081] In a specific embodiment, step 4 specifically includes:

[0082] Step 41: A two-dimensional coordinate system is established based on the parking area; the positive direction of the X-axis of the two-dimensional coordinate system is the moving direction of the mobile charging robot, and the positive direction of the Y-axis of the two-dimensional coordinate system is the detection direction of the laser radar sensor.

[0083] Step 42: Determine the attitude angle of the mobile charging robot when parking according to the coordinate information of the mobile charging robot in the two-dimensional coordinate system.

[0084] like Figure 3 and Figure 4 As shown in the figure, the attitude angle of the mobile charging robot when parking It represents the angle between the line segment AB connecting the edge points A and B of the mobile charging robot and the x-axis, and its value range is [0,π]. The calculation formula of the attitude angle of the mobile charging robot when parking is:

[0085]

[0086] in, The attitude angle of the mobile charging robot when parking; X A is the X-axis coordinate of the edge point A of the mobile charging robot in the two-dimensional coordinate system; B is the X-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; Y A is the Y-axis coordinate of the edge point A of the mobile charging robot in the two-dimensional coordinate system; B is the Y-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; judge = 0 means that the line segment AB formed by edge points A and B is the side of the mobile charging robot, such as Figure 3 As shown; judge = 1 means that the line segment AB formed by edge point A and edge point B is not the side of the mobile charging robot, such as Figure 4 shown.

[0087] Step 43: According to the attitude angle during parking, determine the distance between the mobile charging robot and the obstacle on the left and the distance between the mobile charging robot and the obstacle on the right.

[0088] Step 44: Determine the distance between the mobile charging robot and the rear obstacle according to the attitude angle and the coordinate point of the rear obstacle in the two-dimensional coordinate system.

[0089] like Figure 5 As shown, the calculation formula for the space length is:

[0090]

[0091]

[0092] L c =Y B -YA3 (4)

[0093] Among them, L d2 is the distance between the mobile charging robot and obstacle 2; X C2 is the X-axis coordinate of the edge point C2 of obstacle 2 in the two-dimensional coordinate system; is the attitude angle of obstacle 2; C2 is the Y-axis coordinate of the edge point C2 of obstacle 2 in the two-dimensional coordinate system; A2 is the Y-axis coordinate of the edge point A2 of obstacle 2 in the two-dimensional coordinate system; A2 is the X-axis coordinate of the edge point A2 of obstacle 2 in the two-dimensional coordinate system; L d1 is the distance between the mobile charging robot and obstacle 1; X A1 is the X-axis coordinate of the edge point A1 of obstacle 1 in the two-dimensional coordinate system; is the attitude angle of obstacle 1; Y C1 is the X-axis coordinate of the edge point C1 of obstacle 1 in the two-dimensional coordinate system; C1 is the X-axis coordinate of the edge point C1 of obstacle 1 in the two-dimensional coordinate system; L c is the distance between the mobile robot and obstacle 3; Y B is the Y-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; A3 is the Y-axis coordinate of the edge point A3 of obstacle 3 in the two-dimensional coordinate system.

[0094] The calculation formula for the parking area is:

[0095] L w =X C2 -X A1 (5)

[0096] L s =L w -u(6)

[0097]

[0098] Among them, L w The maximum width of the mobile charging robot when parking; L s is the width of the parking area, that is Figure 5 b and d in the figure; u is a constant ranging from 0.1m to 0.3m; L r is the length of the parking area, that is Figure 5 a and c in L e L is the body length of the mobile charging robot; f The width of the mobile charging robot.

[0099] In a specific embodiment, step 5 specifically includes:

[0100] Determining whether a parking condition is met; the parking condition is that the length of the space reaches a minimum length threshold and the attitude angle reaches an angle threshold;

[0101] If so, the mobile charging robot completes parking;

[0102] If not, the mobile charging robot has not completed parking.

[0103] The present application provides a mobile charging robot automatic parking control system and method, which can automatically find a parking location and realize automatic parking of the mobile robot, thereby avoiding the problem of the mobile robot being unable to park due to random parking of vehicles in old communities, and realizing the optimization of parking resources.

[0104] In an exemplary embodiment, Figure 6 As shown, a mobile charging robot automatic charging control system is provided. The mobile charging robot automatic charging control system is arranged on the mobile charging robot. The mobile charging robot automatic charging control system specifically includes: a main controller 5, a vision module 6, a motor drive module 7, a motor 8 and a charging arm 9.

[0105] The visual module 6 is connected to the main controller 5 and is used to collect the location information and image information of the charging port of the unknown charging vehicle model.

[0106] The main controller 5 uses the binocular positioning method and the hand-eye calibration method to establish the optimal posture trajectory based on the position information and image information collected by the visual module, issue a charging instruction, and control the charging arm 9 to drive the charging gun to complete automatic charging. At the same time, the optimal posture trajectory is matched with the charging port of the unknown charging vehicle model and stored in the posture trajectory database.

[0107] The main controller 5 is also used to determine the optimal posture trajectory of the charging arm 9 according to the charging vehicle type determined by the received mobile phone APP, issue a charging instruction, and control the charging gun to complete charging.

[0108] like Figure 7 As shown, the mobile charging robot automatic charging control system 12 is connected to the human-machine interaction system 11 and the remote control system 10 respectively, and the human-machine interaction system 11 is connected to the remote control system 10.

[0109] like Figure 8 As shown, firstly, the data of the charging port positions of different models of various new energy vehicle brands on the market are collected, and then the shortest time trajectory of the robot arm is solved through the robot arm kinematics, and then the shortest time trajectory of the robot arm corresponding to each model is used as the optimal posture trajectory of the charging arm, and the optimal trajectory of each model is collected to form a charging arm posture database. The charging arm 9 is composed of multiple robot arms.

[0110] When the user needs to charge, the remote control system 10 can obtain the location of the charging vehicle and confirm the charging model through the vehicle information registered by the user. Through the charging arm posture database, the remote control system 10 will match the user model information obtained with the posture in the charging arm posture library, and call the matched optimal posture trajectory, so that the charging gun can quickly and accurately reach the charging position. At the same time, it will continuously update the charging posture database of new models. If there is no matched optimal posture trajectory, the charging arm 9 will start the routine identification charging port program: first, the charging port is calibrated by the camera, including camera calibration, binocular calibration and hand-eye calibration. The process of obtaining the geometric model parameters in the camera imaging is called camera calibration. After calibrating the parameters of the two cameras separately, binocular calibration is performed. Hand-eye calibration is to determine the coordinate conversion relationship between the pixel coordinate system and the space robot coordinate system. Then the local basic features of the charging port are extracted to obtain the features of the charging port area. The charging port is located using the binocular positioning principle. By establishing a triangular geometric relationship model between the image planes of the two cameras and the target object in the three-dimensional space, the information on the charging port in the three-dimensional space is obtained through the feature point matching relationship and the triangulation principle. Finally, the coordinate transformation is performed to convert the coordinates of the image coordinate system into the position transformation of the robot base coordinates to complete the identification and positioning of the charging port. The trajectory data is then transmitted to the database for optimization by the technicians.

[0111] Since certain errors may occur in the actual working process, the PID control is introduced separately for each joint of the DOF manipulator to reduce the interference of external factors during the work of the manipulator. By adjusting the ratio, the speed and response peak time Tp of the system can be improved; by changing the integral, the steady-state accuracy of the system can be improved and the response error of the system can be reduced; by changing the differential, the overshoot of the system response can be reduced in advance and the stability of the system can be improved.

[0112] The following is the calculation formula for PID control:

[0113]

[0114] e(t)=r(t)-c(t) (9)

[0115] Among them, K p is the proportional gain, Kp is inversely proportional to the proportionality; T t is the integral time constant; TD is the differential time constant; u(t) is the output signal of the PID controller; e(t) is the difference between the given value r(t) and the measured value; r(t) is the signal given value; c(t) is the actual measured value.

[0116] The working process of the charging arm is as follows: Figure 8This control system greatly optimizes the charging time of the charging gun and the car, reducing the user's time cost.

[0117] In an exemplary embodiment, the optimal trajectory calculation process is as follows:

[0118] The first step is to establish the base coordinate system O of the six-axis robot model b and module coordinate system O i , base coordinate system O b Fixed at the center of the flange of the robot base, module coordinate system O i Fixed at the center of each robot arm in the six-axis robot model, such as Fig. 9 As shown, the six-axis robot arm has a total of 6 modules, which are marked as 1-6, and the coordinate systems corresponding to each module are marked as {1}, {2}, {3}, {4}, {5}, and {6}. The red axis is the x-axis; the green axis is the y-axis; and the blue axis is the z-axis.

[0119] The second step is to establish a good coordinate system to give the parameters between them, calculate the end coordinates through the motion parameters of each joint of the robot arm, model it using DH coordinates, and calculate its forward and inverse solutions.

[0120] Among them, the transformation parameter connecting rod length ɑ i Defined as z i-1 Axis and z i Axis distance, transformation parameter connecting rod angle α i Defined as z i-1 Axis and z i The angle of the axis, the transformation parameter joint offset d i Defined as x i-1 Axis and x i Axis distance, transformation parameter joint angle θ i Defined as x i-1 Axis and x i The angle of the axis.

[0121] The third step is to calculate the positive solution of the robot kinematics. The calculation formula for the position and posture of the end effector of the robot arm is:

[0122]

[0123]

[0124]

[0125]

[0126]

[0127]

[0128]

[0129]

[0130]

[0131] in, is the motion matrix from the i-1th robot to the ith robot; Rot(·) is the rotation matrix, which represents the posture of the end effector of the robot; Trans(·) is the displacement vector, which represents the position of the end effector of the robot in the base coordinate system; n x is the angle between the x-axis of the sixth module coordinate system and the x-axis of the base coordinate system; n y is the angle between the x-axis of the sixth module coordinate system and the y-axis of the base coordinate system; n z is the angle between the x-axis of the 6th module coordinate system and the z-axis of the base coordinate system; o x is the angle between the y-axis of the 6th module coordinate system and the x-axis of the base coordinate system; o y is the angle between the y-axis of the 6th module coordinate system and the y-axis of the base coordinate system; o z is the angle between the y-axis of the 6th module coordinate system and the z-axis of the base coordinate system; a x is the angle between the z-axis of the sixth module coordinate system and the x-axis of the base coordinate system; a y is the angle between the z-axis of the sixth module coordinate system and the y-axis of the base coordinate system; a z is the angle between the z-axis of the sixth module coordinate system and the z-axis of the base coordinate system; p x is the coordinate of the sixth module coordinate system in the x-axis of the base coordinate system; p y is the coordinate of the 6th module coordinate system in the y-axis of the base coordinate system; p z Sθ is the coordinate of the sixth module coordinate system in the z-axis of the base coordinate system; i , Cθ i represents sinθ i , cosθ i .

[0132] The fourth step is to calculate the inverse kinematics of the robot. The calculation formula for the angle of each joint is:

[0133]

[0134]

[0135]

[0136]

[0137]

[0138] M=-a2sin(θ2)-a3sin(θ2-θ3) (24)

[0139] N=a2cos(θ2)+a3cos(θ2-θ3) (25)

[0140]

[0141]

[0142]

[0143] in, for The inverse matrix of .

[0144] The last step is to obtain the inverse kinematic solution of the six-axis robot. There may be multiple situations for this inverse solution. Therefore, when there are multiple solutions, the solution with the shortest robot trajectory time is selected as the optimal solution of the charging gun trajectory in the database to meet the working requirements of the six-axis robot. In the recognition stage, the robot needs to be given an initial posture so that the charging port can be within the field of view of the camera.

[0145] The mobile charging robot automatic charging control system 12 is intended to charge cars with charging ports on both sides of the car body. Taking BYD Han as an example, its charging port is on the left rear side of the car, about 850mm above the ground. The height between the charging port and the ground of other common models on the market generally ranges from 800mm to 1000mm, and the height of the robot's installation column is about 500mm. Based on the fact that the robot's installation column is at least 460mm away from the parking space, the robot's activity space radius is about 750mm, and the robot's end tool length is about 200mm, it can be estimated that the distance between the car and the installation column ranges from about 460mm to 1000mm.

[0146] Therefore, in order to make the charging port appear in the camera field of view as much as possible and avoid the robot from causing damage to the car, the initial posture of the six-axis robot arm is designed according to the parameters given above. Fig.10As shown, the working process of the mobile robot is: after the user parks the vehicle, the user can choose to scan the code or log in to the APP to connect to the remote terminal to use the charging service. After successfully entering the program, the user can select his or her own charging needs in the operation interface, and then the remote terminal obtains the user's operation information and gives the user a choice of whether to confirm the operation. When the user confirms the operation, the remote terminal sends the user's location information and vehicle information to the mobile charging robot. The mobile charging robot finds the charging vehicle according to the user's vehicle location information, and then automatically identifies the location of the charging port and the docking of the charging port with the charging gun. After charging is completed, the mobile charging robot automatic control system controls the mobile charging robot to automatically select a suitable location to park. At the same time, the remote control system 10 sends a charging completion message to the user, and the mobile charging robot waits for the next operation instruction. The user can end the service at any time during the entire working period of the mobile charging robot.

[0147] The mobile charging robot automatic charging control system 12 achieves fast and accurate charging to the charging port position by matching vehicle information with the optimal charging position in the self-built charging arm position database, greatly reducing the user's time cost. When a new model appears, it can also automatically identify the charging port position and update the database at the same time.

[0148] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Fig.11 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data on the movement and parking of the mobile charging robot. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a mobile charging robot automatic parking control method is implemented.

[0149] Those skilled in the art will understand that Fig.11The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0150] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0151] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0152] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0153] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The present application uses specific examples to illustrate the principles and implementation methods of the present application. The above examples are only used to help understand the method and core ideas of the present application. At the same time, for those skilled in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A mobile charging robot automatic parking control system, wherein the mobile charging robot automatic parking control system is arranged on the mobile charging robot, characterized in that: The mobile charging robot automatic parking control system includes: An environment perception module, used to collect image information and location information of the mobile charging robot; the image information is an image of the environment within a preset distance of the mobile charging robot during the movement of the mobile charging robot; The navigation perception module is used to collect the spatial length and attitude angle of the mobile charging robot when it is parking; The main controller is connected to the environmental perception module and the navigation perception module respectively, and is used to determine the parking area according to the image information and the position information, and issue a parking command to control the mobile charging robot to automatically park in the parking area, and is also used to determine whether the mobile charging robot has completed parking according to the space length and the attitude angle.

2. The mobile charging robot automatic parking control system according to claim 1 is characterized in that: The environment perception module comprises: A camera module, connected to the main controller, for collecting the image information; A laser radar sensor is connected to the main controller and is used to collect the position information.

3. The mobile charging robot automatic parking control system according to claim 1, characterized in that: The navigation perception module comprises: An ultrasonic sensor, connected to the main controller, for detecting the length of the space; An angle detection sensor is connected to the main controller and is used to detect the posture angle.

4. A mobile charging robot automatic parking control method, characterized in that: The mobile charging robot automatic parking control method is applied to the mobile charging robot automatic parking control system according to any one of claims 1 to 3, and the mobile charging robot automatic parking control method comprises: Obtain image information and location information of the mobile charging robot when it moves; According to the image information and the position information, a parking model is established by using an optical modeling method and a point cloud modeling method, and a parking area is generated; Generate a parking instruction according to the parking area to control the mobile charging robot to automatically park in the parking area; Obtain the spatial length and attitude angle of the mobile charging robot when parking; Whether the mobile charging robot has completed parking is determined based on the space length and the attitude angle.

5. The automatic parking control method of the mobile charging robot according to claim 4, characterized in that: The space length includes: the distance between the mobile charging robot and the obstacle on the left, the distance between the mobile charging robot and the obstacle on the right, and the distance between the mobile charging robot and the obstacle behind; Obtain the spatial length and attitude angle of the mobile charging robot when parking, including: A two-dimensional coordinate system is established based on the parking area; the positive direction of the X-axis of the two-dimensional coordinate system is the moving direction of the mobile charging robot, and the positive direction of the Y-axis of the two-dimensional coordinate system is the detection direction of the laser radar sensor; Determine the attitude angle of the mobile charging robot when parking according to the coordinate information of the mobile charging robot in the two-dimensional coordinate system; According to the attitude angle, determining the distance between the mobile charging robot and the obstacle on the left and the distance between the mobile charging robot and the obstacle on the right; The distance between the mobile charging robot and the rear obstacle is determined according to the attitude angle and the coordinate point of the rear obstacle in the two-dimensional coordinate system.

6. The automatic parking control method of the mobile charging robot according to claim 5, characterized in that: The calculation formula of the attitude angle of the mobile charging robot when parking is: in, The attitude angle of the mobile charging robot when parking; X A is the X-axis coordinate of the edge point A of the mobile charging robot in the two-dimensional coordinate system; B is the X-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; Y A is the Y-axis coordinate of the edge point A of the mobile charging robot in the two-dimensional coordinate system; B It is the Y-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; judge = 0 means that the line segment AB formed by the edge point A and the edge point B is the side of the mobile charging robot; judge = 1 means that the line segment AB formed by the edge point A and the edge point B is not the side of the mobile charging robot.

7. The automatic parking control method of the mobile charging robot according to claim 6, characterized in that: The calculation formula of the space length is: L c =And B -AND A3 ; Among them, L d2 X is the distance between the mobile charging robot and the obstacle on the right; C2 is the X-axis coordinate of the edge point C2 of the right obstacle in the two-dimensional coordinate system; is the attitude angle of the obstacle on the right; C2 is the Y-axis coordinate of the edge point C2 of the right obstacle in the two-dimensional coordinate system; A2 is the Y-axis coordinate of the edge point A2 of the right obstacle in the two-dimensional coordinate system; A2 is the X-axis coordinate of the edge point A2 of the right obstacle in the two-dimensional coordinate system; L d1 X is the distance between the mobile charging robot and the obstacle on the left; A1 is the X-axis coordinate of the edge point A1 of the left obstacle in the two-dimensional coordinate system; is the attitude angle of the obstacle on the left; C1 is the X-axis coordinate of the edge point C1 of the left obstacle in the two-dimensional coordinate system; C1 is the X-axis coordinate of the edge point C1 of the left obstacle in the two-dimensional coordinate system; L c Y is the distance between the mobile robot and the obstacle behind it; B is the Y-axis coordinate of the edge point B of the mobile charging robot in the two-dimensional coordinate system; A3 It is the Y-axis coordinate of the edge point A3 of the rear obstacle in the two-dimensional coordinate system.

8. The automatic parking control method of the mobile charging robot according to claim 7, characterized in that: The calculation formula for the parking area is: L w =X C2 -X A1 ; L s =L w -and; Among them, L w The maximum width of the mobile charging robot when parking; L s is the width of the parking area; u is a constant; L r is the length of the parking area; L e L is the body length of the mobile charging robot; f The width of the mobile charging robot.

9. The automatic parking control method of the mobile charging robot according to claim 7, characterized in that: Judging whether the mobile charging robot has completed parking according to the space length and the attitude angle specifically includes: Determining whether a parking condition is met; the parking condition is that the length of the space reaches a minimum length threshold and the attitude angle reaches an angle threshold; If so, the mobile charging robot completes parking; If not, the mobile charging robot has not completed parking.

10. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the mobile charging robot automatic parking control method described in any one of claims 4 to 9.

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