Automatic control method for adaptive high and low voltage DC charging pile of charging robot

Abstract

The present invention relates to the field of automatic control technology, and in particular, to an automatic control method for a charging robot to adaptively control a high and low voltage DC charging pile. The method comprises the following steps: the charging robot determines the location of a target charging pile and navigates to the target charging pile, and the connecting device of the charging robot is adaptively adjusted according to the interface of the target charging pile to complete the docking; the charging robot determines whether the target charging pile is a high voltage charging pile or a low voltage charging pile, and adjusts the working parameters of the bidirectional DC / DC converter according to the voltage range information of the high voltage charging pile and the voltage range information of the low voltage charging pile, so that the input voltage meets the optimal charging condition of the battery. The method can adapt to changing environmental conditions, helps to maintain optimal conversion efficiency and performance, and can reduce failures caused by overheating or overcooling by optimizing temperature management, thereby reducing the cost of maintenance and replacement of components.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an automatic control method for a charging robot adaptively controlling a high- and low-voltage direct current charging pile. Background Art

[0002] There are many types of charging piles on the market, including AC charging piles and DC charging piles. DC charging piles are favored because they can provide faster charging speeds, but their operating voltage ranges may vary. For example, some charging piles may support lower voltages (such as 250V), while others may support higher voltages (such as 400V or higher). In order to improve charging efficiency and ensure compatibility with different vehicle models, it is necessary to develop a charging system that can automatically adjust the output voltage according to vehicle requirements. This can not only meet the charging needs of different types of electric vehicles, but also optimize the energy conversion efficiency during the charging process. However, the converter in the prior art cannot maintain optimal performance under all temperature conditions, and may overheat in a high temperature environment, causing equipment damage or even safety accidents. Therefore, an automatic control method for a charging robot adaptive high and low voltage DC charging pile is designed. Summary of the invention

[0003] The object of the present invention is to provide an automatic control method for a charging robot adaptive high and low voltage DC charging pile to solve the problem that the converter proposed in the above background technology cannot maintain optimal performance under all temperature conditions.

[0004] To achieve the above object, the present invention aims to provide an automatic control method for a charging robot adaptively controlling a high and low voltage DC charging pile, comprising the following steps:

[0005] S1. The charging robot activates the built-in visual sensor to detect the surrounding environment, determine the location of the target charging pile, calculate the optimal path to the target charging pile through the control system, and navigate to the target charging pile. The connection device of the charging robot is adaptively adjusted according to the interface of the target charging pile to complete the docking;

[0006] S2. The charging robot uses NFC to identify the information of the target charging pile. The charging robot determines whether the target charging pile is a high-voltage charging pile or a low-voltage charging pile based on the read information, and stores the collected information of the target charging pile in the memory of the charging robot after processing;

[0007] S3. The charging robot is equipped with a bidirectional DC / DC converter, which can adjust the working parameters of the bidirectional DC / DC converter according to the voltage range information of the high-voltage charging pile and the voltage range information of the low-voltage charging pile, so that the input voltage meets the optimal charging conditions of the battery;

[0008] Among them, adjusting the working parameters of the bidirectional DC / DC converter requires first determining the optimal charging voltage range of the battery. If the target charging pile is determined to be a high-voltage charging pile in S2, a step-down conversion is required. If the target charging pile is determined to be a low-voltage charging pile in S2, a step-up conversion is required. At the same time, the ambient temperature and battery temperature are introduced in both the step-down conversion and the step-up conversion for optimization.

[0009] S4, monitor the battery status in real time, and adjust the charging power and charging current based on the battery status and the capacity of the charging pile;

[0010] S5. Detect abnormal conditions in real time during the charging process. When an abnormality is detected, the charging process is interrupted using an intelligent interruption mechanism.

[0011] As a further improvement of the technical solution, the position of the target charging pile is determined in S1 as follows:

[0012] Use an RGB-D camera to capture environmental images, perform image correction, extract key features and feature points of the target charging pile based on the processed images, and estimate the geometric relationship between the feature points;

[0013] Get the cumulative displacement of the charging robot:

[0014] ;

[0015] in, is the cumulative displacement; For the Transposition of the posture of the charging robot corresponding to the frame image; For the The position and posture of the charging robot corresponding to the frame image;

[0016] Get the cumulative position of the charging robot:

[0017] ;

[0018] in, is the pose variable currently being optimized; is the slope matrix of angular velocity; is the slope matrix of acceleration; is the sampling interval;

[0019] ;

[0020] in, is the optimized overall pose; is the pose estimation based on visual data; is the balance coefficient; is the pose estimation based on IMU;

[0021] Fusion of accumulated displacement and accumulated pose:

[0022] ;

[0023] in, is the state estimation; and They are all state transfer matrices; is the state estimate of the previous step; is the control input; is the Kalman gain; is the observed value; is the observation model; is GPS gain; is the GPS observation value; is the GPS observation model; is the lidar gain; is the laser radar observation value; is the lidar observation model; For map gain; is the map observation value; is the map observation model;

[0024] Target charging station location:

[0025] ;

[0026] in, The location coordinates of the target charging pile; is the transposition of the overall posture of the charging robot relative to the initial position; is the detected feature point position of the target charging pile.

[0027] As a further improvement of the technical solution, the optimal path to the target charging pile is calculated by the control system in S1 based on The algorithm is as follows:

[0028] The current position of the charging robot is taken as the starting point, the position of the target charging pile is taken as the end point, and the map of the environment is taken as a grid, each grid includes a passable area and an impassable area; the algorithm evaluates the function To select the next node, represents the actual cost from the starting point to node n, Represents a slave node the estimated cost to reach the destination;

[0029] Create an empty visited list to store the nodes to be referenced, create an empty closed list to store the nodes that have been visited, and add the starting point to the open list;

[0030] Select from open list The smallest node ,if If it is the target node, the search ends and the path is returned. Otherwise, Nodes are moved from the open list to the closed list;

[0031] for All adjacent nodes of a node, if in the closed list, are skipped and the cost from the starting point to the node is calculated; if the node is not in the open list or the new path has a lower cost, the node information is updated and the node is added to the open list;

[0032] Loop until the target node is found, start from the target node and trace back along the parent node to the starting point to build a path from the starting point to the target node.

[0033] As a further improvement of the technical solution, in S1, the connection device of the charging robot is adaptively adjusted according to the interface of the target charging pile to complete the docking as follows:

[0034] Capture the interface image and determine the interface type of the target charging pile through the pre-programmed interface type database. The connection structure of the charging robot can convert the corresponding connector through the internal starting system to adapt to the interface of the target charging pile, and then align with the interface position of the target charging pile to complete the connection. After the connection is completed, the surface of the charging robot flashes a feedback signal to indicate a successful connection, otherwise the connection fails.

[0035] As a further improvement of the present technical solution, in S2, after determining whether the target charging pile is a high-voltage charging pile or a low-voltage charging pile, if the target charging pile is a high-voltage charging pile, the charging robot obtains the maximum voltage value and the recommended voltage range; if the target charging pile is a low-voltage charging pile, the charging robot obtains the minimum voltage value and the recommended voltage range.

[0036] As a further improvement of the technical solution, in S3, the processes of step-down conversion and step-up conversion are respectively:

[0037] Buck conversion First, set the bidirectional DC / DC converter to buck mode, calculate the buck ratio based on the maximum voltage of the high-voltage charging pile and the optimal charging voltage range of the battery, and adjust the duty cycle of the bidirectional DC / DC converter until the required buck ratio is met;

[0038] The boost conversion first sets the bidirectional DC / DC converter to boost mode, calculates the boost ratio based on the minimum voltage of the low-voltage charging pile and the optimal charging voltage range of the battery, and adjusts the duty cycle of the bidirectional DC / DC converter until the required boost ratio is met.

[0039] As a further improvement of the technical solution, the steps of the step-down conversion and the step-up conversion are specifically as follows:

[0040] Step-down conversion:

[0041] ;

[0042] in, is the original step-down ratio; The upper limit of the optimal charging voltage range for the battery; is the maximum voltage of the high-voltage charging pile;

[0043] ;

[0044] in, is the step-down ratio; is the conversion efficiency of the bidirectional DC / DC converter;

[0045] ;

[0046] in, is the duty cycle of the bidirectional DC / DC converter during voltage reduction;

[0047] Boost conversion:

[0048] ;

[0049] in, is the original boost ratio; It is the lower limit of the optimal charging voltage range of the battery; The minimum voltage of the low-voltage charging pile;

[0050] ;

[0051] in, is the step-up ratio;

[0052] ;

[0053] in, is the duty cycle of the bidirectional DC / DC converter during boost.

[0054] As a further improvement of the technical solution, the ambient temperature and the battery temperature are introduced for optimization in both the step-down conversion and the step-up conversion, specifically:

[0055] Step-down conversion:

[0056] ;

[0057] ;

[0058] in, is the average temperature during depressurization; is the ambient temperature during voltage reduction; is the battery temperature during voltage reduction; is the temperature coefficient of the voltage drop; is the temperature sensitivity coefficient during the step-down conversion process;

[0059] but:

[0060] ;

[0061] ;

[0062] in, is the optimized step-down ratio; is the duty cycle of the bidirectional DC / DC converter during optimized step-down;

[0063] Boost conversion:

[0064] ;

[0065] ;

[0066] in, is the average temperature during boosting; is the ambient temperature during boosting; is the battery temperature during boost; is the temperature coefficient of boost; is the temperature sensitivity coefficient during the boost conversion process;

[0067] but:

[0068] ;

[0069] ;

[0070] in, is the optimized boost ratio; is the duty cycle of the bidirectional DC / DC converter during optimized boost.

[0071] As a further improvement of the technical solution, the specific steps of S4 are as follows:

[0072] S41, real-time monitoring of key data of the battery, wherein the key data includes the current, voltage and temperature of the battery, and transmitting the key data to the central controller, which can evaluate the state of charge of the battery based on the received data and determine whether the battery is close to being fully charged or needs to be quickly charged;

[0073] S42, determining the maximum output power and current limit information of the target charging pile, and obtaining the charging protocol support of the charging pile;

[0074] S43: Adjust charging power and current according to the battery status and information of the charging pile.

[0075] As a further improvement of the present technical solution, in S5, when an abnormality is detected, the severity of the abnormality is evaluated to decide whether the power supply needs to be turned off. If it is decided to turn off the power supply, the intelligent interruption mechanism is triggered.

[0076] Compared with the prior art, the present invention has the following beneficial effects:

[0077] 1. In the automatic control method of the charging robot's adaptive high and low voltage DC charging pile, the accumulated displacement and posture information are fused through the Kalman filter, which can effectively reduce the accumulated error and improve the continuity and accuracy of positioning. The introduction of GPS, lidar, and map data can improve the accuracy of position estimation, and multi-sensor fusion improves the robustness of the system, that is, it can still maintain good performance in the face of uncertainty and noise.

[0078] 2. In the automatic control method of the charging robot's adaptive high and low voltage DC charging pile, the introduction of temperature compensation in the buck-boost conversion can dynamically adjust the duty cycle of the converter to adapt to changing environmental conditions, which helps to maintain optimal conversion efficiency and performance. By optimizing temperature management, failures caused by overheating or overcooling can be reduced, thereby reducing the cost of maintenance and replacement of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 is a flow chart of the overall method of the present invention;

[0080] Figure 2 It is a schematic diagram of the structure of the interface between the charging robot and the charging pile in the present invention. DETAILED DESCRIPTION

[0081] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0082] See also Figure 1 As shown, a method for automatically controlling a charging robot adaptively adopting high and low voltage DC charging piles is provided, comprising the following steps:

[0083] S1. The charging robot activates the built-in visual sensor to detect the surrounding environment, determine the location of the target charging pile, calculate the optimal path to the target charging pile through the control system, and navigate to the target charging pile. The connection device of the charging robot is adaptively adjusted according to the interface of the target charging pile to complete the docking;

[0084] In S1, the location of the target charging pile is determined as follows:

[0085] Use RGB-D camera to capture environmental images, correct the images, extract key features and feature points of the target charging pile based on the processed images, and estimate the geometric relationship between the feature points; by capturing and correcting environmental images with RGB-D camera, the three-dimensional information of the target charging pile can be accurately obtained. Extracting key features and feature points and estimating geometric relationships can help accurately identify charging piles in complex environments, reduce misjudgments, and improve positioning accuracy;

[0086] Obtaining the cumulative displacement of the charging robot can effectively track the movement trajectory of the charging robot, ensure the continuity and stability of positioning, and reduce positioning interruptions caused by environmental changes or visual occlusion:

[0087] ;

[0088] in, is the cumulative displacement; For the Transposition of the posture of the charging robot corresponding to the frame image; For the The position and posture of the charging robot corresponding to the frame image;

[0089] Obtaining the cumulative position and posture of the charging robot can estimate the posture changes of the charging robot in real time, which helps to maintain the accuracy of posture estimation in dynamic environments, especially in high-speed movement or complex terrain:

[0090] ;

[0091] in, is the pose variable currently being optimized; is the slope matrix of angular velocity; is the slope matrix of acceleration; is the sampling interval;

[0092] ;

[0093] in, is the optimized overall pose; Pose estimation based on visual data, which is to calculate the position and posture of the camera itself or the object in three-dimensional space by analyzing the feature points in the image captured by the camera; is the balance coefficient; The pose estimation based on IMU is obtained; IMU is an inertial measurement unit. The pose estimation based on IMU is to calculate the attitude change of the device by integrating the data of the gyroscope and accelerometer in IMU. The gyroscope provides angular velocity information, which can be used to calculate the rotation of the device around its axes, while the accelerometer provides linear acceleration information of the device, including the gravity component, which can be used to determine the direction of the device. By integrating and filtering these data, the direction of the device in the navigation coordinate system can be estimated (attitude matrix ) and angular velocity (angular velocity vector )

[0094] The optimized overall pose can significantly improve the accuracy and robustness of position estimation. Visual data provides environmental features, and IMU data supplements instantaneous dynamic information, which together achieve more stable and accurate positioning.

[0095] Fusion of accumulated displacement and accumulated pose:

[0096] ;

[0097] in, is the state estimation; and They are all state transfer matrices; is the state estimate of the previous step; is the control input; is the Kalman gain; is the observed value; is the observation model; is GPS gain; is the GPS observation value; is the GPS observation model; is the lidar gain; is the laser radar observation value; is the lidar observation model; For map gain; is the map observation value; is the map observation model;

[0098] Fusing the accumulated displacement and posture information through the Kalman filter can effectively reduce the accumulated error and improve the continuity and accuracy of positioning. The introduction of GPS, LiDAR, and map data improves the accuracy of position estimation; LiDAR data provides point cloud data of the environment, which is used to build high-precision maps, and can be used to correct the accumulated error of the visual odometer and improve positioning accuracy; map data provides map information of known environments, including roads, buildings, etc., which can be used to verify the rationality of position estimation and improve the robustness of positioning.

[0099] Target charging station location:

[0100] ;

[0101] in, The location coordinates of the target charging pile; is the transposition of the overall posture of the charging robot relative to the initial position; is the detected target charging pile feature point position;

[0102] In S1, the control system calculates the optimal path to the target charging pile based on The algorithm is as follows:

[0103] The current position of the charging robot is taken as the starting point, the position of the target charging pile is taken as the end point, and the map of the environment is taken as a grid. Each grid includes passable areas and impassable areas. This ensures that the algorithm only searches in possible paths, avoids invalid calculations, and improves the efficiency and feasibility of path planning. The algorithm evaluates the function To select the next node, represents the actual cost from the starting point to node n, Represents a slave node the estimated cost to reach the destination;

[0104] Create an empty visited list to store the nodes to be referenced, create an empty closed list to store the nodes that have been examined, and add the starting point to the open list, which ensures that the algorithm can systematically explore all possible nodes, while avoiding repeated calculations and improving search efficiency;

[0105] Select from open list The smallest node ,if If it is the target node, the search ends and the path is returned. Otherwise, Nodes are moved from the open list to the closed list;

[0106] for All adjacent nodes of a node are skipped if they are in the closed list, and the cost from the starting point to the node is calculated. Skipping the nodes in the closed list avoids repeated calculations, and updating the path information ensures that the algorithm always moves towards a path with a lower cost. Adding qualified nodes to the open list ensures the comprehensiveness and effectiveness of the search; if the node is not in the open list or the new path has a lower cost, update the node information and add the node to the open list;

[0107] Loop until the target node is found, start from the target node and trace back along the parent node to the starting point to build a path from the starting point to the target node.

[0108] In S1, the connection device of the charging robot is adaptively adjusted according to the interface of the target charging pile to complete the docking as follows:

[0109] Capture the interface image, and determine the interface type of the target charging pile through a pre-programmed interface type database, so that the charging robot can automatically identify the charging pile interface type and ensure that the connection device can be accurately matched. This eliminates the need for manual identification and selection of interfaces, and improves the accuracy and efficiency of the connection; the connection structure of the charging robot can convert the corresponding connector through the internal startup system to adapt to the interface of the target charging pile, so that the robot can seamlessly connect with various charging piles, enhance the compatibility and flexibility of the system, reduce maintenance costs, and increase the service scope. Then align the interface position of the target charging pile to complete the connection. After the connection is completed, the surface of the charging robot flashes a feedback signal to indicate a successful connection, otherwise the connection fails. The instant feedback mechanism not only allows users and systems to understand the connection status in a timely manner, but also can respond quickly when the connection fails, improving the efficiency of troubleshooting and resolution. Reference Figure 2 As shown, the charging pile interface includes at least CCS interface, CHAdeMO interface, Type 2 interface and GB / T interface. The charging robot identifies the interface type and converts it into a suitable connector to connect. Suppose there is an electric car that needs to be charged and stops next to a charging pile with a Type 2 interface. After the charging robot is started: the camera captures the image of the charging pile interface, the controller analyzes the image and finds that this is a Type 2 interface, the internal startup system is activated, and the connector is converted to the Type 2 interface shape. The connector is inserted into the interface to establish an electrical connection. If the connection is successful, the LED on the surface of the robot starts to flash green; if it fails, it flashes red.

[0110] S2. The charging robot uses NFC to identify the information of the target charging pile. NFC is a near-field communication technology that can quickly read the information of the target charging pile without physical contact, greatly improving the efficiency and convenience of the identification process. The charging robot determines whether the target charging pile is a high-voltage charging pile or a low-voltage charging pile based on the read information, and stores the collected information of the target charging pile in the memory of the charging robot after processing;

[0111] In S2, after determining whether the target charging pile is a high-voltage charging pile or a low-voltage charging pile, if the target charging pile is a high-voltage charging pile, the charging robot obtains the maximum voltage value and the recommended voltage range; if the target charging pile is a low-voltage charging pile, the charging robot obtains the minimum voltage value and the recommended voltage range.

[0112] Depending on the type of charging pile, the charging robot can obtain the highest or lowest voltage value and the recommended voltage range. This allows the robot to adjust the charging parameters according to the specific requirements of the target charging pile to ensure the safety and efficiency of the charging process; the charging robot stores the collected information in memory, which can be used for subsequent charging operations and data analysis after processing. This not only provides real-time data support for the charging process, but also provides a basis for optimizing charging strategies and fault diagnosis.

[0113] S3. The charging robot is equipped with a bidirectional DC / DC converter, which can adjust the working parameters of the bidirectional DC / DC converter according to the voltage range information of the high-voltage charging pile and the voltage range information of the low-voltage charging pile, so that the input voltage meets the optimal charging conditions of the battery; by adjusting the working parameters of the bidirectional DC / DC converter to match the optimal charging voltage range of the battery, the energy conversion efficiency during the charging process can be significantly improved. This means that more electricity can be charged in the same time while reducing energy loss;

[0114] This allows the charging robot to adapt to different types of charging piles, whether high-voltage or low-voltage. This means the robot can be used in a variety of scenarios, increasing flexibility and practicality.

[0115] The specific steps of S3 are as follows: Determine the optimal charging voltage range of the battery, that is, the voltage range recommended by the battery manufacturer to ensure the health and life of the battery. For example, for lithium-ion batteries, the typical optimal charging voltage range may be 3.7V to 4.2V. If it is a high-voltage charging pile, a step-down conversion is required. If the charging pile is a low-voltage charging pile, a step-up conversion is required; using the optimal charging voltage range can avoid overcharging or undercharging the battery, both of which will damage the battery and shorten its life. By ensuring that the battery is charged within the recommended voltage range, the battery life can be maximized;

[0116] In S3, the processes of step-down conversion and step-up conversion are:

[0117] Buck conversion First, set the bidirectional DC / DC converter to buck mode, calculate the buck ratio based on the maximum voltage of the high-voltage charging pile and the optimal charging voltage range of the battery, and adjust the duty cycle of the bidirectional DC / DC converter until the required buck ratio is met;

[0118] The boost conversion first sets the bidirectional DC / DC converter to boost mode, calculates the boost ratio based on the minimum voltage of the low-voltage charging pile and the optimal charging voltage range of the battery, and adjusts the duty cycle of the bidirectional DC / DC converter until the required boost ratio is met;

[0119] The steps of step-down conversion and step-up conversion are as follows:

[0120] Step-down conversion:

[0121] ;

[0122] in, is the original step-down ratio; The upper limit of the optimal charging voltage range for the battery; is the maximum voltage of the high-voltage charging pile;

[0123] ;

[0124] in, is the step-down ratio; is the conversion efficiency of the bidirectional DC / DC converter;

[0125] ;

[0126] in, is the duty cycle of the bidirectional DC / DC converter during voltage reduction;

[0127] Boost conversion:

[0128] ;

[0129] in, is the original boost ratio; It is the lower limit of the optimal charging voltage range of the battery; The minimum voltage of the low-voltage charging pile;

[0130] ;

[0131] in, is the step-up ratio;

[0132] ;

[0133] in, is the duty cycle of the bidirectional DC / DC converter during boost.

[0134] Ambient temperature and battery temperature are introduced for optimization in both buck conversion and boost conversion, specifically:

[0135] Step-down conversion:

[0136] ;

[0137] ;

[0138] in, is the average temperature during depressurization; is the ambient temperature during voltage reduction; is the battery temperature during voltage reduction; The temperature coefficient of voltage reduction can be determined based on experimental data or battery specifications. For example, for some batteries, the performance may change by 0.1% for every 1°C increase or decrease in temperature. is the temperature sensitivity coefficient during the step-down conversion process;

[0139] but:

[0140] ;

[0141] ;

[0142] in, is the optimized step-down ratio; is the duty cycle of the bidirectional DC / DC converter during optimized step-down;

[0143] Boost conversion:

[0144] ;

[0145] ;

[0146] in, is the average temperature during boosting; is the ambient temperature during boosting; is the battery temperature during boost; is the temperature coefficient of boost; is the temperature sensitivity coefficient during the boost conversion process; and Determined according to the specific battery type and application environment;

[0147] but:

[0148] ;

[0149] ;

[0150] in, is the optimized boost ratio; is the duty cycle of the bidirectional DC / DC converter during optimized boost.

[0151] Temperature has a significant impact on the performance of semiconductor devices. Through optimization, the best working state of the device can be maintained at different temperatures, thereby improving the efficiency of the entire conversion system. Excessive temperature will accelerate the aging of electronic components. Through temperature optimization, the operating temperature of components can be reduced, and the service life of batteries and converters can be extended. In addition, different battery types have different sensitivities to temperature. Too high or too low temperatures will shorten the service life of the battery. Temperature compensation can prevent the battery from working at extreme temperatures. It aims to ensure that the converter can work efficiently and stably under different temperature conditions and extend the battery life as much as possible.

[0152] S4. Monitor the battery status in real time and adjust the charging power and charging current based on the battery status and the capacity of the charging pile. The specific steps are as follows:

[0153] S41. Real-time monitoring of key data of the battery, including the current, voltage and temperature of the battery, and transmission of the key data to the central controller. The data can be sent to the central controller via the CAN bus, Bluetooth or other communication protocols. The central controller can evaluate the state of charge of the battery based on the received data and determine whether the battery is close to being fully charged or needs to be quickly charged. By monitoring the changes in current and voltage, the charging process can be optimized and unnecessary charging time can be reduced. By monitoring the battery temperature, battery aging caused by overheating can be effectively prevented. Accurate SOC evaluation helps avoid overcharging or undercharging, thereby protecting the health of the battery.

[0154] S42, determine the maximum output power and current limit information of the target charging pile, and obtain the charging protocol support of the charging pile; clarifying the maximum output power and current limit of the charging pile can prevent overload and ensure charging safety, and adjust the charging strategy according to the capacity information of the charging pile to achieve the best charging effect;

[0155] S43, adjusting the charging power and current according to the battery status and the information of the charging pile, for example, when the battery is nearly fully charged, gradually reducing the charging current to avoid overcharging;

[0156] S5. Real-time detection of abnormal conditions during the charging process. When an abnormality is detected, the intelligent interruption mechanism is used to interrupt the charging process. When an abnormality is detected, the severity of the abnormal condition is evaluated to decide whether the power supply needs to be turned off. If the decision is made to turn off the power supply, the intelligent interruption mechanism is triggered. Turning off the power supply can prevent potential safety accidents such as electrical fires and equipment explosions. If the abnormality is caused by overheating, short circuits, or other conditions that may cause hardware damage, turning off the power supply can help reduce these damages. Turning off the power supply through the intelligent interruption mechanism can ensure that the system stops running in a safe state, which helps avoid unstable or unpredictable behavior.

[0157] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention, and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An automatic control method for a charging robot adaptively controlling high and low voltage DC charging piles, characterized in that: The steps include: S1. The charging robot activates the built-in visual sensor to detect the surrounding environment, determine the location of the target charging pile, calculate the optimal path to the target charging pile through the control system, and navigate to the target charging pile. The connection device of the charging robot is adaptively adjusted according to the interface of the target charging pile to complete the docking; S2. The charging robot uses NFC to identify the information of the target charging pile. The charging robot determines whether the target charging pile is a high-voltage charging pile or a low-voltage charging pile based on the read information, and stores the collected information of the target charging pile in the memory of the charging robot after processing; S3. The charging robot is equipped with a bidirectional DC / DC converter, which can adjust the working parameters of the bidirectional DC / DC converter according to the voltage range information of the high-voltage charging pile and the voltage range information of the low-voltage charging pile, so that the input voltage meets the optimal charging conditions of the battery; Among them, adjusting the working parameters of the bidirectional DC / DC converter requires first determining the optimal charging voltage range of the battery. If the target charging pile is determined to be a high-voltage charging pile in S2, a step-down conversion is required. If the target charging pile is determined to be a low-voltage charging pile in S2, a step-up conversion is required. At the same time, the ambient temperature and battery temperature are introduced in both the step-down conversion and the step-up conversion for optimization. S4, monitor the battery status in real time, and adjust the charging power and charging current based on the battery status and the capacity of the charging pile; S5. Detect abnormal conditions in real time during the charging process. When an abnormality is detected, the charging process is interrupted using an intelligent interruption mechanism. The ambient temperature and battery temperature are introduced for optimization in both the step-down conversion and the step-up conversion, specifically: Step-down conversion: ； ； in, is the average temperature during depressurization; is the ambient temperature during voltage reduction; is the battery temperature during voltage reduction; is the temperature coefficient of the voltage drop; is the temperature sensitivity coefficient during the step-down conversion process; but: ； ； in, is the optimized step-down ratio; is the duty cycle of the bidirectional DC / DC converter during optimized step-down; is the step-down ratio; Boost conversion: ； ； in, is the average temperature during boosting; is the ambient temperature during boosting; is the battery temperature during boost; is the temperature coefficient of boost; is the temperature sensitivity coefficient during the boost conversion process; but: ； ； in, is the optimized boost ratio; is the duty cycle of the bidirectional DC / DC converter during the optimized boost; is the step-up ratio.

2. The automatic control method of the charging robot adaptive high and low voltage DC charging pile according to claim 1 is characterized in that: The location of the target charging pile is determined in S1 as follows: Use an RGB-D camera to capture environmental images, perform image correction, extract key features and feature points of the target charging pile based on the processed images, and estimate the geometric relationship between the feature points; Get the cumulative displacement of the charging robot: ； in, is the cumulative displacement; For the Transposition of the posture of the charging robot corresponding to the frame image; For the The position and posture of the charging robot corresponding to the frame image; Get the cumulative position of the charging robot: ； in, is the pose variable currently being optimized; is the slope matrix of angular velocity; is the slope matrix of acceleration; is the sampling interval; ； in, is the optimized overall pose; is the pose estimation based on visual data; is the balance coefficient; is the pose estimation based on IMU; Fusion of accumulated displacement and accumulated pose: ； in, is the state estimation; and They are all state transfer matrices; is the state estimate of the previous step; is the control input; is the Kalman gain; is the observed value; is the observation model; is GPS gain; is the GPS observation value; is the GPS observation model; is the lidar gain; is the laser radar observation value; is the lidar observation model; For map gain; is the map observation value; is the map observation model; Target charging station location: ； in, The location coordinates of the target charging pile; is the transposition of the overall posture of the charging robot relative to the initial position; is the detected feature point position of the target charging pile.

3. The automatic control method of the charging robot adaptive high and low voltage DC charging pile according to claim 2 is characterized in that: In S1, the control system calculates the optimal path to the target charging pile based on The algorithm is as follows: The current position of the charging robot is taken as the starting point, the position of the target charging pile is taken as the end point, and the map of the environment is taken as a grid, each grid includes a passable area and an impassable area; the algorithm evaluates the function To select the next node, represents the actual cost from the starting point to node n, Represents a slave node the estimated cost to reach the destination; Create an empty visited list to store the nodes to be referenced, create an empty closed list to store the nodes that have been visited, and add the starting point to the open list; Select from open list The smallest node ,if If it is the target node, the search ends and the path is returned. Otherwise, Nodes are moved from the open list to the closed list; for All adjacent nodes of a node, if in the closed list, are skipped and the cost from the starting point to the node is calculated; if the node is not in the open list or the new path has a lower cost, the node information is updated and the node is added to the open list; Loop until the target node is found, start from the target node and trace back along the parent node to the starting point to build a path from the starting point to the target node.

4. The automatic control method of the charging robot adaptive high and low voltage DC charging pile according to claim 3 is characterized in that: In S1, the connection device of the charging robot is adaptively adjusted according to the interface of the target charging pile to complete the docking as follows: Capture the interface image and determine the interface type of the target charging pile through the pre-programmed interface type database. The connection structure of the charging robot can convert the corresponding connector through the internal starting system to adapt to the interface of the target charging pile, and then align with the interface position of the target charging pile to complete the connection. After the connection is completed, the surface of the charging robot flashes a feedback signal to indicate a successful connection, otherwise the connection fails.

5. The automatic control method of the charging robot adaptive high and low voltage DC charging pile according to claim 4 is characterized in that: In S2, after determining whether the target charging pile is a high-voltage charging pile or a low-voltage charging pile, if the target charging pile is a high-voltage charging pile, the charging robot obtains the maximum voltage value and the recommended voltage range; if the target charging pile is a low-voltage charging pile, the charging robot obtains the minimum voltage value and the recommended voltage range.

6. The automatic control method of the charging robot adaptive high and low voltage DC charging pile according to claim 5 is characterized in that: In S3, the processes of step-down conversion and step-up conversion are respectively: Buck conversion First, set the bidirectional DC / DC converter to buck mode, calculate the buck ratio based on the maximum voltage of the high-voltage charging pile and the optimal charging voltage range of the battery, and adjust the duty cycle of the bidirectional DC / DC converter until the required buck ratio is met; The boost conversion first sets the bidirectional DC / DC converter to boost mode, calculates the boost ratio based on the minimum voltage of the low-voltage charging pile and the optimal charging voltage range of the battery, and adjusts the duty cycle of the bidirectional DC / DC converter until the required boost ratio is met.

7. The automatic control method of the charging robot adaptive high and low voltage DC charging pile according to claim 6 is characterized in that: The steps of the step-down conversion and the step-up conversion are as follows: Step-down conversion: ； in, is the original step-down ratio; The upper limit of the optimal charging voltage range for the battery; is the maximum voltage of the high-voltage charging pile; ； in, is the step-down ratio; is the conversion efficiency of the bidirectional DC / DC converter; ； in, is the duty cycle of the bidirectional DC / DC converter during voltage reduction; Boost conversion: ； in, is the original boost ratio; It is the lower limit of the optimal charging voltage range of the battery; The minimum voltage of the low-voltage charging pile; ； in, is the step-up ratio; ； in, is the duty cycle of the bidirectional DC / DC converter during boost.

8. The automatic control method of the charging robot adaptive high and low voltage DC charging pile according to claim 7 is characterized in that: The specific steps of S4 are as follows: S41, real-time monitoring of key data of the battery, wherein the key data includes the current, voltage and temperature of the battery, and transmitting the key data to the central controller, which can evaluate the state of charge of the battery based on the received data and determine whether the battery is close to being fully charged or needs to be quickly charged; S42, determining the maximum output power and current limit information of the target charging pile, and obtaining the charging protocol support of the charging pile; S43: Adjust charging power and current according to the battery status and information of the charging pile.

9. The automatic control method of the charging robot adaptive high and low voltage DC charging pile according to claim 8 is characterized in that: In S5, when an abnormality is detected, the severity of the abnormality is evaluated to determine whether the power supply needs to be turned off. If it is determined to turn off the power supply, the intelligent interruption mechanism is triggered.

Images