Automatic charging system and method with feedback function

Abstract

The invention provides an automatic charging system and method with a feedback function. The method comprises the steps that 1, a vehicle management platform sends an arrival instruction and a vehicle number to a charging system platform; step 2, the charging system platform controls the intelligent charging robot to perform alignment detection with the vehicle corresponding to the vehicle number; 3, the charging system platform feeds back an alignment detection result to the vehicle management platform; 4, the charging system platform controls the intelligent charging robot to insert a plug into the vehicle-mounted power receiving seat, and plug insertion detection is carried out; step 5, the charging system platform controls the ground intelligent charging cabinet to charge; 6, the charging system platform stops charging, the intelligent charging robot is controlled to pull out the plug, and plug pull-out detection is carried out; 7, the charging system platform feeds back the detection result to the vehicle management platform; and step 8, the vehicle management platform sends a detection result that the plug is successfully pulled out to the vehicle, so that the vehicle is driven away.

Description

Technical Field

[0001] The present application relates to the field of automatic charging technology, and in particular to an automatic charging system and method with feedback function. Background Art

[0002] With the development of science and technology, unmanned transport vehicles are widely used. The unmanned transport vehicle wire-controlled chassis adopts the mode of new energy power battery to provide power energy. The degree of unmanned realization is getting higher and higher. However, most of the existing unmanned transport vehicles use manual charging to supplement energy, that is, manually plug and unplug the charging gun to connect the vehicle to charge and complete a manual charging process of the charging process. The manual charging mode is the basic charging mode of new energy vehicles and is applied to most vehicles. The charging method is: park the flatbed truck in the charging area, move the charging port close to the charging pile (within the length range that the charging gun can enter), the whole vehicle is processed under high voltage, and the normal power is reserved to provide the basic equipment on the flatbed truck, and then the power of the charging pile is turned on and ready. The charging gun is manually inserted into the charging seat of the vehicle, and the vehicle and the charging pile exchange information. After the BMS self-checks, it confirms that the whole vehicle is connected and charging begins; end the charging process: press the charging pile to end charging, cover the protective cover after pulling out the gun, and the vehicle drives away. Therefore, the existing technical solutions lack intelligent automation and require manual operation to open the charging pile, park the vehicle and insert the gun; the entire charging process lacks monitoring protection, such as status monitoring of the charged vehicle and charging pile; and manual charging has low power and cannot meet the requirements of fast charging; the gun line is prone to twisting, deformation, breakage, damage to the clamp, and overheating and damage to the charging seat, posing a high safety hazard; unmanned flatbed trucks are used in ports and mining areas, which have harsh working conditions such as high salt fog, heavy rainfall, and strong wind and sand, and the protection level is low. Summary of the invention

[0003] In view of this, the present invention provides an automatic charging system and method with feedback function to solve the technical problems of the prior art such as lack of intelligent automation and monitoring protection, low charging power, great safety hazards, and low protection level.

[0004] The present application provides an automatic charging system with a feedback function, which is applied to an unmanned transport vehicle. The system includes: an on-board power receiving seat, which is arranged on the unmanned transport vehicle and is used to connect the current through an intelligent charging robot to charge the vehicle; the intelligent charging robot is provided with a plug and is connected to a ground intelligent charging cabinet, which is used to estimate the posture according to the following PnP algorithm function, so as to insert the plug into the on-board power receiving seat to transmit current for charging, and at the same time transmit signal data and receive instructions with the ground intelligent charging cabinet, min∑ i ||u i -Proj(R,t,X i )|| 2, where R and t are the rotation and translation moments of the camera R, t

[0005] Array, X i is a known 3D point, u i is the corresponding 2D image point, and the Proj function represents the camera projection model; the ground intelligent charging cabinet is connected to the intelligent charging robot and is used to control the intelligent charging robot to output current according to instructions, stop charging, perform alignment detection, plug insertion / removal detection, and feedback the detection results; the vehicle management platform is connected to the unmanned transport vehicle through the network, and is used to send the arrival instruction and the vehicle number to the charging system platform after the vehicle to be charged arrives, and according to the information fed back by the charging system platform, send the start charging instruction and the stop charging instruction to the charging system platform to complete the automatic charging of the vehicle; the charging system platform is connected to the ground intelligent charging cabinet through the network, and is used to control the ground intelligent charging cabinet to perform alignment detection, plug insertion / removal detection according to instructions, and feedback the detection results to the vehicle management platform. When charging is received, the charging data of this time is fed back to the vehicle management platform to control the intelligent charging robot to complete automatic charging.

[0006] Furthermore, the vehicle-mounted power socket includes: a guide bell mouth, used to assist the plug in inserting the plug core; the plug core is arranged at the center of the guide bell mouth, used for docking the plug; a plug protection sensor is arranged outside the guide bell mouth, used for plug insertion / removal detection and feedback of detection results.

[0007] Furthermore, the intelligent charging robot includes: a plug for inserting into a vehicle-mounted power receiving socket; a guide compensation arm, the plug is arranged at the front end of the guide compensation arm, and is used to assist the plug in inserting into the vehicle-mounted power receiving socket by telescopic means; and an alignment sensing sensor is arranged below the guide compensation arm for alignment detection.

[0008] Furthermore, the protection level of the system is IP55 and above.

[0009] The present application also provides an automatic charging method with a feedback function, the method comprising: step 1, the vehicle management platform sends an arrival instruction and a vehicle number to the charging system platform according to the interactive information of the unmanned transport vehicle after the vehicle to be charged arrives; step 2, the charging system platform controls the intelligent charging robot to perform alignment detection with the vehicle corresponding to the vehicle number through the ground intelligent charging cabinet according to the arrival instruction and the vehicle number; step 3, when the alignment detection result is that the alignment is completed, the charging system platform feeds back the alignment detection result to the vehicle management platform, so that the vehicle management platform sends a start charging instruction to the charging system platform according to the alignment detection result; step 4, the charging system platform controls the intelligent charging robot to estimate the posture according to the following PnP algorithm function through the ground intelligent charging cabinet according to the start charging instruction, so as to insert the plug into the vehicle-mounted power receiving socket and perform plug insertion detection, Where R and t are the rotation and translation matrices of the camera, X i is a known 3D point, u i is the corresponding 2D image point, and the Proj function represents the camera projection model; Step 5, when the plug insertion detection result is successful, the charging system platform controls the ground intelligent charging cabinet to charge according to the detection result; Step 6, when the vehicle management platform sends a stop charging instruction, the charging system platform stops charging through the ground intelligent charging cabinet according to the stop charging instruction, controls the intelligent charging robot to unplug the plug, and performs plug unplug detection; Step 7, when the plug unplugging detection result is successful, the charging system platform feeds back the detection result to the vehicle management platform; Step 8, the vehicle management platform sends the detection result of successful plug unplugging to the vehicle so that the vehicle can leave.

[0010] Furthermore, the method also includes: step 9, when the alignment detection result is that the vehicle is not detected, or when the plug insertion detection result is insertion failure, or when the plug removal detection result is removal failure, the charging system platform sends a corresponding failure reason code according to the detection result for processing.

[0011] Furthermore, the method also includes: step 10, when charging is completed, the charging system platform feeds back the information of charging completion to the vehicle management platform, and the vehicle management platform sends a stop charging instruction to the charging system platform, and then goes to step 6.

[0012] Furthermore, step 1 includes: step 11, the unmanned transport vehicle sends the charging demand and vehicle number to the vehicle management platform; step 12, the vehicle management platform sends the charging demand to the charging system platform; step 13, if the intelligent charging robot is in an idle standby state, the charging system platform feeds back the idle standby stage identifier to the vehicle management platform; step 14, the vehicle management platform sends the charging information to the unmanned transport vehicle so that the vehicle can travel to the intelligent charging robot in the idle standby state, and after the vehicle arrives, the vehicle management platform sends the arrival instruction and the vehicle number to the charging system platform.

[0013] Furthermore, the intelligent charging robot inserts the plug into the vehicle-mounted power socket, specifically including: step 41, after the intelligent charging robot receives the charging start instruction through the ground intelligent charging cabinet, the intelligent charging robot extends the guide compensation arm toward the vehicle according to the alignment detection result, so that the front end plug is inserted into the vehicle-mounted power socket; step 42, the plug is inserted into the plug core in the center of the guide bell mouth with the assistance of the guide bell mouth; step 43, after the plug is successfully inserted, the plug protection sensor sends a successful plug insertion detection signal to the intelligent charging robot, so that the intelligent charging robot can send the plug insertion detection result to the charging system platform through the ground intelligent charging cabinet.

[0014] Furthermore, the intelligent charging robot unplugs the plug, specifically including: step 61, the intelligent charging robot receives a stop charging instruction through the ground intelligent charging cabinet; step 62, the intelligent charging robot retracts the guide compensation arm in the opposite direction of the vehicle, so that the front end plug is unplugged from the vehicle-mounted power socket; step 63, after the plug is successfully unplugged, the plug protection sensor sends a successful plug unplugging detection signal to the intelligent charging robot, so that the intelligent charging robot sends the plug unplugging detection result to the charging system platform through the ground intelligent charging cabinet.

[0015] The present invention provides an automatic charging system and method with feedback function. The technical solution exchanges information between the vehicle management platform and the charging system platform, so that the charging system platform controls the intelligent charging robot to dock with the unmanned transport vehicle through the ground intelligent charging cabinet according to the instructions of the vehicle management platform, automatically charges, and at the same time feedbacks the information of alignment and plugging / unplugging the plug, so as to handle the fault in time, and plays a role in protecting and supervising the entire charging process. The technical solution solves the technical problems of the lack of intelligent automation in the prior art, the need for manual operation of the charging pile opening, vehicle parking and gun insertion, and the lack of monitoring protection in the entire charging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of an automatic charging method with feedback function provided by the present invention;

[0017] Figure 2 It is a flow chart of another automatic charging method with feedback function provided by the present invention;

[0018] Figure 3 It is a schematic diagram of a flow chart of a vehicle management platform providing the present invention sending instructions to a charging system platform;

[0019] Figure 4 is a schematic diagram of an intelligent charging robot provided by the present invention;

[0020] Figure 5 It is a schematic diagram of the process of the intelligent charging robot provided by the present invention inserting a plug into a vehicle-mounted charging socket;

[0021] Figure 6 It is a front schematic diagram of the vehicle-mounted power receiving seat provided by the present invention;

[0022] Figure 7 It is a side schematic diagram of the vehicle-mounted power receiving seat provided by the present invention;

[0023] Figure 8 It is a schematic diagram of the process of unplugging the plug of the intelligent charging robot provided by the present invention. DETAILED DESCRIPTION

[0024] 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.

[0025] Embodiment 1

[0026] The present invention provides an automatic charging system and method with feedback function, the system comprising a vehicle-mounted charging seat, an intelligent charging robot, a ground intelligent charging cabinet, a vehicle management platform and a charging system platform, such as Figure 1 As shown, the operating steps of the system are as follows.

[0027] Step 1: The vehicle management platform sends an arrival instruction and vehicle number to the charging system platform based on the interactive information of the unmanned transport vehicle after the vehicle to be charged arrives;

[0028] Step 2: The charging system platform controls the intelligent charging robot to perform alignment detection with the vehicle corresponding to the vehicle number through the ground intelligent charging cabinet according to the arrival instruction and the vehicle number;

[0029] Step 3: When the alignment detection result is that the alignment is completed, the charging system platform feeds back the alignment detection result to the vehicle management platform, so that the vehicle management platform sends a charging start instruction to the charging system platform according to the alignment detection result;

[0030] Step 4: The charging system platform starts charging instructions and uses the ground intelligent charging cabinet to control the intelligent charging robot to estimate the posture according to the following PnP algorithm function, so as to insert the plug into the vehicle-mounted power socket and perform plug insertion detection.

[0031] min∑ i ||u i -Proj(R,t,X i )|| 2 ,

[0032] R, t

[0033] Where R and t are the rotation and translation matrices of the camera, X i is a known 3D point, u i is the corresponding 2D image point, and the Proj function represents the camera projection model;

[0034] Step 5: When the plug insertion test result is successful, the charging system platform controls the ground smart charging cabinet to charge according to the test result;

[0035] Step 6: When the vehicle management platform sends a stop charging instruction, the charging system platform stops charging through the ground intelligent charging cabinet according to the stop charging instruction, controls the intelligent charging robot to unplug the plug, and performs plug unplugging detection;

[0036] Step 7: When the plug removal test result is successful, the charging system platform feeds back the test result to the vehicle management platform;

[0037] Step 8: The vehicle management platform sends the detection result of successful plug removal to the vehicle so that the vehicle can leave.

[0038] The present invention provides an automatic charging system and method with feedback function. The technical solution exchanges information between the vehicle management platform and the charging system platform, so that the charging system platform controls the intelligent charging robot to dock with the unmanned transport vehicle through the ground intelligent charging cabinet according to the instructions of the vehicle management platform, automatically charges, and at the same time feedbacks the information of alignment and plugging / unplugging the plug, so as to handle the fault in time, and plays a role in protecting and supervising the entire charging process. The technical solution solves the technical problems of the lack of intelligent automation in the prior art, the need for manual operation of the charging pile opening, vehicle parking and gun insertion, and the lack of monitoring protection in the entire charging process.

[0039] Embodiment 2

[0040] The present invention provides an automatic charging system and method with feedback function, the system comprising a vehicle-mounted charging seat, an intelligent charging robot, a ground intelligent charging cabinet, a vehicle management platform and a charging system platform, such as Figure 2 As shown, the operating steps of the system are as follows.

[0041] Step 1: The vehicle management platform sends an arrival instruction and vehicle number to the charging system platform based on the interactive information of the unmanned transport vehicle after the vehicle to be charged arrives;

[0042] The unmanned transport vehicle mentioned here usually refers to an engineering wire-controlled vehicle with four-wheel steering, dual-drive and wire-controlled vehicle functions. Before the unmanned transport vehicle is automatically charged, the unmanned transport vehicle needs to exchange information with the vehicle management platform. After collecting relevant information about the unmanned transport vehicle (such as the location of the vehicle, current power, endurance, etc.), the vehicle management platform will then interact with the charging system platform to obtain the idle status of the intelligent charging robot in order to arrange for the unmanned transport vehicle to go for charging.

[0043] Step 2: The charging system platform controls the intelligent charging robot to perform alignment detection with the vehicle corresponding to the vehicle number through the ground intelligent charging cabinet according to the arrival instruction and the vehicle number. When the alignment detection result is that the alignment is completed, go to step 3; when the alignment detection result is that the vehicle is not detected, go to step 10;

[0044] The arrival instruction includes the arrival status (for example, the vehicle has reached the required status and has entered the stopped status) and the vehicle number of the vehicle to be charged. When the alignment detection result is alignment completed, it means that the charging vehicle has parked within the charging range; when the alignment detection result is that the vehicle is not detected, it means that the charging robot has not detected the charging vehicle, and the parking deviation of the vehicle is too large and is not within the charging range, then the unmanned transport vehicle needs to readjust its position to bring it within the charging range.

[0045] Step 3, the charging system platform feeds back the alignment detection result to the vehicle management platform, so that the vehicle management platform sends a charging start instruction to the charging system platform according to the alignment detection result;

[0046] Step 4: The charging system platform starts charging instructions and uses the ground intelligent charging cabinet to control the intelligent charging robot to estimate the posture according to the following PnP algorithm function, so as to insert the plug into the vehicle-mounted power socket and perform plug insertion detection.

[0047] min∑ i ||u i -Proj(R,t,X i )|| 2 ,

[0048] R, t

[0049] Where R and t are the rotation and translation matrices of the camera, X i is a known 3D point, u i is the corresponding 2D image point, and the Proj function represents the camera projection model.

[0050] When the plug insertion detection result is successful, go to step 5; when the plug insertion detection result is failed, go to step 10;

[0051] Since the charging system platform will obtain the plug insertion status, the plug insertion status includes insertion (the smart charging robot performs the insertion action), insertion in place (the smart charging robot completes the insertion), charging starts (charging starts successfully) and insertion fails (insertion is unsuccessful). When the plug insertion status is insertion in place, the plug insertion detection result is success; when the plug insertion status is insertion failure, the plug insertion detection result is failure; when the plug insertion status is insertion or charging starts, the plug insertion status is re-acquired to avoid unexpected situations such as plug detachment during the plug insertion process or charging process. By continuously re-acquiring the plug insertion status, problems can be discovered and handled in a timely manner.

[0052] Step 5: The charging system platform controls the ground intelligent charging cabinet to charge according to the detection result;

[0053] Step 6: When the vehicle needs to stop charging in advance, the vehicle management platform sends a stop charging instruction. The charging system platform stops charging through the ground intelligent charging cabinet according to the stop charging instruction, controls the intelligent charging robot to unplug the plug, and performs plug unplugging detection, and then goes to step 8;

[0054] Step 7: When the vehicle is fully charged, the charging system platform feeds back the charging completion information to the vehicle management platform. The vehicle management platform sends a stop charging instruction. The charging system platform stops charging through the ground intelligent charging cabinet according to the stop charging instruction, controls the intelligent charging robot to unplug the plug, and performs plug unplugging detection, and then goes to step 8.

[0055] The vehicle usually ends charging in the following two situations: one is an emergency, such as the unmanned transport vehicle receives a temporary task and needs to set off immediately, etc., and the vehicle needs to end charging in advance; the other is that the battery is fully charged and the vehicle is fully charged. In the first case, as described in step 6, the vehicle management platform will directly send a stop charging command to control the intelligent charging robot to unplug the plug; in the second case, as described in step 7, after receiving the information feedback from the charging system platform that the vehicle is fully charged, the vehicle management platform will send a stop charging command to control the intelligent charging robot to unplug the plug.

[0056] Similar to the aforementioned plug insertion, the charging system platform will obtain the plug removal status, which includes being pulled out (the smart charging robot performs the pull-out action), fully pulled out (the smart charging robot plug is pulled out), and unsuccessful unplugging (the smart charging robot plug is not successfully unplugged). When the plug removal status is fully pulled out, the plug removal detection result is successful; when the plug removal status is unsuccessful unplugging, the plug removal detection result is failed; when the plug removal status is being pulled out, the plug removal status is re-obtained.

[0057] Step 8: When the plug removal test result is successful, the charging system platform feeds back the test result to the vehicle management platform, and the process goes to step 9; when the plug removal test result is failed, the process goes to step 10;

[0058] When charging is completed and the intelligent charging robot successfully unplugs the plug, the charging system platform will not only feedback the detection result of successful plug unplugging, but also send the following content: the charging time, the amount of electricity charged, the reason for stopping charging, etc.

[0059] Step 9: The vehicle management platform sends the detection result of successful plug removal to the vehicle so that the vehicle can leave.

[0060] Step 10: The charging system platform sends a corresponding failure reason code based on the detection result for processing.

[0061] Due to the technical solution provided by the present application, the status and information of alignment, plug insertion and unplugging will be frequently fed back. For problems that occur during alignment, plug insertion and unplugging, timely reflection can be made, and corresponding information, such as failure reason codes, etc., can be fed back, waiting for the relevant staff or system to handle accordingly. At the same time, the protection level of the system is IP55 (the first number 5 in IP55 represents the dustproof level coefficient, which means that the device cannot completely prevent dust from entering, but the amount of dust entering will not cause damage to the device. The second number 5 in IP55 represents the waterproof level coefficient, which means that water spraying from each direction towards the cabinet should not cause damage) and above, which is suitable for special environments such as high salt or high alkali, and improves the protection of the system to the entire charging process.

[0062] The present invention provides an automatic charging system and method with feedback function. The technical solution exchanges information between the vehicle management platform and the charging system platform, so that the charging system platform controls the intelligent charging robot to dock with the unmanned transport vehicle through the ground intelligent charging cabinet according to the instructions of the vehicle management platform, automatically charges, and at the same time feedbacks the information of alignment and plugging / unplugging the plug, so as to handle the fault in time, and plays a role in protecting and supervising the entire charging process. The technical solution solves the technical problems of the lack of intelligent automation in the prior art, the need for manual operation of the charging pile opening, vehicle parking and gun insertion, and the lack of monitoring protection in the entire charging process.

[0063] Embodiment 3

[0064] The present invention provides an automatic charging system and method with feedback function, the system comprising a vehicle-mounted charging seat, an intelligent charging robot, a ground intelligent charging cabinet, a vehicle management platform and a charging system platform, such as Figure 1 As shown, the operating steps of the system are as follows.

[0065] Step 1: The vehicle management platform sends an arrival instruction and vehicle number to the charging system platform based on the interactive information of the unmanned transport vehicle after the vehicle to be charged arrives;

[0066] like Figure 3 As shown, step 1 specifically includes the following steps.

[0067] Step 11: The unmanned transport vehicle sends the charging requirements and vehicle number to the vehicle management platform;

[0068] Step 12, the vehicle management platform sends the charging demand to the charging system platform;

[0069] Step 13: If the intelligent charging robot is in an idle standby state, the charging system platform feeds back an idle standby stage identifier to the vehicle management platform;

[0070] Step 14, the vehicle management platform sends charging information to the unmanned transport vehicle so that the vehicle can travel to the intelligent charging robot in idle standby state. After the vehicle arrives, the vehicle management platform sends an arrival instruction and the vehicle number to the charging system platform.

[0071] Step 2: The charging system platform controls the intelligent charging robot to perform alignment detection with the vehicle corresponding to the vehicle number through the ground intelligent charging cabinet according to the arrival instruction and the vehicle number;

[0072] like Figure 4 As shown, the intelligent charging robot 1 includes an alignment sensing sensor 13, which is arranged below the guide compensation arm 12 and is used for alignment detection.

[0073] Step 3: When the alignment detection result is that the alignment is completed, the charging system platform feeds back the alignment detection result to the vehicle management platform, so that the vehicle management platform sends a charging start instruction to the charging system platform according to the alignment detection result;

[0074] Step 4: The charging system platform starts charging instructions and uses the ground intelligent charging cabinet to control the intelligent charging robot to estimate the posture according to the following PnP algorithm function, so as to insert the plug into the vehicle-mounted power socket and perform plug insertion detection.

[0075] min∑ i ||u i -Proj(R,t,X i )|| 2 ,

[0076] R, t

[0077] Where R and t are the rotation and translation matrices of the camera, X i is a known 3D point, u i is the corresponding 2D image point, and the Proj function represents the camera projection model;

[0078] like Figure 5 As shown, the specific steps for the intelligent charging robot to insert the plug into the vehicle-mounted power receiving socket are as follows.

[0079] Step 41, after receiving the charging start instruction through the ground intelligent charging cabinet, the intelligent charging robot extends the guide compensation arm toward the vehicle according to the alignment detection result, so that the front end plug is inserted into the vehicle-mounted charging socket;

[0080] Step 42, the plug is inserted into the plug core at the center of the guide bell mouth with the help of the guide bell mouth;

[0081] Step 43, after the plug is successfully inserted, the plug protection sensor sends a successful plug insertion detection signal to the intelligent charging robot, so that the intelligent charging robot can send the plug insertion detection result to the charging system platform through the ground intelligent charging cabinet.

[0082] like Figure 4 As shown, the intelligent charging robot 1 also includes: a plug 11, which is used to be inserted into the vehicle-mounted power receiving socket; a guide compensation arm 12, which is connected to the plug 11 and is used to assist the plug 11 to be inserted into the vehicle-mounted power receiving socket by telescopic means. Figure 6 , 7 As shown, the vehicle-mounted power socket 2 includes: a guide bell mouth 21, which is used to assist the plug 11 to insert the ferrule; the ferrule (because the ferrule is exposed when the plug 11 is inserted, it is generally hidden in the middle of the guide bell mouth 21, so it is not shown in the figure), which is arranged in the center of the guide bell mouth 21 and is used for docking the plug 11; a plug confirmation protection sensor 22, which is arranged outside the guide bell mouth 21, and is used to detect the insertion / extraction of the plug 11 and feedback the detection result.

[0083] Step 5: When the plug insertion test result is successful, the charging system platform controls the ground smart charging cabinet to charge according to the test result;

[0084] Step 6: When the vehicle management platform sends a stop charging instruction, the charging system platform stops charging through the ground intelligent charging cabinet according to the stop charging instruction, controls the intelligent charging robot to unplug the plug, and performs plug unplugging detection;

[0085] like Figure 8 As shown, the specific process of the intelligent charging robot pulling out the plug is as follows.

[0086] Step 61, the intelligent charging robot receives a stop charging instruction through the ground intelligent charging cabinet;

[0087] Step 62, the intelligent charging robot retracts the guide compensation arm in the opposite direction of the vehicle, so that the front end plug is unplugged from the vehicle-mounted power receiving socket;

[0088] Step 63, after the plug is successfully unplugged, the plug protection sensor sends a successful plug unplug detection signal to the intelligent charging robot, so that the intelligent charging robot can send the plug unplug detection result to the charging system platform through the ground intelligent charging cabinet.

[0089] From the above content, it can be seen that the entire charging process is carried out by the intelligent charging robot through the mechanical arm, that is, the extension and retraction of the guide compensation arm 12, which effectively avoids damage to the wiring harness during manual operation; and when the vehicle is automatically charged, it reduces manual participation in the charging process, avoids personnel contact with high voltage electricity, and ensures safety; since humans are exposed to high voltage, high-voltage fast charging can be used, which combines dual-channel charging, with a rated charging current of up to 500A and a rated voltage of DC750V. The vehicle can be fully charged within an hour, which can meet the needs of the vehicle working under high load.

[0090] Step 7: When the plug removal test result is successful, the charging system platform feeds back the test result to the vehicle management platform;

[0091] Step 8: The vehicle management platform sends the detection result of successful plug removal to the vehicle so that the vehicle can leave.

[0092] The present invention provides an automatic charging system and method with feedback function. The technical solution exchanges information between the vehicle management platform and the charging system platform, so that the charging system platform controls the intelligent charging robot to dock with the unmanned transport vehicle through the ground intelligent charging cabinet according to the instructions of the vehicle management platform, automatically charges, and at the same time feedbacks the information of alignment and plugging / unplugging the plug, so as to handle the fault in time, and plays a role in protecting and supervising the entire charging process. The technical solution solves the technical problems of the lack of intelligent automation in the prior art, the need for manual operation of the charging pile opening, vehicle parking and gun insertion, and the lack of monitoring protection in the entire charging process.

[0093] In summary, the embodiment of the present invention provides an automatic charging system and method with feedback function. This technical solution exchanges information with the charging system platform through the vehicle management platform, so that the charging system platform controls the intelligent charging robot to dock with the unmanned transport vehicle through the ground intelligent charging cabinet according to the instructions of the vehicle management platform, and automatically charges. At the same time, it feeds back the information of alignment and plugging / unplugging the plug, so as to deal with the fault in time, and plays a role in protecting and supervising the entire charging process. This technical solution makes the charging of unmanned transport vehicles unmanned and intelligent; it can also realize the controllability of the charging of unmanned transport vehicles, and provide real-time status feedback; at the same time, it ensures that the unmanned transport vehicle can be charged quickly to meet the requirements of high-load operations.

[0094] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic charging system with feedback function, applied to an unmanned transport vehicle, characterized in that: The system comprises: The vehicle-mounted power receiving seat is installed on the unmanned transport vehicle and is used to connect the current through the intelligent charging robot to charge the vehicle; The intelligent charging robot has a plug at the front end and is connected to the ground intelligent charging cabinet. It is used to estimate the position according to the following PnP algorithm function so as to insert the plug into the vehicle-mounted power receiving socket to transmit current and charge the vehicle. At the same time, it transmits signal data and receives instructions with the ground intelligent charging cabinet. min∑ i ||u i -Proj(R,t,X) i )|| 2 , R, t Where R and t are the rotation and translation matrices of the camera, X i is a known 3D point, u i is the corresponding 2D image point, and the Proj function represents the camera projection model; The ground intelligent charging cabinet is connected to the intelligent charging robot and is used to control the intelligent charging robot to start charging / stop charging according to instructions, perform alignment detection, plug insertion / removal detection, and feedback the detection results; The vehicle management platform is connected to the unmanned transport vehicle through the network, and is used to send an arrival instruction and the vehicle number to the charging system platform after the vehicle to be charged arrives, and send a start charging instruction and a stop charging instruction to the charging system platform according to the information fed back by the charging system platform to complete the automatic charging of the vehicle; The charging system platform is connected to the vehicle management platform and the ground-based intelligent charging cabinet through the network. It is used to control the ground-based intelligent charging cabinet to perform alignment detection and plug insertion / removal detection according to instructions, and to feed back the detection results to the vehicle management platform. When charging is received, the charging data is fed back to the vehicle management platform to control the intelligent charging robot to complete automatic charging.

2. The automatic charging system with feedback function according to claim 1, characterized in that: The vehicle-mounted power receiving seat comprises: Guide bell mouth, used to assist the plug in inserting into the ferrule; The insert is arranged at the center of the guide bell mouth and is used for connecting the plug; The plug protection sensor is arranged outside the guide bell mouth and is used for plug insertion / removal detection and feedback of the detection results.

3. The automatic charging system with feedback function according to claim 1, characterized in that: The intelligent charging robot comprises: Plug, used to insert into the vehicle power receiving socket; A guide compensation arm, wherein the plug is arranged at the front end of the guide compensation arm, and is used to assist the plug in inserting into the vehicle-mounted power receiving socket by telescopic means; The alignment sensing sensor is arranged below the guide compensation arm and is used for alignment detection.

4. The automatic charging system with feedback function according to claim 1, characterized in that: The protection grade of the system is IP55 and above.

5. A method using the automatic charging system with feedback function as claimed in claims 1-4, characterized in that: The method comprises: Step 1: The vehicle management platform sends an arrival instruction and vehicle number to the charging system platform based on the interactive information of the unmanned transport vehicle after the vehicle to be charged arrives; Step 2: The charging system platform controls the intelligent charging robot to perform alignment detection with the vehicle corresponding to the vehicle number through the ground intelligent charging cabinet according to the arrival instruction and the vehicle number; Step 3: When the alignment detection result is that the alignment is completed, the charging system platform feeds back the alignment detection result to the vehicle management platform, so that the vehicle management platform sends a charging start instruction to the charging system platform according to the alignment detection result; Step 4: The charging system platform starts charging instructions and controls the intelligent charging robot through the ground intelligent charging cabinet to estimate the posture according to the following PnP algorithm function, so as to insert the plug into the vehicle-mounted power socket and perform plug insertion detection. min∑ i ||u i -Proj(R,t,X) i )|| 2 , R, t Where R and t are the rotation and translation matrices of the camera, X i is a known 3D point, u i is the corresponding 2D image point, and the Proj function represents the camera projection model; Step 5: When the plug insertion test result is successful, the charging system platform controls the ground smart charging cabinet to charge according to the test result; Step 6: When the vehicle management platform sends a stop charging instruction, the charging system platform stops charging through the ground intelligent charging cabinet according to the stop charging instruction, controls the intelligent charging robot to unplug the plug, and performs plug unplugging detection; Step 7: When the plug removal test result is successful, the charging system platform feeds back the test result to the vehicle management platform; Step 8: The vehicle management platform sends the detection result of successful plug removal to the vehicle so that the vehicle can leave.

6. The automatic charging method with feedback function according to claim 5, characterized in that: The method further comprises: Step 9, when the alignment detection result is that the vehicle is not detected, or when the plug insertion detection result is insertion failure, or when the plug removal detection result is removal failure, the charging system platform sends a corresponding failure reason code according to the detection result for processing.

7. The automatic charging method with feedback function according to claim 5, characterized in that: The method further comprises: Step 10: When charging is completed, the charging system platform feeds back the charging completion information to the vehicle management platform, and the vehicle management platform sends a stop charging instruction to the charging system platform, and then goes to step 6.

8. The automatic charging method with feedback function according to claim 5, characterized in that: The step 1 comprises: Step 11: The unmanned transport vehicle sends the charging requirements and vehicle number to the vehicle management platform; Step 12, the vehicle management platform sends the charging demand to the charging system platform; Step 13: If the intelligent charging robot is in an idle standby state, the charging system platform feeds back an idle standby stage identifier to the vehicle management platform; Step 14, the vehicle management platform sends charging information to the unmanned transport vehicle so that the vehicle can travel to the intelligent charging robot in idle standby state. After the vehicle arrives, the vehicle management platform sends an arrival instruction and the vehicle number to the charging system platform.

9. The automatic charging method with feedback function according to claim 5, characterized in that: The intelligent charging robot inserts the plug into the vehicle-mounted charging socket, specifically including: Step 41, after receiving the charging start instruction through the ground intelligent charging cabinet, the intelligent charging robot extends the guide compensation arm toward the vehicle according to the alignment detection result, so that the front end plug is inserted into the vehicle-mounted charging socket; Step 42, the plug is inserted into the plug core at the center of the guide bell mouth with the help of the guide bell mouth; Step 43, after the plug is successfully inserted, the plug protection sensor sends a successful plug insertion detection signal to the intelligent charging robot, so that the intelligent charging robot can send the plug insertion detection result to the charging system platform through the ground intelligent charging cabinet.

10. The automatic charging method with feedback function according to claim 5, characterized in that: The intelligent charging robot pulls out the plug, specifically including: Step 61, the intelligent charging robot receives a stop charging instruction through the ground intelligent charging cabinet; Step 62, the intelligent charging robot retracts the guide compensation arm in the opposite direction of the vehicle, so that the front end plug is unplugged from the vehicle-mounted power receiving socket; Step 63, after the plug is successfully unplugged, the plug protection sensor sends a successful plug unplug detection signal to the intelligent charging robot, so that the intelligent charging robot can send the plug unplug detection result to the charging system platform through the ground intelligent charging cabinet.

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