Mobile robot capable of automatically plugging and unplugging charging gun and working method thereof

Abstract

The invention discloses a mobile robot capable of automatically plugging and unplugging a charging gun and a working method of the mobile robot. The mobile robot comprises a main machine, a track, a six-axis mechanical arm, the charging gun, walking wheels and a sliding contact line. The main machine runs on the track in a shuttling mode through the walking wheels, the sliding contact line is installed below the track and provides 220 v alternating current, and the collector electrode is installed on the main machine and makes full contact with the sliding contact line to provide a working power source for the main machine; the six-axis mechanical arm is installed below the main machine, the charging gun is connected to the tail end of the six-axis mechanical arm, and the charging gun achieves all-directional operation through the six-axis mechanical arm. A vehicle recognition device is arranged on the front face of the host, visual cameras are installed at the tail end of the six-axis mechanical arm in a bilateral symmetry mode, and the two visual cameras are located on the two sides of the charging gun. Automatic operation is achieved, manual intervention is reduced, a user does not need to manually plug and unplug the charging gun, convenience is improved, the satisfaction degree of the user is improved, charging efficiency and safety are improved, and powerful support is provided for development of the electric vehicle.

Description

Technical Field

[0001] The invention belongs to the technical field of new energy vehicles, and in particular relates to a mobile robot capable of automatically plugging and unplugging a charging gun. Background Art

[0002] The main power source of new energy vehicles is electricity, and charging the car's power battery is a high-frequency rigid demand. At present, the mainstream charging method in China is a fast DC charging pile with a power of more than 120KW, which adopts the national standard nine-hole socket.

[0003] The existing method of plugging and unplugging the gun is that after the driver drives the vehicle to the charging pile parking space, the driver or relevant personnel manually removes the charging gun from the charging pile and inserts it into the new energy vehicle charging socket; when charging is completed, the driver or relevant personnel manually unplugs the charging gun from the new energy vehicle socket and plugs it back into the charging pile socket.

[0004] The disadvantages of this solution include:

[0005] 1. In bad weather conditions (such as high temperature, heavy rain, snowstorm, etc.), manually plugging and unplugging the charging gun is extremely inconvenient for drivers or related personnel, and increases the difficulty of operation and safety risks. For example, rainy days may cause the ground to be slippery, increasing the risk of falling; in hot weather, charging guns and cables exposed outdoors for a long time may overheat, increasing the risk of burns; improper operation during the plugging and unplugging process may also cause damage to the charging gun or the vehicle charging port, and even cause safety accidents such as short circuits and electric shocks;

[0006] 2. With the continuous maturity and popularization of autonomous driving technology, more and more new energy vehicles will have unmanned driving capabilities in the future. In this case, the vehicle may arrive at the charging station without a driver or passengers, and the traditional manual plug-in and pull-out method will not be applicable; autonomous driving vehicles require more intelligent and efficient charging solutions to support their autonomous charging process, and the existing methods obviously cannot meet this demand.

[0007] 3. Manually plugging and unplugging the charging gun takes a certain amount of time, which may reduce the operating efficiency of the charging station during peak charging periods or emergency situations. For users, frequent plugging and unplugging operations may also reduce their overall satisfaction with the new energy vehicle charging experience. Summary of the invention

[0008] The purpose of the present invention is to provide a mobile robot capable of automatically plugging and unplugging a charging gun, so as to solve the problems raised in the above-mentioned background technology.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a mobile robot capable of automatically plugging and unplugging a charging gun, comprising a host, a track, a six-axis mechanical arm, a charging gun, a running wheel and a busbar;

[0010] The host machine shuttles on the track through the running wheels, the busbar is installed under the track, and provides 220V AC power. A collector is installed on the host machine, and the collector is in full contact with the busbar to provide working power for the host machine;

[0011] The six-axis robotic arm is installed below the host, and the charging gun is connected to the end of the six-axis robotic arm. The charging gun realizes omnidirectional operation through the six-axis robotic arm;

[0012] A vehicle identification device is provided on the front of the host for vehicle identification;

[0013] Vision cameras are symmetrically installed at the end of the six-axis robotic arm. The two vision cameras are located on both sides of the charging gun and are used to identify the exact position of the car charging port. Soft rubber fingers are also provided on the six-axis robotic arm.

[0014] Preferably, the height of the track from the ground is 1.8-2.2 meters.

[0015] The present invention also provides a working method of a mobile robot capable of automatically plugging and unplugging a charging gun, comprising: a control system, a walking positioning system, a vehicle body scanning system and a charging port visual recognition system.

[0016] Control system, when the device (mobile robot) receives the upgrade scheduling command of the control system, the walking mechanism starts and moves forward to the target parking space. The control system uses an absolute encoder as a positioning auxiliary device;

[0017] The walking positioning system updates the position data according to the data correction points set on the walking track. The refrigerator onboard controller feeds back the position information, sets the coordinates of the center position of the target parking space as L, and the mobile robot walks to the L±1500mm area to perform the target operation.

[0018] A vehicle body scanning system, when the charging robot walks to the target area, the vehicle body scanning system starts scanning the vehicle body and finds the vehicle charging port through visual recognition. The vehicle recognition device is composed of an image capture unit, a data analysis unit, a positioning control unit and a feedback unit;

[0019] The image capture unit is used for image acquisition and sending image data to the data analysis unit, as well as obstacle avoidance detection during operation, so as to avoid collision accidents of the equipment during operation;

[0020] The data analysis unit is used for comparing the image database and feeding back the comparison result;

[0021] The positioning control unit is used to control the final position positioning operation of the robotic arm;

[0022] The feedback unit is used to transmit upper and lower level instructions to the upper control system;

[0023] The charging port visual recognition system includes an image target detection unit, a three-dimensional position analysis unit and a precise positioning unit;

[0024] First, the image target detection unit identifies and locates the charging port through image processing technology, and analyzes the rough three-dimensional position of the charging port in combination with 3D information technology;

[0025] The three-dimensional position analysis unit further observes the charging port according to the rough three-dimensional position to obtain the precise three-dimensional position, which is achieved by joint constraints of stereo vision and three-dimensional templates to ensure the accuracy and stability of positioning;

[0026] After obtaining the rough and precise three-dimensional position of the charging port, the precise positioning unit converts the position information into the robot's terminal motion control instructions through hand-eye calibration and robot Far East learning, so as to achieve precise gun insertion;

[0027] When the positioning control unit obtains the gun insertion port position, the robot arm performs the gun insertion action, and the force is analyzed in real time during the whole process of gun insertion to ensure the accuracy and safety of gun insertion;

[0028] After the gun insertion action is completed, the feedback unit will feed back the result to the upper control system;

[0029] After the upper control system obtains the correct feedback result, the charging system starts and executes the charging process;

[0030] After the charging process is completed, the upper control system sends an end command to the feedback unit, and the robotic arm performs the gun-drawing action;

[0031] The process of pulling out the gun is the opposite of the process of inserting the gun, but the force is also analyzed in real time throughout the whole process to ensure the accuracy and safety of inserting the gun;

[0032] After the gun is drawn, the image capture unit performs image capture, transmits the image data to the data analysis unit, analyzes and determines the position of the charging port cover, and gives the specific position coordinates;

[0033] The positioning control unit controls the mechanical arm to complete the capping action, and the image capturing unit performs image capturing again, and transmits the image data to the data analyzing unit to analyze and determine whether the capping is successful;

[0034] After the cover is successfully capped, the feedback unit will provide feedback to the upper control system to end the control of the entire charging process.

[0035] Preferably, the positioning control unit establishes a three-dimensional polar model based on data analysis, and the position of the action point (γ, θ, Φ) is determined by three parameters: radial distance γ, polar angle θ and azimuth angle Φ;

[0036] The value ranges of the three parameters are as follows:

[0037] 0≤γ<∞

[0038] 0≤θ≤π

[0039] 0≤Φ<2π

[0040] The radial distance γ represents the distance from the point to the origin;

[0041] The polar angle θ represents the angle between the point and the positive semi-axis;

[0042] The azimuth Φ represents the angle between the projection of a point on the plane and the X-axis;

[0043] х=γ*sinθ*cosΦ

[0044] у=γ*sinθ*sinΦ

[0045] z = γ*cosθ.

[0046] Preferably, the image capture unit scans the vehicle body through a visual camera to capture the vehicle body appearance image, and submits the data to the system for data analysis. The analysis result is obtained by querying and comparing the database, and the analysis result interacts with the image capture unit until the charging port is identified, and the data analysis unit gives the specific positioning coordinates;

[0047] When the system obtains the coordinates of the charging port, the positioning control unit performs the positioning operation control of the robotic arm, aligns the top pin of the robotic arm with the charging port, and performs the opening action;

[0048] After opening the cover, the image capture unit performs image capture again and transmits the image data to the data analysis unit to analyze and determine whether the cover is opened successfully, and identify the exact position of the gun insertion port. After identification, the coordinate data is sent to the positioning control unit.

[0049] Technical effects and advantages of the present invention:

[0050] 1. High degree of automation. The robot can automatically accept dispatching commands and accurately reach the target parking space through the walking positioning system. Using the body scanning system and the charging port visual recognition system, the robot can automatically identify and locate the charging port of the car and realize automatic insertion and extraction of the gun. The track mobile robot can realize the insertion and extraction of guns for multiple charging piles by one robot.

[0051] 2. The robot adopts technologies such as image target detection, three-dimensional position analysis and precise positioning, which can accurately identify the three-dimensional position of the charging port and ensure the accuracy of inserting and removing the gun; the positioning control unit performs precise positioning through a three-dimensional polar sitting stereo model, which improves the positioning accuracy of the robot.

[0052] 3. During operation, the robot uses visual cameras to detect obstacles and avoid collision accidents. The robot also conducts real-time analysis of the forces during the entire process of inserting and removing the gun to ensure the safety and accuracy of the operation.

[0053] 4. The busbar power supply method can provide working power continuously and stably. The robot reduces manual intervention and improves charging efficiency through automated operation. Users do not need to manually plug and unplug the charging gun, which improves convenience. The robot can automatically complete the entire charging process, which improves user satisfaction. Automated charging technology improves charging efficiency and safety, providing strong support for the development of electric vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of the present invention;

[0055] Figure 2 It is a usage state diagram of the present invention;

[0056] Figure 3 It is a control flow chart.

[0057] In the figure: host-1, track-2, six-axis robot arm-3, charging gun-4, walking wheel-5, busbar-6, collector-7, visual camera-8, vehicle identification device-9, soft rubber finger-10. DETAILED DESCRIPTION

[0058] 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.

[0059] Example

[0060] See also Figures 1 to 3As shown, it should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, if there are references to terms such as "upper", "lower", "left", "right", "middle" and "one" in this specification, they are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0061] A mobile robot capable of automatically plugging and unplugging a charging gun in this embodiment includes a host 1, a track 2, a six-axis robot arm 3, a charging gun 4, a walking wheel 5 and a busbar 6;

[0062] The host 1 shuttles on the track 2 through the running wheels 5, the busbar 6 is installed under the track 2, and provides 220V AC power. A collector 7 is installed on the host 1, and the collector 7 is in full contact with the busbar 6 to provide working power for the host 1;

[0063] The six-axis robot arm 3 is installed below the host 1, and the charging gun 4 is connected to the end of the six-axis robot arm 3. The charging gun 4 realizes omnidirectional operation through the six-axis robot arm 3;

[0064] A vehicle identification device 9 is provided on the front of the host 1 for vehicle identification;

[0065] A visual camera 8 is symmetrically installed at the end of the six-axis robot arm 3. The two visual cameras 8 are located on both sides of the charging gun 4 to identify the exact position of the car charging port. A soft rubber finger 10 is also provided on the six-axis robot arm 3.

[0066] The host 1 shuttles on the track 2 through the running wheels 5, and the track 2 is 1.8~2.2 meters above the ground; when the vehicle is parked in the parking space, the owner sends a charging request through the mobile terminal, and the mobile robot automatically walks to the corresponding parking space after receiving the command;

[0067] The vehicle identification device 9 identifies the left and right sides of the vehicle body through a built-in algorithm and determines the position coordinates;

[0068] The mobile robot first moves to the left side of the vehicle body, extends its mechanical arm, and points the visual camera 8 at the front end toward the vehicle body to perform scanning and detection, and find and determine the location of the charging port. If no charging port is found on the left side, the mobile robot moves to the right side to search for it.

[0069] When the charging port position is determined, the soft rubber finger 10 of the robot arm presses the protective cover to open the charging port cover;

[0070] The visual camera detects the accurate position of the charging port, and after confirmation, the charging gun is inserted into the charging port to charge the vehicle.

[0071] The working method of the mobile robot capable of automatically plugging and unplugging the charging gun in this embodiment is as follows, including: a control system, a walking positioning system, a body scanning system and a charging port visual recognition system.

[0072] Site preparation:

[0073] The charging pile is installed behind the charging parking space. It can be used for exclusive charging by one person or shared charging by multiple people. The charging pile, charging parking space and a mobile robot that can automatically plug and unplug the charging gun are all connected to the charging pile parking space management system. New energy vehicles can communicate with the charging pile parking space management system.

[0074] a. Walking positioning

[0075] Control system, when the device (mobile robot) receives the upgrade scheduling command of the control system, the walking mechanism starts and moves forward to the target parking space. The control system uses an absolute encoder as a positioning auxiliary device;

[0076] The walking positioning system updates the position data according to the data correction points set on the walking track. The refrigerator onboard controller feeds back the position information, sets the coordinates of the center position of the target parking space as L, and the mobile robot walks to the L±1500mm area to perform the target operation.

[0077] b. Car body scanning

[0078] The vehicle body scanning system, when the charging robot walks to the target area, starts scanning the vehicle body through the vehicle body scanning system, and finds the vehicle charging port through visual recognition. The vehicle recognition device 9 is composed of an image capture unit, a data analysis unit, a positioning control unit and a feedback unit;

[0079] The image capture unit is used for image acquisition and sending image data to the data analysis unit, as well as obstacle avoidance detection during operation, so as to avoid collision accidents of the equipment during operation;

[0080] The data analysis unit is used for comparing the image database and feeding back the comparison result;

[0081] The positioning control unit is used to control the final position positioning operation of the robotic arm;

[0082] The feedback unit is used to transmit upper and lower level instructions to the upper control system;

[0083] The charging port visual recognition system includes an image target detection unit, a three-dimensional position analysis unit and a precise positioning unit;

[0084] First, the image target detection unit identifies and locates the charging port through image processing technology, and analyzes the rough three-dimensional position of the charging port in combination with 3D information technology;

[0085] The three-dimensional position analysis unit further observes the charging port according to the rough three-dimensional position to obtain the precise three-dimensional position, which is achieved by joint constraints of stereo vision and three-dimensional templates to ensure the accuracy and stability of positioning;

[0086] After obtaining the rough and precise three-dimensional position of the charging port, the precise positioning unit converts the position information into the robot's terminal motion control instructions through hand-eye calibration and robot Far East learning, so as to achieve precise gun insertion;

[0087] c. Insert the gun

[0088] When the positioning control unit obtains the gun insertion port position, the robot arm performs the gun insertion action, and the force is analyzed in real time during the whole process of gun insertion to ensure the accuracy and safety of gun insertion;

[0089] After the gun insertion action is completed, the feedback unit will feed back the result to the upper control system;

[0090] After the upper control system obtains the correct feedback result, the charging system starts and executes the charging process;

[0091] d. Draw your gun

[0092] After the charging process is completed, the upper control system sends an end command to the feedback unit, and the robotic arm performs the gun-drawing action;

[0093] The process of pulling out the gun is the opposite of the process of inserting the gun, but the force is also analyzed in real time throughout the whole process to ensure the accuracy and safety of inserting the gun;

[0094] After the gun is drawn, the image capture unit performs image capture, transmits the image data to the data analysis unit, analyzes and determines the position of the charging port cover, and gives the specific position coordinates;

[0095] The positioning control unit controls the mechanical arm to complete the capping action, and the image capturing unit performs image capturing again, and transmits the image data to the data analyzing unit to analyze and determine whether the capping is successful;

[0096] After the cover is successfully capped, the feedback unit will provide feedback to the upper control system to end the control of the entire charging process.

[0097] In this embodiment, the positioning control unit establishes a three-dimensional polar model based on data analysis, and the position of the action point (γ, θ, Φ) is determined by three parameters: radial distance γ, polar angle θ and azimuth angle Φ;

[0098] The value ranges of the three parameters are as follows:

[0099] 0≤γ<∞

[0100] 0≤θ≤π

[0101] 0≤Φ<2π

[0102] The radial distance γ represents the distance from the point to the origin;

[0103] The polar angle θ represents the angle between the point and the positive semi-axis;

[0104] The azimuth Φ represents the angle between the projection of a point on the plane and the X-axis;

[0105] х=γ*sinθ*cosΦ

[0106] у=γ*sinθ*sinΦ

[0107] z = γ*cosθ.

[0108] By precisely controlling the values ​​of the three parameters, precise control of the position of the point of action can be achieved, which is crucial for application scenarios that require high-precision positioning. Especially when dealing with problems involving spatial geometry, the use of three-dimensional polar coordinates can simplify the calculation process, reduce the amount of calculation, and improve calculation efficiency. This data analysis method provides new tools and methods for scientific research and technological development, and helps promote research progress and technological innovation in related fields.

[0109] In this embodiment, the image capture unit scans the vehicle body through a visual camera, captures the vehicle body appearance image, and submits the data to the system for data analysis. The analysis result is obtained by querying and comparing the database. The analysis result interacts with the image capture unit until the charging port is identified, and the data analysis unit gives the specific positioning coordinates;

[0110] When the system obtains the coordinates of the charging port, the positioning control unit performs the positioning operation control of the robotic arm, aligns the top pin of the robotic arm with the charging port, and performs the opening action;

[0111] After opening the cover, the image capture unit performs image capture again and transmits the image data to the data analysis unit to analyze and determine whether the cover is opened successfully, and identify the exact position of the gun insertion port. After identification, the coordinate data is sent to the positioning control unit.

[0112] This image capture unit uses a high-precision visual camera to scan the vehicle body, which can accurately capture every detail of the vehicle body appearance and ensure the clarity and integrity of the image data; the capture process is carried out in real time, and can complete a comprehensive scan of the vehicle body and the transmission of image data in a short time, providing timely and effective information for subsequent data analysis; it works closely with the data analysis unit, and through database query and comparison, it can intelligently identify the location of the charging port and give specific positioning coordinates, greatly improving the system's automation level; there is a good interaction mechanism between the capture unit and the data analysis unit, which can adjust the capture strategy in real time according to the analysis results to ensure that the accurate charging port and gun plug position are finally identified.

[0113] The applicant further declares that the present invention illustrates the implementation method and device structure of the present invention through the above-mentioned embodiments, but the present invention is not limited to the above-mentioned implementation methods, that is, it does not mean that the present invention must rely on the above-mentioned methods and structures to be implemented. Those skilled in the art should understand that any improvement to the present invention, equivalent replacement of the implementation method selected by the present invention, addition of steps, selection of specific methods, etc., all fall within the scope of protection and disclosure of the present invention.

[0114] The present invention is not limited to the above-mentioned embodiments, and all methods that use structures and methods similar to the present invention to achieve the purpose of the present invention are within the protection scope of the present invention.

Claims

1. A mobile robot capable of automatically plugging and unplugging a charging gun, characterized in that: It includes a host (1), a track (2), a six-axis robot arm (3), a charging gun (4), a running wheel (5) and a busbar (6); The host (1) travels on the track (2) via the running wheels (5); the busbar (6) is installed below the track (2) to provide 220V AC power; a collector (7) is installed on the host (1); the collector (7) is in full contact with the busbar (6) to provide working power for the host (1); The six-axis robotic arm (3) is installed below the host (1), the charging gun (4) is connected to the end of the six-axis robotic arm (3), and the charging gun (4) realizes omnidirectional operation through the six-axis robotic arm (3); A vehicle identification device (9) is provided on the front of the host (1) for vehicle identification; Visual cameras (8) are symmetrically mounted on the left and right ends of the six-axis robotic arm (3); the two visual cameras (8) are located on both sides of the charging gun (4) and are used to identify the exact position of the vehicle charging port; and soft rubber fingers (10) are also provided on the six-axis robotic arm (3).

2. A mobile robot capable of automatically plugging and unplugging a charging gun according to claim 1, characterized in that: The height of the track (2) from the ground is 1.8-2.2 meters.

3. A working method of a mobile robot capable of automatically plugging and unplugging a charging gun as claimed in any one of claims 1 to 2, characterized in that: include: Control system, walking positioning system, body scanning system and charging port visual recognition system, Control system, when the equipment receives the upgrade dispatch command of the control system, the walking mechanism starts and moves forward to the target parking space, and the control system uses an absolute encoder as a positioning auxiliary device; The walking positioning system updates the position data according to the data correction points set on the walking track. The refrigerator onboard controller feeds back the position information, sets the coordinates of the center position of the target parking space as L, and the mobile robot walks to the L±1500mm area to perform the target operation. A vehicle body scanning system, when the charging robot walks to the target area, the vehicle body scanning system starts scanning the vehicle body, and searches for the vehicle charging port through visual recognition, wherein the vehicle recognition device (9) is composed of an image capture unit, a data analysis unit, a positioning control unit and a feedback unit; The image capture unit is used for image acquisition and sending image data to the data analysis unit, as well as obstacle avoidance detection during operation, so as to avoid collision accidents of the equipment during operation; The data analysis unit is used for comparing the image database and feeding back the comparison result; The positioning control unit is used to control the final position positioning operation of the robotic arm; The feedback unit is used to transmit upper and lower level instructions to the upper control system; The charging port visual recognition system includes an image target detection unit, a three-dimensional position analysis unit and a precise positioning unit; First, the image target detection unit identifies and locates the charging port through image processing technology, and analyzes the rough three-dimensional position of the charging port in combination with 3D information technology; The three-dimensional position analysis unit further observes the charging port according to the rough three-dimensional position to obtain a precise three-dimensional position; After obtaining the rough and precise three-dimensional position of the charging port, the precise positioning unit converts the position information into the robot's terminal motion control instructions through hand-eye calibration and robot Far East learning, so as to achieve precise gun insertion; When the positioning control unit obtains the gun insertion port position, the robot arm performs the gun insertion action, and the force is analyzed in real time during the whole process of gun insertion to ensure the accuracy and safety of gun insertion; After the gun insertion action is completed, the feedback unit will feed back the result to the upper control system; After the upper control system obtains the correct feedback result, the charging system starts and executes the charging process; After the charging process is completed, the upper control system sends an end command to the feedback unit, and the robotic arm performs the gun-drawing action; The process of pulling out the gun is the opposite of the process of inserting the gun, but the force is also analyzed in real time throughout the whole process to ensure the accuracy and safety of inserting the gun; After the gun is drawn, the image capture unit performs image capture, transmits the image data to the data analysis unit, analyzes and determines the position of the charging port cover, and gives the specific position coordinates; The positioning control unit controls the mechanical arm to complete the capping action, and the image capturing unit performs image capturing again, and transmits the image data to the data analyzing unit to analyze and determine whether the capping is successful; After the cover is successfully capped, the feedback unit will provide feedback to the upper control system to end the control of the entire charging process.

4. The working method of the mobile robot capable of automatically plugging and unplugging a charging gun according to claim 3, characterized in that: The positioning control unit establishes a three-dimensional polar model based on data analysis, and the position of the action point (γ, θ, Φ) is determined by three parameters: radial distance γ, polar angle θ and azimuth angle Φ; The value ranges of the three parameters are as follows: 0≤γ<∞ 0≤θ≤π 0≤Φ<2π The radial distance γ represents the distance from the point to the origin; The polar angle θ represents the angle between the point and the positive semi-axis; The azimuth Φ represents the angle between the projection of a point on the plane and the X-axis; х=γ*sinθ*cosΦ у=γ*sinθ*sinΦ z = γ*cosθ.

5. The working method of the mobile robot capable of automatically plugging and unplugging a charging gun according to claim 3, characterized in that: The image capture unit scans the vehicle body through a visual camera, captures the vehicle body appearance image, and sends the data to the system for data analysis. The analysis result is obtained by querying and comparing the database. The analysis result interacts with the image capture unit until the charging port is identified, and the data analysis unit gives the specific positioning coordinates; When the system obtains the coordinates of the charging port, the positioning control unit performs the positioning operation control of the robotic arm, aligns the top pin of the robotic arm with the charging port, and performs the opening action; After opening the cover, the image capture unit performs image capture again and transmits the image data to the data analysis unit to analyze and determine whether the cover is opened successfully, and identify the exact position of the gun insertion port. After identification, the coordinate data is sent to the positioning control unit.

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