Charging control method, flexible charging robot, computer equipment and medium

Abstract

The embodiment of the invention is suitable for the technical field of charging robots, and provides a charging control method, a flexible charging robot, computer equipment and a medium, the method is applied to the flexible charging robot, and the flexible charging robot comprises a motion platform, a flexible mechanical arm and a charging gun head; the method comprises the steps of controlling a motion platform and a flexible mechanical arm to move based on a charging instruction command so as to drive a charging gun head to be close to a charging interface of a vehicle body; when the charging gun head is close to the charging interface, the charging gun head is extended to enter the charging interface, and the motion platform and / or the flexible mechanical arm are / is driven to drive the tail end of the charging gun head to generate dynamic insertion and extraction inclination angle change in a first interval range so as to adapt to passive angle change of the charging interface in the insertion and extraction process; therefore, the charging gun head and the charging interface are enabled to touch an ideal plugging inclination angle at a certain moment in the plugging process, and smooth plugging of the charging gun head and the charging interface is further realized. Through the method, the charging efficiency can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of charging robots, and in particular, relates to a charging control method, a flexible charging robot, a computer device and a medium. Background Art

[0002] In recent years, electric vehicles have become popular rapidly, and their charging methods and efficiency have also received more and more attention and attention. Various supercharging and fast charging are rapidly becoming popular. However, the current mainstream method is still to manually hold the charging gun head, manually insert it into the charging port, and then start the charging operation. The entire charging process requires human intervention and operation, which cannot match the convenience of charging.

[0003] With the continuous advancement of science and technology, people have begun to try to use a combination of a robotic arm and a charging gun head to achieve charging automation. In the prior art, a traditional rigid collaborative robotic arm is usually used as a charging robotic arm for charging the gun. The accuracy requirements for plugging and unplugging the charging gun head are relatively high, that is, the axial center line of the charging gun head and the axial center line of the charging interface must always coincide in order to successfully plug and unplug, otherwise plug and unplug abnormalities are likely to occur. It should be noted that when the axial center lines of the charging gun head and the charging interface coincide, the corresponding plug and unplug resistance is minimal, which is more conducive to the smooth plug and unplug of the charging gun head and the charging interface.

[0004] On the one hand, after visually assisting in identifying and locating the posture of the charging interface, if the visual accuracy does not meet the requirements, the rigid collaborative robot arm may be misaligned and produce deviations when plugging and unplugging the charging gun head. Moreover, when the deviation exceeds the allowable tolerance range, it is easy to fail to plug in or get stuck when plugging and unplugging. On the other hand, when the visual accuracy meets the requirements, the charging gun head is aligned and inserted into the charging interface, but in the process from inserting into the charging interface to being fully inserted into place, there is friction resistance between the charging gun head and the charging interface due to the interference fit. This friction resistance will change the vehicle suspension to a certain extent, thereby affecting the initial posture of the visual positioning of the charging interface, which causes an angle deviation between the charging gun head and the charging interface, which is easy to get stuck when plugging and unplugging. In addition, if the vehicle body is subjected to external force during the plugging and unplugging process, the initial posture of the charging interface will also change, and it will also get stuck.

[0005] Therefore, when the charging robot arm assists the charging gun head in charging, the problem of plugging and unplugging the charging gun head needs to be solved in order to improve the charging efficiency. Summary of the invention

[0006] In view of this, the embodiments of the present application provide a charging control method, a flexible charging robot, a computer device and a medium to ensure smooth insertion and removal of the charging gun head and the charging interface during automatic charging, thereby improving the charging efficiency.

[0007] A first aspect of an embodiment of the present application provides a charging control method, which is applied to a flexible charging robot, wherein the flexible charging robot comprises: a motion platform that can move in space, a flexible mechanical arm whose root is arranged on the motion platform, and a retractable charging gun head arranged at the end of the flexible mechanical arm; the method comprises:

[0008] receiving a charging instruction command;

[0009] Based on the charging instruction command, control the motion platform and the flexible mechanical arm to move so as to drive the charging gun head close to the charging interface of the vehicle body;

[0010] When the charging gun head approaches the charging interface, the charging gun head is extended to enter the charging interface, and the motion platform and / or the flexible robotic arm are driven to drive the end of the charging gun head to produce a dynamic plugging and unplugging inclination angle change within a first interval to adapt to the passive angle change of the charging interface during the plugging and unplugging process, so that the charging gun head and the charging interface touch the ideal plugging and unplugging inclination angle at a certain moment during the plugging process, thereby achieving smooth plugging of the charging gun head and the charging interface; wherein, the first interval is the plugging and unplugging inclination angle change range set by the charging gun head in combination with the flexible adaptability of the flexible robotic arm, and there is at least one ideal plugging and unplugging inclination angle within the first interval, and the ideal plugging and unplugging inclination angle is the plugging and unplugging inclination angle with the smallest plugging and unplugging resistance when the charging gun head and the charging interface are plugged and unplugged.

[0011] A second aspect of an embodiment of the present application provides a charging control device, which is applied to a flexible charging robot, wherein the flexible charging robot comprises: a motion platform that can move in space, a flexible mechanical arm whose root is arranged on the motion platform, and a retractable charging gun head arranged at the end of the flexible mechanical arm; the device comprises:

[0012] A receiving module, used for receiving a charging instruction command;

[0013] A control module, configured to control the motion platform and the flexible mechanical arm to move based on the charging instruction command, so as to drive the charging gun head to approach the charging interface of the vehicle body;

[0014] The plug-in gun module is used to extend the charging gun head to enter the charging interface when the charging gun head approaches the charging interface, and drive the motion platform and / or the flexible robotic arm to drive the end of the charging gun head to produce dynamic plug-in inclination angle changes within a first interval to adapt to the passive angle change of the charging interface during the plug-in process, so that the charging gun head and the charging interface touch the ideal plug-in inclination angle at a certain moment during the plug-in process, thereby realizing smooth plug-in of the charging gun head and the charging interface; wherein, the first interval is the plug-in inclination angle change range set by the charging gun head in combination with the flexible adaptability of the flexible robotic arm, and there is at least one ideal plug-in inclination angle within the first interval, and the ideal plug-in inclination angle is the plug-in inclination angle with the smallest plug-in resistance when the charging gun head and the charging interface are plugged in and out.

[0015] A third aspect of an embodiment of the present application provides a flexible charging robot, comprising: a motion platform that can move in space, a flexible robotic arm with its root arranged on the motion platform, and a retractable charging gun head arranged at the end of the flexible robotic arm. The flexible charging robot is charged and controlled by the method described in the first aspect above.

[0016] A fourth aspect of an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0017] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect above is implemented.

[0018] A sixth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on a computer device, the computer device executes the method described in the first aspect.

[0019] Compared with the prior art, the embodiments of the present application have the following advantages:

[0020] The embodiment of the present application uses a flexible mechanical arm to assist the charging gun head to realize charging automation. Compared with the traditional rigid cooperative mechanical arm, its advantage is that it has good flexibility and adaptability. During the plugging and unplugging process of the charging gun head, it can absorb the friction resistance of plugging and unplugging through passive deformation to avoid plugging and unplugging stuck due to the rigid structure. At the same time, due to its good flexibility, through the small-range inclination change of the end of the gun head, the coincidence moment of the two axial center lines of the charging gun head and the charging interface is found in space, so as to successfully complete the plugging and unplugging, improve the charging efficiency, and reduce the manual labor in the charging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art.

[0022] Figure 1 is a kinematic configuration diagram of a flexible charging robot provided in an embodiment of the present application;

[0023] Figure 2 is a schematic diagram of a flexible charging robot provided in an embodiment of the present application;

[0024] Figure 3 It is a schematic diagram of a flexible robotic arm, a charging gun head and a charging interface provided in an embodiment of the present application;

[0025] Figure 4 It is a schematic diagram of the steps of a charging control method provided in an embodiment of the present application;

[0026] Figure 5 It is a schematic diagram of adjusting the gun insertion angle by adjusting the root position of the mechanical arm provided in an embodiment of the present application;

[0027] Figure 6 This is a schematic diagram of a scenario in which a charging gun head and a charging port are separated, provided in an embodiment of the present application;

[0028] Figure 7 This is a schematic diagram of a scenario in which a charging gun head and a charging port are in contact with each other, provided in an embodiment of the present application;

[0029] Figure 8 This is a schematic diagram of a normal insertion of a charging gun head provided in an embodiment of the present application;

[0030] Fig. 9 This is a schematic diagram of an abnormal insertion of a charging gun head provided in an embodiment of the present application;

[0031] Fig.10 is a schematic diagram of another abnormal insertion of a charging gun head provided in an embodiment of the present application;

[0032] Fig.11 This is a schematic diagram of the flexible adaptive deformation of a charging gun head after misalignment after insertion provided by an embodiment of the present application;

[0033] Fig.12 is a schematic diagram of another charging control method provided in an embodiment of the present application;

[0034] Fig.13 This is a schematic diagram of a gun drawing process provided by an embodiment of the present application;

[0035] Fig.14This is a schematic diagram of the working process of a charging robot provided in an embodiment of the present application;

[0036] Fig.15 It is a schematic diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the present application.

[0038] In order to avoid jamming when plugging and unplugging the charging gun head, in an embodiment of the present application, a flexible robotic arm is used in the charging robot. The flexible robotic arm is a new type of robotic arm in the shape of an elephant trunk, which is rapidly developing due to its multiple degrees of freedom, safety and flexibility. The flexible robotic arm has flexible adaptability, that is, when the flexible robotic arm is applied with external force or comes into contact with the outside world, the flexible robotic arm can adaptively change its own shape under the action of the external force or contact force, so that the contact force is smoother and more even. In an embodiment of the present application, the use of a flexible robotic arm to clamp the charging gun head can reduce the accuracy requirements for insertion angle detection and control, and avoid the influence of static friction, thereby improving the smoothness and adaptability of insertion.

[0039] The charging robot using a flexible robotic arm in the embodiment of the present application is a flexible charging robot. Figure 1 is a kinematic configuration diagram of a flexible charging robot provided in an embodiment of the present application, Figure 2 is a schematic diagram of a flexible charging robot provided in an embodiment of the present application, such as Figure 1 and Figure 2 As shown, the flexible charging robot may include a motion platform that can move in space, a flexible robotic arm with its root disposed on the motion platform, and a retractable charging gun head disposed at the end of the flexible robotic arm.

[0040] Specifically, the motion platform can be composed of two linear modules in the X direction and the Z direction, wherein the X-direction linear module is used to find the horizontal coordinate of the charging interface along the direction of the vehicle body, and the Z-direction linear module is used to find the vertical coordinate of the charging interface; it can also be composed of three linear modules in the X direction, the Y direction, and the Z direction, wherein the added Y-direction linear module is used to approach or move away from the charging interface of the vehicle body. Optionally, the linear module can be a linear guide. The root of the flexible robotic arm is connected to the motion platform, so that the root of the flexible robotic arm can move along the linear guide, driving the flexible robotic arm to move in two directions of the XZ axis or three directions of the XYZ axis.

[0041] Figure 3 Schematic diagram of a flexible robotic arm, a charging gun head and a charging interface provided in an embodiment of the present application. Figure 3 As shown, the flexible robotic arm may include a fixedly connected flexible bending joint and a telescopic joint, the root of the flexible bending joint may be set on a motion platform, and the end of the telescopic joint may be connected to the charging gun head. Among them, the flexible bending joint can adjust the posture of the charging gun head to approach and align with the charging interface, and the telescopic joint can extend or contract the charging gun head by telescoping. In the embodiment of the present application, the posture adjustment of the charging gun head can also be achieved by linkage control of the flexible bending joint and the motion platform.

[0042] The technical solution of the present application is described below through specific embodiments.

[0043] Reference Figure 4 , shows a schematic flow chart of a charging control method provided in an embodiment of the present application, which may specifically include the following steps:

[0044] S401, receiving a charging instruction command.

[0045] The method in the embodiment of the present application can be applied to a charging robot. For example, the charging robot can be the above-mentioned flexible charging robot. The charging robot is used to charge the device to be charged. In the embodiment of the present application, the device to be charged is an electric vehicle to illustrate the present application scheme. It should be clear to those skilled in the art that the charging control method in the present application is not limited to charging electric vehicles.

[0046] The above-mentioned charging instruction command may be a command received by the flexible charging robot to charge the electric vehicle.

[0047] In a possible implementation, the charging robot may include an identification device. When the charging robot identifies an electric vehicle that needs to be charged based on the identification device, it can be determined that the charging robot has received a charging instruction command. Exemplarily, the charging robot may include a camera device or other sensors, and based on the camera device or other sensors, the charging robot can identify whether the electric vehicle has traveled to a target location. When the electric vehicle travels to the target location, the charging robot may deem that a charging instruction command for the electric vehicle has been received.

[0048] In a possible implementation, the charging robot can also receive charging instruction commands from other devices. For example, the charging robot can be installed in a charging field, and the charging field can identify whether there are electric vehicles that need to be charged. When there are electric vehicles that need to be charged in the charging field, a charging instruction command can be sent to the charging robot. In addition, when the electric vehicle to be charged enters the charging position, a charging instruction command can also be sent to the charging robot.

[0049] S402, based on the charging instruction command, controlling the motion platform and the flexible robotic arm to move, so as to drive the charging gun head to approach the charging interface of the vehicle body.

[0050] When charging, the charging gun head of the charging robot first needs to reach the designated position of the device to be charged, and the designated position may be a position adjacent to the charging interface of the device to be charged. Generally, the device to be charged has a charging interface, and the charging interface may have charging contacts inside. The charging gun head may also include charging contacts, and the charging contacts of the charging gun head and the charging interface need to be in contact for charging to be performed. Exemplarily, the charging gun head may include an electrode column, and the charging interface may include an electrode hole. The electrode hole has an elastic contact component that contacts the surface of the electrode column. When the charging column is inserted into the electrode hole, the electrode column and the elastic contact component contact each other, thereby charging. If the charging contacts of the charging gun head and the charging interface are to be in contact, the charging gun head needs to be inserted into a preset position in the charging interface.

[0051] The charging gun head must first reach the vicinity of the charging interface before the gun insertion action can be completed. The gun insertion action is to insert the charging gun head into the designated position of the charging interface so that the charging contacts of the charging gun head and the charging interface can contact.

[0052] Therefore, the charging robot needs to position the charging interface so as to approach the charging interface. In an embodiment of the present application, the charging robot can move the charging gun head to a position adjacent to the charging interface through coarse positioning and fine positioning. Among them, coarse positioning can be used to determine the position of the charging interface based on global positioning. In one possible implementation, a global camera may be included near the control cabinet of the charging robot. For example, the global camera can be installed at the initial position of the robotic arm. In the initial state, the charging gun head is far away from the charging interface. At this time, the charging robot can use the global camera to identify the approximate position of the charging interface of the vehicle body, thereby controlling the movement of the motion platform and the flexible robotic arm to drive the charging gun head close to the charging interface. Fine positioning can align the charging gun head with the charging interface based on local positioning. In one possible implementation, the charging robot may include a local camera, which can be installed at the end of the charging gun head, so that the specific position and posture of the charging interface can be identified based on the local camera.

[0053] Specifically, after the automatic charging task starts, the charging robot can perform a coarse positioning subtask. In the process of performing the coarse positioning subtask, the charging robot can control the motion platform and the flexible robotic arm to move, so as to move the charging gun head to a preset global preview position, where the charging interface on the electric vehicle body is identified by a camera or a depth sensor or a laser radar through an image recognition algorithm. Through the depth sensor, the point cloud data of the charging interface part is obtained, so as to calculate the three-dimensional position information of the charging interface. The three-dimensional position information of the charging interface can be a preset value, which can be, assuming that the vehicle is parked parallel to the parking line frame, and the charging interface is at a fixed inclination angle with the horizontal plane. Through the six-dimensional posture information of the charging interface, and the preset coarse positioning posture planning offset between the charging gun head and the charging interface, the coarse positioning target posture of the flexible robotic arm charging gun muzzle is planned. Then, the charging robot can drive the motion platform and the flexible robotic arm to move, so as to move the charging gun head to the coarse positioning target position.

[0054] When the charging gun head reaches the target position for rough positioning, the charging robot detects the charging interface through a local camera to determine whether the rough positioning is successful. If the charging robot can detect the charging interface, the rough positioning is successful. If the charging robot cannot detect the charging interface, the rough positioning fails. At this time, the flexible robotic arm can perform rough positioning exception processing, which includes returning to the original position and re-performing rough positioning once or multiple times.

[0055] When the rough positioning is successful, multiple subtasks of fine positioning can be performed to align the charging gun head with the charging interface. In each fine positioning subtask, the charging interface can be detected by the local camera first, and the position of the detection frame of the charging interface in the local camera screen can be controlled by controlling the movement of the charging gun head so that the detection frame of the charging interface is located in a reasonable area. The reasonable area means that the charging interface can be detected completely without being blocked, generally located near the central area of ​​the screen. After that, the point cloud data of the charging interface part is obtained through the detection frame of the charging interface, and the posture information of the charging interface is calculated based on the point cloud data. Then, the precise positioning posture planning offset between the preset charging gun head and the charging interface is used to plan the precise positioning target posture of the charging gun muzzle of the flexible manipulator, and then the flexible manipulator and / or motion platform is controlled to move the charging gun head to the precise positioning target posture. In multiple precise positioning subtasks, the target posture planned each time is different, which is a successive approximation to avoid the influence of recognition errors under large posture offsets. The successive approximation strategy can be appropriately selected according to the task accuracy requirements and sensor accuracy capabilities. There is no limit to the number of precise positioning. Generally, you can choose one precise positioning, or two precise positioning, or more times. Except for the last precise positioning, the target posture of each precise positioning should be able to continue to identify the charging interface for the next precise positioning. The target posture of the last precise positioning is that the flexible charging gun head is facing the charging interface, and the relative distance is not limited. At this time, if the flexible charging gun head is moved along the axis of the gun head, it can be directly inserted into the charging interface. For example, in an embodiment of the present application, two precise positionings can be performed. The target posture of the first precise positioning is planned to be the same as the posture of the charging interface, with a moderate position deviation; the target posture of the second precise positioning is planned to be the same as the posture of the charging interface, with a very close position deviation, and the gun insertion action can be performed directly.

[0056] In a possible implementation, during the precise positioning process, the insertion angle of the flexible manipulator needs to be controlled to be consistent with the inclination of the charging base. In this case, the insertion angle of the flexible manipulator can be controlled by controlling the angle of the flexible bending joint. The angle control of the flexible bending joint can be controlled by PID control (Proportional-Integral-Derivative control), that is, by adjusting the target bending angle θ d Deviation from the actual bending angle θ e = θ d -θ, to calculate and generate the PID control quantity U. The PID control output quantity U consists of three parts, including the proportional control term P, the integral control term I, and the differential control term D. Among them, the proportional control term P is proportional to the current instantaneous value of the controlled angle deviation, and the proportional coefficient is K p The integral control term I is proportional to the historical accumulation of the controlled angle deviation, and the proportional coefficient is K i , and the differential term D is proportional to the speed of change of the controlled angle deviation, and the proportional coefficient is Kd ,Right now

[0057]

[0058] By adjusting the three parameters K p ,K i ,K d , the control effect of PID can be adjusted.

[0059] S403, when the charging gun head approaches the charging interface, the charging gun head is extended to enter the charging interface, and the motion platform and / or the flexible robotic arm are driven to drive the end of the charging gun head to produce a dynamic plugging and unplugging angle change within a first interval to adapt to the passive angle change of the charging interface during the plugging and unplugging process, so that the charging gun head and the charging interface touch the ideal plugging and unplugging angle at a certain moment during the plugging process, thereby achieving smooth plugging of the charging gun head and the charging interface.

[0060] Among them, the above-mentioned first interval range is the plugging and unplugging inclination angle variation range set by the above-mentioned charging gun head combined with the flexible adaptability of the above-mentioned flexible robotic arm. There is at least one ideal plugging and unplugging inclination angle within the above-mentioned first interval range. The above-mentioned ideal plugging and unplugging inclination angle is the plugging and unplugging inclination angle with the smallest plugging and unplugging resistance when the above-mentioned charging gun head is plugged and unplugged from the above-mentioned charging interface.

[0061] In an embodiment of the present application, after the last precise positioning is completed, the charging gun head is facing the charging interface, that is, the axial center lines of the charging gun head and the charging interface coincide. At this point, it can be considered that the charging gun head is close to the charging interface of the device to be charged. When the axial center lines of the charging gun head and the charging interface coincide, the corresponding plugging and unplugging resistance is minimal, which is more conducive to the smooth plugging and unplugging of the gun head and the charging interface. When inserting the charging gun head into the charging interface, it is necessary to make the plugging and unplugging inclination angle of the charging gun head reach the ideal plugging and unplugging inclination angle, so that the axial center lines of the charging gun head and the charging interface coincide, so that the charging gun head can be smoothly inserted into the charging interface.

[0062] When positioning based on the camera, the axial centerline of the charging interface is static, that is, the axial centerline of the charging interface is the static axial centerline at this time. During the plugging process of the charging gun head, the axial centerline of the charging interface will change due to changes in the vehicle suspension, external force on the vehicle body, etc., and become a dynamic axial centerline. If the axial centerline of the charging gun head is blindly coincident with the static axial centerline, the plugging and unplugging cannot be completed smoothly. Therefore, the axial centerline of the charging gun head needs to adapt to the changes in the dynamic axial centerline, that is, the moment when the two axial centerlines coincide in space can be found to complete the plugging and unplugging. When the rigid robotic arm assists the gun head in plugging, if the angle fluctuates frequently, due to its rigidity limitation, it is not only difficult to find a suitable plugging angle, but also easy to get stuck. However, compared with the traditional rigid collaborative robotic arm, the advantage of the flexible robotic arm is that it has good softness and adaptability. During the plugging and unplugging process of the gun head, it can absorb the above-mentioned friction resistance through passive deformation to avoid the rigid structure from causing the plugging and plugging to get stuck. At the same time, since the flexible robotic arm has good flexibility, through the small-range inclination change at the end of the charging gun head, the moment when the two axial center lines of the charging gun head and the charging interface coincide in space can be found, thereby successfully completing the plugging and unplugging.

[0063] It should be noted that when the axial center line of the charging port coincides with the axial center line of the charging gun head, the resistance to plugging and unplugging the charging gun head is minimal. During the process of plugging and unplugging the gun, it is difficult to keep the axial center line of the charging port and the axial center line of the charging gun head coincident all the time, because during the process of plugging and unplugging the gun, the axial center lines of the charging gun head and the charging port are passively changing. The change of the axial center line of the charging gun head and the charging port is generally within a controllable range. The charging robot can adapt to the change of the axial center line of the charging port by actively controlling the change of the axial center line of the charging gun head. Therefore, a range of change of the plugging and unplugging inclination angle of the charging gun head can be set. The range of change of the plugging and unplugging inclination angle of the charging gun head is the first interval range mentioned above. The first interval range is the range of change of the plugging and unplugging inclination angle set by the charging gun head combined with the flexible adaptability of the flexible robotic arm. Among them, the plugging and unplugging inclination angle can be expressed by the angle between the axial center line of the charging gun head and the static axial center line of the charging port.

[0064] For ease of description, in the following description, the axial centerline that passively changes due to the angle change of the charging interface during the plugging and unplugging process is the first axial centerline; the axial centerline that actively changes based on the passive change of the first axial centerline is the second axial centerline; the axial centerline of the charging interface when it is stationary before the charging gun head contacts the charging interface can be called the third axial centerline.

[0065] In one possible implementation, a second interval range can be first determined based on the third axial centerline and the first axial centerline, where the second interval range is the interval range of the first axial centerline relative to the third axial centerline; then the first interval range can be set according to the second interval range, wherein the first interval range is larger than the second interval range, with the purpose of covering the variation range of the charging interface through a larger variation range of the charging gun head.

[0066] In another possible implementation, the charging robot can determine the upper and / or lower limits of the plugging and unplugging inclination angle, wherein the upper and lower limits of the plugging and unplugging inclination angle can be determined according to the angular deviation between the gun head and the interface, or according to the upper limit of the bearing capacity of the interface, or according to the upper limit of the deformation of the flexible robotic arm. Construct the first interval range according to the upper and / or lower limits of the plugging and unplugging inclination angle. For example, the upper limit is 3 degrees and the lower limit is -3 degrees, then the first interval range can be -3 degrees to 3 degrees, or 0 degrees to 3 degrees, or -3 degrees to 0 degrees.

[0067] After determining the first interval range, the charging robot can drive the flexible robotic arm to drive the end of the charging gun head to produce a dynamic plugging and unplugging inclination angle change within the first interval range, so that the first axial center line of the charging interface and the second axial center line of the charging gun head coincide at a certain moment; wherein, the plugging and unplugging inclination angle corresponding to the moment when the first axial center line of the charging gun head and the second axial center line of the charging interface coincide is the ideal plugging and unplugging inclination angle, and at the ideal plugging and unplugging inclination angle, the plugging and unplugging resistance is minimized.

[0068] During the plugging and unplugging process, it is necessary to continuously detect the plugging and unplugging inclination deviation, so as to continuously adjust the angle and reduce the plugging and unplugging resistance. In one possible implementation method, the inclination deviation of the plugging and unplugging inclination of the end of the charging gun head relative to the third axial centerline can be obtained; then the plugging and unplugging inclination of the end of the charging gun head is reversely adjusted according to the inclination deviation. When performing reverse adjustment, the motion platform and / or the flexible robotic arm can be driven to reversely adjust the plugging and unplugging inclination of the end of the charging gun head within the first interval range. Exemplarily, according to the direction of the inclination deviation, the motion platform and / or the flexible robotic arm can be driven within the range of the adjustment amplitude corresponding to the deviation angle value to drive the root of the charging gun head to move forward, thereby realizing the reverse adjustment of the plugging and unplugging inclination of the end of the charging gun head. Among them, the range of the adjustment amplitude corresponding to the deviation angle value can be obtained according to the first interval range.

[0069] Specifically, when the inclination angle deviation is downward, the charging robot can drive the motion platform and / or the flexible mechanical arm to drive the root of the charging gun head to move upward, so that the plugging and unplugging angle of the end of the charging gun head is adjusted upward; when the inclination angle deviation is upward, the charging robot can drive the motion platform and / or the flexible mechanical arm to drive the root of the charging gun head to move downward, so that the plugging and unplugging angle of the end of the charging gun head is adjusted upward. Among them, the method of reducing the height of the root of the charging gun head may include: driving the Z axis of the motion platform downward to reduce the height of the root of the flexible mechanical arm, thereby driving the root of the charging gun head downward; bending the flexible mechanical arm downward to lower its end, thereby driving the root of the charging gun head downward; or controlling the Z axis and the flexible mechanical arm to work simultaneously to drive the root of the charging gun head downward.

[0070] In a possible implementation, if the flexible robotic arm is constrained by a mechanical structure in the left-right direction, there is no need to adjust the inclination deviation of the flexible robotic arm in the left-right direction. If the flexible robotic arm is not constrained by a mechanical structure in the left-right direction, when the inclination deviation is toward the left / right, the charging robot can drive the motion platform and / or the flexible robotic arm to drive the root of the charging gun head to move toward the left / right, so that the plug-in inclination angle of the end of the charging gun head is adjusted to the right / left. When the inclination deviation is toward the left, the charging robot can drive the motion platform and / or the flexible robotic arm to drive the root of the charging gun head to move toward the right, so that the plug-in inclination angle of the end of the charging gun head is adjusted to the left; when the inclination deviation is toward the right, the charging robot can drive the motion platform and / or the flexible robotic arm to drive the root of the charging gun head to move toward the left, so that the plug-in inclination angle of the end of the charging gun head is adjusted to the left. Among them, the charging robot can drive the X-axis of the motion platform to move in the left and right directions, thereby controlling the root of the flexible robotic arm to move in the left and right directions.

[0071] In the embodiment of the present application, during the insertion process of the gun, the actual insertion angle of the gun head is changed by actively adjusting the root position of the flexible bending joint. There are two main reasons, as described below:

[0072] First, avoid insertion jams. After the precise positioning is completed, the charging gun head is already in the position aligned with the charging interface. At this time, by extending the telescopic joint, the entire charging gun head moves forward along the axial center line of the charging gun head and is inserted into the charging interface. During the insertion process, due to the influence of the insertion resistance, the root of the telescopic joint will also extend away from the charging interface while prompting the charging gun head to extend forward. This will cause the actual length of the flexible mechanical arm between the root of the telescopic joint and the charging interface to become longer, causing the root of the telescopic joint to arch, resulting in passive deformation of the insertion angle. With the misalignment and deformation of the insertion angle, it will cause a mismatch with the actual angle of the charging interface, further sharply increase the insertion resistance, and thus cause more serious arching and insertion angle misalignment. The mismatch between the inclination angle of the charging gun head and the inclination angle of the charging interface will cause the gun insertion action to jam and pause, and it will be unable to continue to insert deeply to the bottom. Therefore, during the insertion process, the root position of the flexible bending joint can be adjusted to change the actual insertion inclination angle of the charging gun head.

[0073] Second, in the process of actively adjusting the root position of the flexible bending joint, the insertion inclination angle also changes continuously, and the resistance between the charging gun head and the charging interface also changes accordingly. When the insertion inclination angle and the charging seat inclination angle have a large error, the insertion resistance is large due to the resistance caused by the angle dislocation, and the charging gun head cannot be effectively inserted deep. At this time, the air pressure accompanying the flexible telescopic joint will continue to increase, and its insertion force will also accumulate and increase; as the inclination angle continues to change, the insertion inclination angle will become closer and closer to the actual inclination angle of the charging seat, so that the resistance caused by the angle dislocation gradually decreases; when the insertion inclination angle changes to near the inclination angle of the charging seat, the angle dislocation resistance between the gun head and the charging base basically disappears. At this time, the accumulated insertion force is greater than the friction between the gun head and the inner wall of the charging seat, so that the gun head can be inserted instantly for a distance at a faster speed. If it is still not inserted to the bottom of the charging seat at this time, the insertion inclination angle can be adjusted multiple times to continuously switch between the limited angle dislocation and the no angle dislocation process, so as to achieve the effect of multiple strong insertions.

[0074] Figure 5 FIG. 1 is a schematic diagram of adjusting the gun insertion angle by adjusting the root position of the mechanical arm provided in an embodiment of the present application. Figure 5 As shown in c1 in the figure, after the precise positioning is completed, the charging gun head and the charging port are aligned. Figure 5 As shown in c2 in the figure, when the gun is inserted, the charging gun head can be extended first. After the charging gun head is extended, it can first contact the charging port. Figure 5 As shown in c3 in the figure, when there is contact force, the insertion angle of the charging gun head will change passively, and the position of the charging interface will also change passively, resulting in a large deviation between the axial center lines of the charging gun head and the charging interface. At this time, the insertion angle can be adjusted by adjusting the flexible robotic arm. Figure 5As shown in c4 in the figure, when the root of the robotic arm moves downward, the height of the bending joint can be adjusted so that the insertion angle of the charging gun head remains within the first interval. For example, during the insertion process, the insertion angle error between the telescopic joint and the charging interface can be detected in real time, and the height dZ of the root of the flexible bending joint can be adjusted to keep the inclination angle of the telescopic joint matched with the charging interface. When the actual insertion angle is greater than the inclination angle of the charging interface, the height of the root of the flexible bending joint can be lowered; when the actual insertion angle is less than the inclination angle of the charging interface, the height of the root of the flexible bending joint can be increased. It is also possible to adjust the height of the root of the flexible bending joint back and forth within a certain range to make the insertion inclination angle change actively and continuously, thereby simulating the effect of manual insertion, converting static friction insertion into dynamic friction insertion, and improving the insertion success rate.

[0075] When the charging gun head is inserted into the charging port, the charging robot can drive the telescopic joint to extend forward, so that the charging gun head moves forward along its axial centerline and is inserted into the charging port. During the insertion process, the telescopic joint will encounter some insertion resistance when extending forward, causing the bending shape of the flexible bending joint to change to a certain extent. At this time, it is necessary to continuously adjust the root height of the flexible robotic arm so that the inclination angle of the charging gun head is always consistent with the charging port for easy insertion.

[0076] When positioning, you can use PID to control the flexible robotic arm. When using PID control, the integral control term is proportional to the historical accumulation of the deviation of the controlled angle, and will be affected by the history of the deviation. If the controlled angle always maintains an error greater than the dead zone range, the integral control term will continue to increase in an attempt to return the controlled angle to the dead zone range. However, if the controlled angle is forcibly blocked by the outside world at this time, even if the control output has increased, the deviation cannot be effectively reduced. In this case, the integral control term will continue to increase until it reaches a set integral saturation upper limit. At this point, the overall control output is already very large. If the external obstruction is suddenly removed, the excessive control output will cause a large deviation and oscillation of the entire system because the integral control term has not had time to change.

[0077] During the insertion process of the charging gun head, the charging interface constrains the charging gun head, so that during the PID control process of the insertion inclination angle of the flexible robotic arm, its PID control algorithm will be seriously affected and interfered. In the process of the charging gun head contacting the charging interface for insertion, affected by the positioning detection accuracy, the inclination command of the charging gun head and the actual inclination angle of the charging interface may not be completely consistent, but through the flexible adaptability of the flexible robotic arm, the charging gun head can still be inserted into the charging interface, so that the actual inclination angle remains strictly consistent with the charging interface. The phenomenon that occurs at this time is that there is a stable deviation between the inclination command and the actual inclination angle of the charging gun head, which will cause the integral term of the PID controller to continue to increase until saturation.

[0078] In addition, when the charging gun head contacts the charging port for insertion, along with the adjustment of the length of the telescopic joint and the height adjustment of the root of the flexible bending joint, the actual inclination angle of the charging gun head will change passively, causing the inclination error to change continuously during the insertion process, resulting in continuous changes or continuous increases in the integral control term. However, due to the physical constraints of the head and tail, the original flexible bending joint has lost the ability to actively adjust the angle, and its PID control output has actually been unable to produce an effect. Therefore, these constantly changing deviations will generate meaningless and uncontrolled control outputs.

[0079] These PID control quantities generated after being disturbed by constraints will cause the charging gun head to have a tendency to deviate during the insertion process, resulting in greater insertion resistance and affecting insertion. In addition, after the charging gun head is completely pulled out and the physical limitations of the charging port are eliminated, the PID control algorithm of the bending joint can effectively adjust the inclination angle again, but the excessive control output accumulated before has not been adjusted to the appropriate amount in time. Excessive control output will cause the flexible arm to deviate significantly and subsequently shake, endangering the safety of the flexible robotic arm and the vehicle body.

[0080] Based on this, in the embodiment of the present application, the charging robot can detect the contact state between the end of the charging gun head and the charging interface based on the sensor; when it is determined that the end of the charging gun head is in contact with the charging interface, the flexible mechanical arm control mode is switched from the dynamic PID control mode to the static holding control mode; and / or, when it is determined that the end of the charging gun head is out of contact with the charging interface, the flexible mechanical arm control mode is switched from the static holding control mode to the dynamic PID control mode. Exemplarily, when it is detected that the gun head has just been inserted into the charging interface, the PID control of the bending joint can be suspended, that is, no control adjustment is made to the inclination feedback at this time, and the control amount before the suspension is kept unchanged. During the entire process of inserting the gun, charging and pulling the gun, the PID control of the flexible bending joint is continuously suspended until the gun head is detected to be out of the charging interface, and then the PID control of the bending joint is restored. In this way, before and after insertion, the inclination angle of the gun head is effectively controlled by the flexible bending joint PID. During the insertion process, by suspending the PID control of the flexible bending joint, the inclination angle of the gun head is controlled by the length change of the telescopic joint and the root movement of the bending joint, which can effectively maintain the consistency of the insertion inclination angle and the charging base, and insert smoothly. Therefore, the control mode of the flexible robotic arm can be dynamically switched based on the flexible self-perception of the flexible robotic arm.

[0081] Figure 6 1 is a schematic diagram of a scenario in which a charging gun head and a charging port are separated, provided in an embodiment of the present application. Figure 6 In the scenario, the control mode of the flexible robotic arm can be a dynamic PID control mode. Figure 7is a schematic diagram of a charging gun head and a charging port in contact with each other provided in an embodiment of the present application. Figure 7 In the scenario shown, the control mode of the flexible robotic arm can be a static holding control mode.

[0082] In the embodiment of the present application, there is a situation where the charging gun head is inserted abnormally. When the insertion is abnormal, automatic re-insertion can be performed. During the insertion process of the flexible mechanical arm, if the detection has a certain deviation, or is disturbed by the outside world, resulting in the gun head and the charging base not being completely aligned, if the gun insertion action is performed at this time, when the gun head is extended forward, the front end plane of the gun head will hit the outer plane of the charging base and continue to be blocked here. If the charging mechanical arm is a traditional rigid mechanical arm, the charging base will be squeezed and damaged. In the embodiment of the present application, the flexible characteristics of the flexible mechanical arm are used to perform the gun insertion action when the gun head and the charging base are not completely aligned, the telescopic joint is extended, and the front end of the gun head is blocked on the outer plane of the charging base. At this time, the telescopic joint continues to extend to try to insert the gun head. Due to the flexible characteristics of the flexible telescopic joint, the force acting between the front end surface of the gun head and the charging base will cause the root of the telescopic joint to retreat backwards, causing the telescopic joint and the bending switch to arch up without causing excessive squeezing and damage to the charging base. This flexible characteristic that does not damage the charging base makes it possible to use a delay algorithm and a length sensor to achieve successful insertion judgment and automatic re-insertion.

[0083] In a possible implementation, the tilt angle deviation of the charging gun head and the joint blocking condition of the flexible mechanical arm can be detected; thus, it can be determined whether the charging gun head has a plug-in abnormality according to the tilt angle deviation of the charging gun head and the joint blocking condition of the flexible mechanical arm. For example, when the tilt angle deviation of the charging gun head is greater than a preset value, and the joint blocking condition of the flexible mechanical arm is a joint blocking condition, it is determined that the charging gun head has a plug-in abnormality.

[0084] In another possible implementation, a guide post may be provided on the charging gun head, and a guide post interface may be provided on the charging interface, so as to determine whether the insertion is abnormal based on the guide post. Figure 8 is a schematic diagram of a normal insertion of a charging gun head provided in an embodiment of the present application; Figure 8 As shown in the figure, when the insertion is normal, the guide post will be inserted into the guide post interface, so that the distance between the end of the charging gun head and the end of the guide post changes from far to near, and then from near to far. However, when the insertion is abnormal, the distance between the end of the charging gun head and the end of the guide post will remain unchanged. Fig. 9 and Fig.10 Schematic diagram of abnormal insertion provided in the embodiment of the present application. Fig. 9 and Fig.10 As shown, when the insertion is abnormal, the distance between the end of the charging gun head and the end of the guide post will remain unchanged. Therefore, it can be determined whether there is an insertion abnormality based on the change trend of the distance between the end of the charging gun head and the end of the guide post.

[0085] like Figure 8 As shown, there is a guide column above the gun head that can slide freely along the extension and retraction direction of the gun head. The guide column is in a free state and is subject to spring force, and the distance between the end of the guide column and the end of the gun head is L. When the gun insertion command is executed, the charging gun head part can extend forward with the guide column. If the gun head is not successfully aligned with the charging base, the end of the guide column and the end of the gun head will be blocked on the outer plane of the charging base, and the end of the guide column and the end of the gun head are approximately flush, that is, L≈0mm. If the gun head is aligned with the charging base, the guide column will first touch the guide column interface above the charging interface base, and be inserted to the bottom of the guide column interface. As the entire gun head continues to extend forward, the guide column remains inserted, and the gun head will continue to extend forward until it is inserted. During this insertion process, the distance between the end of the guide column and the end of the gun head will increase in the opposite direction. That is, as Figure 8 As shown in n1, at the initial moment of gun insertion, L = -15mm; Figure 8 As shown in n2 in the figure, during the process of inserting the gun, the guide post will gradually be inserted into the guide post interface, so that the distance between the end of the guide post and the end of the gun head is continuously reduced; Figure 8 As shown in n3 in FIG, at the end of the gun insertion, L = 20 mm. It can be seen that during the normal gun insertion process, the distance between the end of the guide column and the end of the gun head has a trend of changing from far to near and then from near to far.

[0086] If the gun tip is not successfully aligned with the charging base, Fig. 9 As shown, the end of the guide post and the end of the gun tip will be blocked on the outer plane of the charging base, and the end of the guide post and the end of the gun tip are approximately flush, that is, L≈0mm. Fig.10 As shown, the end of the guide column and the end of the gun tip will be blocked in the charging base, and the end of the guide column and the end of the gun tip are approximately flush, that is, L≈0mm.

[0087] Therefore, when the gun is successfully inserted into the charging station, the relative distance L between the end of the guide column and the end of the gun head first decreases and then increases in the opposite direction. If the insertion is unsuccessful and the gun is blocked on the outer plane of the charging port, the relative distance L will remain near L≈0mm and will not change. By analyzing the change trend of the relative distance L during the insertion process, it can be determined whether the insertion process is successful or smooth.

[0088] When the gun insertion action starts, the relative distance L between the end of the guide column and the end of the gun head is constantly detected. If L is not detected to be greater than a certain set distance within a certain period of time, it means that the relative distance between the guide column and the gun head has not been able to increase normally and continuously. At this time, it is determined that the gun insertion has not been successfully aligned with the charging interface and is blocked outside the charging interface, that is, the gun is not aligned, and the gun is withdrawn and re-inserted. Generally, the set distance is slightly larger than the relative distance of the blockage to increase the margin for accurate judgment.

[0089] In the embodiment of the present application, automatic reinsertion can be performed when the insertion is abnormal. During the insertion process, the passive compliance characteristics of the flexible mechanical arm, in conjunction with the sensor, can be used to determine whether the insertion is successful and decide to reinsert, thereby realizing the automatic reinsertion function. Fig.11 is a schematic diagram of flexible adaptive deformation after insertion misalignment provided by an embodiment of the present application; Fig.11 As shown in the figure, after the insertion is misaligned, due to the existence of contact force, the flexible robotic arm can adaptively change its own shape, so that the position of the charging gun head can be continuously changed, and an appropriate insertion angle can be tried. During the adaptation process of the preset time, if the distance L does not change in the expected trend, it can be judged that the insertion is abnormal and automatically reinserted.

[0090] In addition to being able to determine the situation where the gun tip is blocked on the outer plane of the charging port, it is also possible to determine the situation where the insertion is blocked when the charging gun tip continues to be inserted into the charging dock after the gun is aligned. During this process, the speed of change of the relative distance L between the end of the guide column and the end of the gun tip is continuously detected. If the speed is continuously less than a certain threshold, it means that the insertion of the gun tip is severely blocked and the movement has basically stopped. At this time, the algorithm for blocked insertion can be used, including adjusting the insertion angle or choosing to withdraw the gun and reinsert it.

[0091] In the embodiment of the present application, during the insertion process, the height of the root of the flexible mechanical arm can be actively adjusted to actively utilize the flexible characteristics of the flexible mechanical arm, thereby increasing the instantaneous insertion force and reducing the accuracy requirements for insertion angle detection and control, thereby avoiding the influence of static friction and improving the smoothness and adaptability of insertion. The process of inserting the charging gun head into the charging base is a process of contact and constraint between the charging gun head and the charging base, and as the insertion goes deeper, the accuracy requirements of the constraints between the charging gun head and the charging base become higher. When using a traditional rigid mechanical arm for operation, slight deviations in the insertion angle and center position will cause the insertion process to be obstructed and damage the charging base or the charging gun head. In the embodiment of the present application, by actively utilizing the flexibility of the flexible robotic arm, the insertion force and movement along the axial direction of the charging gun head are generated through the extension and shortening of the telescopic joint. At the same time, by controlling the position of the root of the bending joint, the inclination angle of the charging gun head is actively regulated. By increasing the insertion success rate and insertion smoothness through passive flexible compliance, the requirements for detection and control accuracy of the insertion inclination angle can be reduced, insertion jamming can be avoided, the instantaneous insertion force can be increased, the insertion to the bottom can be ensured, and the robustness of the gun insertion action can be improved.

[0092] Reference Fig.12 , shows a schematic flow chart of another charging control method provided in an embodiment of the present application, which may specifically include the following steps:

[0093] S1201, receiving a charging instruction command.

[0094] S1202, based on the charging instruction command, controlling the motion platform and the flexible robotic arm to move so as to drive the charging gun head to approach the charging port of the vehicle body.

[0095] S1203, when the charging gun head approaches the charging interface, extend the charging gun head to enter the charging interface, and drive the motion platform and / or the flexible robotic arm to drive the end of the charging gun head to produce a dynamic plugging and unplugging angle change within a first interval to adapt to the passive angle change of the charging interface during the plugging and unplugging process, so that the charging gun head and the charging interface touch the ideal plugging and unplugging angle at a certain moment during the plugging process, thereby achieving smooth plugging of the charging gun head and the charging interface.

[0096] Among them, after the charging gun head is inserted into the charging interface, the charging gun head is used to charge the device to be charged through the charging interface. The first interval range is the plug-in and pull-out angle change range set by the charging gun head combined with the flexible adaptability of the flexible robotic arm. The first interval range includes at least one ideal plug-in and pull-out angle. At the ideal plug-in and pull-out angle, the axial center line of the charging interface coincides with the axial center line of the charging gun head.

[0097] S1201-S1203 of the embodiment of the present application are similar to S401-S403 of the previous embodiment and can refer to each other, and will not be repeated here.

[0098] S1204, retract the charging gun head to detach from the charging interface, and drive the motion platform and / or the flexible robotic arm to drive the end of the charging gun head to produce a dynamic plugging and unplugging angle change within a first interval, so as to achieve smooth detachment of the charging gun head from the charging interface.

[0099] During the charging process, the flexible charging robot can always detect the gun drawing signal. The signal can come from the charging station or the gun drawing command from the vehicle. After detecting the gun drawing signal, the flexible charging robot performs the gun drawing subtask.

[0100] In the gun drawing process strategy, the charging robot can also adjust the root height of the flexible robotic arm by driving the motion platform and / or the flexible robotic arm, so that the end of the charging gun head produces a dynamic plug-in and pull-out angle change within the first interval to adapt to the passive angle change of the charging interface during the gun drawing process, so that the charging gun head and the charging interface reach the ideal plug-in and pull-out angle at a certain moment during the gun drawing process, thereby achieving smooth separation of the charging gun head and the charging interface to avoid jamming during extraction.

[0101] In the process of drawing the gun, based on the passive adaptability of the flexible robotic arm, the action of manually drawing the gun can be simulated to make the action of drawing the gun smoother. Specifically, after receiving the signal to draw the gun, the mechanical arm lock is first controlled to open, and then the flexible robotic arm is controlled to slightly raise the part of the mechanical arm outside the charging base, so that the charging gun head presents a downward trend in the charging base. In this posture, the lock will be easier to open. Then, the telescopic joint of the flexible robotic arm is controlled to contract and apply the force of pulling out. In the process of contraction of the telescopic joint, the length of the flexible robotic arm between the charging base and the root of the bending joint is reduced, which will cause the angle of insertion to change gradually, increasing the resistance to drawing the gun. Therefore, it is necessary to continuously adjust the height of the root of the bending joint according to the feedback of the inclination angle of the gun insertion to control the gun insertion angle to always maintain it within a suitable range.

[0102] In one possible implementation, the top of the charging gun head may include a lock, so that when plugged in, the connection of the charging contacts can be made more stable through the lock. Therefore, when pulling out the gun, it can be unlocked first. The charging robot can control the movement of the motion platform and / or the flexible charging mechanical arm, thereby driving the end of the charging gun head to tilt downward, so that the top of the charging gun head can be disengaged from the lock. Exemplarily, the charging robot can control the flexible mechanical arm, lift the bayonet mechanism of the charging gun head, and retract the telescopic joint of the charging gun head to shrink it and gradually disengage from the charging interface. In the process of pulling the gun out of the charging interface, the bending shape of the root of the flexible mechanical arm changes due to the shrinkage resistance of the shrinkage mechanism. During this process, the height of the root of the flexible mechanical arm can be continuously adjusted, so as to adjust the inclination angle of the charging gun muzzle to keep it consistent with the charging interface to prevent it from getting stuck. The specific adjustment process can be similar to the gun insertion process, which will not be repeated here.

[0103] Fig.13 Schematic diagram of a gun drawing process provided by an embodiment of the present application. Fig.13 As shown in b1 in the figure, when plugged in, the charging gun head can be locked with the charging interface through a lock. Fig.13 As shown in b2 in the figure, the root of the flexible bending joint can be lifted, thereby forming a lifting trend for the charging gun head, which is convenient for unlocking the lock. After the lock is unlocked, the telescopic joint can be retracted to pull the charging gun head outward. Fig.13 As shown in b3 and b4 in the figure, the root of the bending joint can be continuously adjusted to keep the inclination angle of the charging gun head consistent with the charging interface to reduce the resistance to pulling out the charging gun head.

[0104] After the charging gun head is detached from the charging interface, the flexible charging robot can return to its original position and wait for the next charging instruction.

[0105] In the embodiment of the present application, the angle of the charging gun head can be adjusted through a flexible robotic arm and a motion platform, thereby achieving smooth insertion and removal of the gun head and improving charging efficiency.

[0106] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0107] Fig.14 Schematic diagram of the working process of a charging robot provided in an embodiment of the present application. Fig.14 As shown in the figure, after receiving the charging command, the charging robot can first execute the coarse positioning process and determine whether the coarse positioning is successful. If the coarse positioning is unsuccessful, the number of coarse positioning is increased by 1, and it is determined whether the number of coarse positioning exceeds a certain number. If the coarse positioning does not exceed the number, the coarse positioning process is re-executed. If the coarse positioning exceeds the number, the task is confirmed to be abnormally exited and the charging robot returns to its position.

[0108] If the coarse positioning is successful, the fine positioning process can be continued and whether the fine positioning is successful can be determined. If the fine positioning is unsuccessful, the charging robot can return to the starting position of the coarse positioning, add 1 to the number of fine positioning, and determine whether the number of fine positioning exceeds a certain number. If the fine positioning does not exceed the number, the coarse positioning process and the process after coarse positioning can be re-executed from the starting position of the coarse positioning. If the fine positioning exceeds the number, the confirmation task is abnormally exited and the charging robot returns to its position.

[0109] If the precise positioning is successful, the gun insertion process can be continued and it can be determined whether the gun insertion is successful. If the gun insertion is unsuccessful, the charging robot can return to the precise positioning starting position, add 1 to the gun insertion times, and determine whether the gun insertion times exceed a certain number. If the gun insertion times do not exceed the number, the precise positioning process and the processes after precise positioning can be continued from the precise positioning starting position. If the gun insertion times exceed the number, the confirmation task is abnormally exited and the charging robot returns to its position.

[0110] If the gun is inserted successfully, the electric car can be charged and wait for the charging to be completed.

[0111] When the charging robot receives the charging end command, it can execute the gun collection process. If the gun collection is unsuccessful, it will confirm that the gun collection is abnormal. If the gun collection is successful, the charging robot returns to its position and the charging task is completed.

[0112] Fig.15 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. Fig.15 As shown, the computer device 150 of this embodiment includes: at least one processor 1500 ( Fig.15Only one is shown in the figure) a processor, a memory 1501, and a computer program 1502 stored in the memory 1501 and executable on the at least one processor 1500, and when the processor 1500 executes the computer program 1502, the steps in any of the above-mentioned method embodiments are implemented.

[0113] The computer device may be the flexible charging robot in each of the above method embodiments. The computer device may include, but is not limited to, a processor 1500 and a memory 1501. Those skilled in the art will appreciate that Fig.15 The computer device 150 is merely an example and does not constitute a limitation on the computer device 150 , and may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, may also include input and output devices, network access devices, etc.

[0114] The processor 1500 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0115] In some embodiments, the memory 1501 may be an internal storage unit of the computer device 150, such as a hard disk or memory of the computer device 150. In other embodiments, the memory 1501 may also be an external storage device of the computer device 150, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 150. Further, the memory 1501 may also include both an internal storage unit of the computer device 150 and an external storage device. The memory 1501 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 1501 may also be used to temporarily store data that has been output or is to be output.

[0116] An embodiment of the present application also provides a flexible charging robot, comprising: a motion platform that can move in space, a flexible robotic arm with its root arranged on the motion platform, and a retractable charging gun head arranged at the end of the flexible robotic arm. The flexible charging robot performs charging control through the steps in the above-mentioned method embodiments.

[0117] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0118] An embodiment of the present application provides a computer program product. When the computer program product is run on a computer device, the computer device can implement the steps in the above-mentioned method embodiments when executing the computer device.

[0119] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A charging control method, characterized in that: The method is applied to a flexible charging robot, which comprises: a motion platform that can move in space, a flexible mechanical arm whose root is arranged on the motion platform, and a retractable charging gun head arranged at the end of the flexible mechanical arm; the method comprises: receiving a charging instruction command; Based on the charging instruction command, control the motion platform and the flexible mechanical arm to move so as to drive the charging gun head close to the charging interface of the vehicle body; When the charging gun head approaches the charging interface, the charging gun head is extended to enter the charging interface, and the motion platform and / or the flexible robotic arm are driven to drive the end of the charging gun head to produce a dynamic plugging and unplugging inclination angle change within a first interval to adapt to the passive angle change of the charging interface during the plugging and unplugging process, so that the charging gun head and the charging interface touch the ideal plugging and unplugging inclination angle at a certain moment during the plugging process, thereby achieving smooth plugging of the charging gun head and the charging interface; wherein, the first interval is the plugging and unplugging inclination angle change range set by the charging gun head in combination with the flexible adaptability of the flexible robotic arm, and there is at least one ideal plugging and unplugging inclination angle within the first interval, and the ideal plugging and unplugging inclination angle is the plugging and unplugging inclination angle with the smallest plugging and unplugging resistance when the charging gun head and the charging interface are plugged and unplugged.

2. The method according to claim 1, characterized in that After controlling the motion platform and the flexible charging robot arm to move based on the charging instruction command to drive the charging gun head close to the charging interface of the vehicle body, the method further includes: The charging gun head is retracted to detach from the charging interface, and the motion platform and / or the flexible robotic arm are driven to drive the end of the charging gun head to produce a dynamic plugging and unplugging angle change within a first interval, so as to achieve smooth detachment of the charging gun head from the charging interface.

3. The method according to claim 1 or 2, characterized in that: The step of driving the motion platform and / or the flexible mechanical arm to drive the end of the charging gun head to dynamically change the plugging and unplugging angle within the first range includes: Constructing a first interval range; Drive the motion platform and / or the flexible robotic arm to drive the end of the charging gun head to produce a dynamic plugging and unplugging inclination angle change within the first interval, so that the first axial center line of the charging interface coincides with the second axial center line of the charging gun head at a certain moment; wherein, the plugging and unplugging inclination angle corresponding to the moment when the first axial center line of the charging gun head coincides with the second axial center line of the charging interface is an ideal plugging and unplugging inclination angle, the first axial center line is an axial center line that passively changes due to the angle change of the charging interface during the plugging and unplugging process, and the second axial center line is an axial center line that actively changes based on the passive change of the first axial center line.

4. The method according to claim 3, characterized in that The step of constructing the first interval range includes: The second interval range is determined based on the third axial centerline and the first axial centerline; wherein the third axial centerline is the axial centerline of the charging interface when it is stationary before the charging gun head contacts the charging interface, and the second interval range is the interval range of the first axial centerline relative to the third axial centerline; A first interval range is set according to the second interval range, and the first interval range is larger than the second interval range.

5. The method according to claim 4, characterized in that The step of constructing the first interval range includes: Determine the upper and / or lower limits of the plugging and unplugging angles; The first interval range is constructed according to the upper limit and / or lower limit of the plugging and unplugging inclination angle.

6. The method according to claim 5, characterized in that The step of driving the motion platform and / or the flexible mechanical arm to drive the end of the charging gun head to dynamically change the plugging and unplugging angle within the first range includes: Obtaining an inclination deviation of the plugging and unplugging inclination angle of the end of the charging gun head relative to the third axial center line; According to the inclination angle deviation, the motion platform and / or the flexible mechanical arm are driven to reversely adjust the plugging and unplugging inclination angle of the charging gun head end within the first interval.

7. The method according to claim 6, characterized in that The inclination deviation includes a deviation direction and a deviation angle value. According to the inclination deviation, the motion platform and / or the flexible mechanical arm are driven to reversely adjust the plugging and unplugging inclination angle of the end of the charging gun head within the first interval, including: According to the inclination deviation direction, the motion platform and / or the flexible robotic arm are driven within the adjustment range corresponding to the deviation angle value to drive the root of the charging gun head to move forward, thereby achieving reverse adjustment of the plugging and unplugging inclination angle of the end of the charging gun head.

8. The method according to claim 7, characterized in that According to the inclination deviation direction, driving the motion platform and / or the flexible mechanical arm within the range of the adjustment amplitude corresponding to the deviation angle value to drive the root of the charging gun head to move forward, includes: When the inclination angle deviation is downward / upward, the motion platform and / or the flexible mechanical arm are driven to drive the root of the charging gun head to move downward / upward, so that the plugging and unplugging inclination angle of the end of the charging gun head is adjusted upward / downward; and / or, When the inclination angle deviation is toward the left / right, the motion platform and / or the flexible mechanical arm are driven to drive the base of the charging gun head to move toward the left / right, so that the plugging and unplugging inclination angle of the end of the charging gun head is adjusted to the right / left.

9. The method according to claim 2, characterized in that: Before controlling the charging gun head to be separated from the charging interface, the method further includes: The motion platform and / or the flexible charging mechanical arm are controlled to move to drive the end of the charging gun head to tilt downward, so that the top of the charging gun head is disengaged from the lock.

10. The method according to claim 1, characterized in that After controlling the motion platform and the flexible charging robot arm to move based on the charging instruction command so as to drive the charging gun head close to the charging port of the vehicle body, the method further includes: Based on the flexible self-perception of the flexible robotic arm, the control mode of the flexible robotic arm is dynamically switched.

11. The method according to claim 10, wherein dynamically switching the control mode of the flexible robotic arm based on the flexible self-sensing of the flexible robotic arm comprises: Detecting the contact state between the end of the charging gun head and the charging interface based on a sensor; When it is determined that the end of the charging gun head is in contact with the charging interface, the control mode of the flexible robotic arm is switched from the dynamic PID control mode to the static holding control mode; and / or, When it is determined that the end of the charging gun head is out of contact with the charging interface, the control mode of the flexible robotic arm is switched from the static holding control mode to the dynamic PID control mode.

12. The method according to claim 1, characterized in that After controlling the motion platform and the flexible charging robot arm to move based on the charging instruction command so as to drive the charging gun head close to the charging port of the vehicle body, the method further includes: Determine whether there is any plugging abnormality between the end of the charging gun head and the charging interface; When there is a plug-in abnormality, the charging gun head is ejected and a re-plugging process is performed.

13. The method according to claim 12, characterized in that The step of determining whether there is a plugging abnormality between the charging gun head end and the charging interface comprises: Detecting the inclination deviation of the charging gun head and the joint blocking condition of the flexible robotic arm; According to the inclination deviation of the charging gun head and the joint blocking condition of the flexible mechanical arm, it is determined whether there is a plugging abnormality of the charging gun head.

14. The method according to claim 12, characterized in that The determining whether there is a plugging abnormality between the charging gun head end and the charging interface includes: Detecting a distance change trend between the end of the charging gun head and the end of a guide column, wherein the guide column is a guiding mechanism for assisting the charging gun head in plugging; When the distance change trend satisfies the condition of going from far to near and then going from near to far, the abnormal connection of the charging gun head is ruled out.

15. A flexible charging robot, characterized in that: include: A motion platform that can move in space, a flexible robotic arm with its root on the motion platform, and a retractable charging gun head arranged at the end of the flexible robotic arm, wherein the flexible charging robot is charged and controlled by the method described in any one of claims 1 to 14.

16. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 14 is implemented.

17. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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