Unmanned charging control method, device and system and storage medium

Abstract

The invention discloses an unmanned charging control method, device and system and a storage medium, and the method comprises the steps: responding to a vehicle parking signal when the vehicle parking signal corresponding to a to-be-charged vehicle is obtained, and controlling a six-degree-of-freedom mechanical arm control mechanism to execute a charging gun grabbing action, controlling the charging gun to move to a target charging position corresponding to the vehicle to be charged; when the charging gun moves to the target charging position, the six-degree-of-freedom mechanical arm control mechanism is controlled to execute the charging gun plugging action, so that the charging gun is controlled to be in butt joint with the vehicle needing to be charged; and when butt joint is completed, the six-degree-of-freedom mechanical arm control mechanism is controlled to execute a homing action, and the charging pile is controlled to charge the vehicle needing to be charged through the charging gun electrically connected with the charging pile. Quick response and power matching of the electric vehicle on any charging parking space can be achieved, universality and practicability are high, charging power is large, efficiency is high, and unmanned intelligent charging is truly achieved; the device is simple in structure, mature in technology, low in cost and suitable for popularization and application.

Description

Technical Field

[0001] The present invention relates to the field of automatic vehicle charging, and in particular to an unmanned charging control method, device, system and storage medium. Background Art

[0002] The rapid development of electric vehicles and driverless vehicles, especially the rapid development of driverless vehicles, will greatly promote the construction, upgrading and transformation of new energy infrastructure. Unmanned intelligent charging technology is an urgent need to adapt to the rapid development of electric vehicles. It can give driverless trams wings and let them fly freely. It can especially escort the medium and long-distance networked transportation of intelligent vehicles.

[0003] However, the existing charging technology is the key bottleneck restricting the promotion and application of driverless electric vehicles. The existing and under-researched charging technologies mainly include: (1) conventional charging technology (AC slow charging); (2) fast charging technology (DC); (3) charging technology based on automatic charging robots; (4) overall battery replacement technology, etc.

[0004] The first two charging technologies are manually operated charging and are only applicable to charging manned electric vehicles. Although the last two charging technologies can be used to charge unmanned electric vehicles, they also have obvious pain points: (1) Charging technology based on automatic charging robots: one automatic charging robot can usually only charge one vehicle. When multiple vehicles need to be charged, multiple robots are required, which has low charging practicality and high cost. At the same time, the charging robot itself needs to be recharged in time and cannot be charged continuously, so the charging efficiency is too low. (2) Overall battery replacement technology: the technology is not unified and the interchangeability is poor, resulting in high construction costs, difficulty in commercial profitability, difficulty in promotion and popularization, and difficulty in monitoring vehicle-to-electricity consistency.

[0005] Therefore, there is an urgent need for a new unmanned charging control technology that can quickly charge multiple vehicles and achieve rapid response and power matching for electric vehicles in any charging parking space, thereby improving the practicality and versatility of unmanned charging, and effectively improving charging efficiency and reducing costs. Summary of the invention

[0006] In view of this, the present invention provides an unmanned charging control method, system, device and storage medium to solve the problems of low practicality and versatility, high cost and low efficiency in existing unmanned charging technologies.

[0007] The present invention provides an unmanned charging control method, which is applied to an unmanned charging control system, wherein the unmanned charging control system includes a six-degree-of-freedom mechanical arm control mechanism, a charging gun and a charging pile, wherein the charging gun and the charging pile are electrically connected;

[0008] The method comprises:

[0009] When a vehicle parking signal corresponding to the vehicle to be charged is obtained, in response to the vehicle parking signal, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a charging gun grabbing action to control the charging gun to move to a target charging position corresponding to the vehicle to be charged;

[0010] When the charging gun moves to the target charging position corresponding to the vehicle to be charged, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform the charging gun plugging and unplugging action, so as to control the charging gun to complete docking with the vehicle to be charged;

[0011] When the charging gun completes docking with the vehicle to be charged, the six-degree-of-freedom robotic arm control mechanism is controlled to perform a homing action, and the charging pile is controlled to charge the vehicle to be charged through the electrically connected charging gun.

[0012] Optionally, the unmanned charging control system further includes a parking space sensor provided on the parking space;

[0013] When a vehicle parking signal corresponding to the vehicle to be charged is obtained, before controlling the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action in response to the vehicle parking signal, the method further includes:

[0014] Using the parking space sensor, real-time detection is performed on whether the vehicle to be charged is parked in the parking space;

[0015] When the vehicle to be charged is parked at the parking space, a vehicle parking signal is issued.

[0016] Optionally, there are multiple parking spaces, and each parking space is provided with a corresponding parking space sensor;

[0017] There are multiple charging guns, and there are one or more charging piles, and each charging gun is electrically connected to a corresponding charging pile;

[0018] In response to the vehicle parking signal, before controlling the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action, the method further includes:

[0019] Identifying the vehicle parking signal and determining the parking position of the parking sensor corresponding to the vehicle parking signal;

[0020] According to the parking position, a target charging gun is determined from all the charging guns, and a target charging pile and an initial charging position corresponding to the target charging gun are determined according to the target charging gun.

[0021] Optionally, the six-degree-of-freedom robotic arm control mechanism includes a six-degree-of-freedom robotic arm and a grasping device and a visual positioning device provided at the end of the six-degree-of-freedom robotic arm;

[0022] In response to the vehicle parking signal, controlling the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action to control the charging gun to move to a target charging position corresponding to the vehicle to be charged, including:

[0023] In response to the vehicle parking signal, the visual positioning device is used to identify the target charging position corresponding to the charging port in the vehicle to be charged; and the six-degree-of-freedom mechanical arm control mechanism is controlled to move to the initial charging position corresponding to the target charging gun;

[0024] When the six-degree-of-freedom robotic arm control mechanism moves to the initial charging position, the grasping device at the end of the six-degree-of-freedom robotic arm is controlled to grasp the target charging gun, and the visual positioning device is used to control the six-degree-of-freedom robotic arm control mechanism carrying the target charging gun to move from the initial charging position to the target charging position.

[0025] Optionally, the six-degree-of-freedom robotic arm control mechanism includes a six-degree-of-freedom robotic arm and a grasping device and a visual positioning device provided at the end of the six-degree-of-freedom robotic arm;

[0026] When the charging gun moves to the target charging position corresponding to the vehicle to be charged, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a charging gun plugging and unplugging action to control the charging gun to complete docking with the vehicle to be charged, including:

[0027] When the charging gun moves to the target charging position corresponding to the vehicle to be charged, based on the visual positioning device, the grasping device is controlled to insert the target charging gun into the charging port of the vehicle to be charged;

[0028] The insertion depth of the target charging gun is detected in real time, and when the insertion depth reaches a preset depth, the charging gun is docked with the vehicle to be charged.

[0029] Optionally, after the charging gun is docked with the vehicle to be charged, the method further includes:

[0030] The target charging pile is used to send a docking completion signal.

[0031] Optionally, when the charging gun and the vehicle to be charged are docked, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a homing action, and the charging pile is controlled to charge the vehicle to be charged through the electrically connected charging gun, including:

[0032] When the charging gun and the vehicle to be charged are docked, in response to the docking completion signal, the gripping device is controlled to release the target charging gun;

[0033] When the gripping device completes the release, based on the visual positioning device, the six-degree-of-freedom robotic arm control mechanism is controlled to return to the preset position; and the target charging pile is controlled to start charging, and the vehicle to be charged is charged through the target charging gun electrically connected to the target charging pile.

[0034] Optionally, after controlling the six-degree-of-freedom mechanical arm control mechanism to perform a homing action and controlling the charging pile to charge the vehicle to be charged through the electrically connected charging gun, the method further includes:

[0035] Using the target charging pile, sending a full-charge signal;

[0036] In response to the full-charge signal, the six-degree-of-freedom robotic arm control mechanism is sequentially controlled to perform a charging gun recovery action and a homing action, so as to control the target charging gun to move to the initial charging position and control the six-degree-of-freedom robotic arm control mechanism to return to the preset position.

[0037] Optionally, in response to the full-charge signal, sequentially controlling the six-degree-of-freedom robotic arm control mechanism to perform a charging gun recovery action and a homing action, so as to control the target charging gun to move to the initial charging position and control the six-degree-of-freedom robotic arm control mechanism to return to the preset position, including:

[0038] In response to the full-charge signal, based on the visual positioning device, control the six-degree-of-freedom robotic arm control mechanism to move from the preset position to the target charging position;

[0039] When the six-degree-of-freedom robot arm control mechanism moves to the target charging position, based on the visual positioning device, the grasping device is controlled to grasp the target charging gun at the target charging position; and the six-degree-of-freedom robot arm control mechanism carrying the target charging gun is controlled to move from the target charging position to the initial charging position by using the visual positioning device;

[0040] When the six-degree-of-freedom manipulator control mechanism carrying the target charging gun moves to the initial charging position, controlling the grasping device to release the target charging gun;

[0041] When the gripping device completes the release, based on the visual positioning device, the six-degree-of-freedom robotic arm control mechanism is controlled to return from the initial charging position to the preset position.

[0042] In addition, the present invention also provides an unmanned charging control device, which is applied to an unmanned charging control system, wherein the unmanned charging control system includes a six-degree-of-freedom mechanical arm control mechanism, a charging gun and a charging pile, wherein the charging gun and the charging pile are electrically connected;

[0043] The device is used in the aforementioned unmanned charging control method, comprising:

[0044] A grab control module, configured to, when a vehicle parking signal corresponding to a vehicle to be charged is obtained, control the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action in response to the vehicle parking signal, so as to control the charging gun to move to a target charging position corresponding to the vehicle to be charged;

[0045] A docking control module, used to control the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun plugging and unplugging action when the charging gun moves to the target charging position corresponding to the vehicle to be charged, so as to control the charging gun to complete docking with the vehicle to be charged;

[0046] The charging control module is used to control the six-degree-of-freedom robotic arm control mechanism to perform a homing action when the charging gun completes docking with the vehicle to be charged, and control the charging pile to charge the vehicle to be charged through the electrically connected charging gun.

[0047] In addition, the present invention also provides a computer storage medium, which includes: at least one instruction, and when the instruction is executed, the method steps in the above-mentioned cleaning device control method are implemented.

[0048] In addition, the present invention also provides an unmanned charging control system, comprising a six-degree-of-freedom robotic arm control mechanism, a charging gun and a charging pile, wherein the charging gun and the charging pile are electrically connected;

[0049] It also includes a main controller, which is communicatively connected to the six-degree-of-freedom robotic arm control mechanism and the charging pile;

[0050] The main controller is used for:

[0051] When a vehicle parking signal corresponding to the vehicle to be charged is obtained, in response to the vehicle parking signal, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a charging gun grabbing action to control the charging gun to move to a target charging position corresponding to the vehicle to be charged;

[0052] When the charging gun moves to the target charging position corresponding to the vehicle to be charged, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform the charging gun plugging and unplugging action, so as to control the charging gun to complete docking with the vehicle to be charged;

[0053] When the charging gun completes docking with the vehicle to be charged, the six-degree-of-freedom robotic arm control mechanism is controlled to perform a homing action, and the charging pile is controlled to charge the vehicle to be charged through the electrically connected charging gun.

[0054] The beneficial effects of the present invention are as follows: by acquiring the vehicle parking signal, the detection of the vehicle to be charged can be realized, so that the automatic start control of the entire unmanned charging process can be realized by responding to the acquired vehicle parking signal; when the vehicle parking signal is acquired, it indicates that a vehicle to be charged (i.e. the vehicle to be charged) is parked in the parking space at this time, and at this time, in response to the vehicle parking signal, the six-degree-of-freedom mechanical arm control mechanism is controlled to execute the charging gun grabbing action; the six-degree-of-freedom mechanical arm control mechanism can realize six independent degrees of freedom of movement (including translation along the x-axis, y-axis, and z-axis and rotation around the x-axis, y-axis, and z-axis), can move freely in three-dimensional space, can realize the free grabbing, moving, and plugging and unplugging of the charging gun, and thus facilitate better control of the charging The electric gun moves to the target charging position corresponding to the vehicle to be charged to charge it; when the charging gun moves to the target charging position under the control of the six-degree-of-freedom mechanical arm control mechanism, the six-degree-of-freedom mechanical arm control mechanism is used to control it to perform the charging gun plugging and unplugging action, so as to realize the precise docking of the charging gun and the vehicle to be charged; when the charging gun and the vehicle to be charged are docked, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform the homing action to ensure the normal operation of charging and avoid mutual interference between the six-degree-of-freedom mechanical arm control mechanism and the charging mechanism (including the charging gun and the charging pile); during the charging process of the vehicle to be charged, the charging gun corresponding to the electrical connection is charged by controlling the charging pile, which can further facilitate the realization of unmanned charging;

[0055] The unmanned charging control method, device, system and storage medium of the present invention can perform intelligent and fast charging on any type of vehicle, can support multiple electric vehicles, have strong versatility and practicality, can achieve rapid response and power matching for electric vehicles in any charging parking space, the charging gun and the charging interface can be connected quickly, the charging power is large and the efficiency is high, truly realizing unmanned intelligent charging; the entire system has a simple structure, mature technology, and low cost, and is suitable for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0057] Figure 1 A flow chart of an unmanned charging control method in Embodiment 1 of the present invention is shown;

[0058] Figure 2A The structure diagram of the six-degree-of-freedom robot arm control mechanism in the first embodiment of the present invention is shown;

[0059] Figure 2B An enlarged view of a partial structure of a six-degree-of-freedom robotic arm control mechanism in Embodiment 1 of the present invention is shown;

[0060] Figure 3 A flow chart of controlling a six-degree-of-freedom robotic arm control mechanism to perform a charging gun grabbing action in Embodiment 1 of the present invention is shown;

[0061] Figure 4 A flow chart of controlling a six-degree-of-freedom robotic arm control mechanism to perform charging gun plugging and unplugging actions in Embodiment 1 of the present invention is shown;

[0062] Figure 5 A flow chart of controlling a six-degree-of-freedom robotic arm control mechanism to perform a homing action and controlling a charging pile to charge a vehicle to be charged in Embodiment 1 of the present invention is shown;

[0063] Figure 6 A flow chart of another unmanned charging control method in Embodiment 1 of the present invention is shown;

[0064] Figure 7 A flow chart of controlling a six-degree-of-freedom robotic arm control mechanism to perform charging gun recovery and homing actions in Embodiment 1 of the present invention is shown;

[0065] Figure 8 A complete flow chart of the unmanned charging control method in the first embodiment of the present invention is shown;

[0066] Fig. 9 A structural diagram of an unmanned charging control device in Embodiment 2 of the present invention is shown;

[0067] Fig.10 A structural diagram of an unmanned charging control system in Embodiment 4 of the present invention is shown.

[0068] Description of reference numerals:

[0069] 1. Bracket, 2. Truss, 3. Truss slider, 4. Y-axis slide rail, 5. Y-axis slider, 6. Z-axis slider, 7. Z-axis slide rail, 8. Six-degree-of-freedom robotic arm, 9. Grasping device. DETAILED DESCRIPTION

[0070] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0071] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0072] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. At the same time, the division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0073] Embodiment 1

[0074] An unmanned charging control method is applied to an unmanned charging control system, wherein the unmanned charging control system includes a six-degree-of-freedom mechanical arm control mechanism, a charging gun and a charging pile, wherein the charging gun and the charging pile are electrically connected;

[0075] like Figure 1 As shown, the method includes:

[0076] S1: When a vehicle parking signal corresponding to a vehicle to be charged is obtained, in response to the vehicle parking signal, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a charging gun grabbing action to control the charging gun to move to a target charging position corresponding to the vehicle to be charged;

[0077] S2: When the charging gun moves to the target charging position corresponding to the vehicle to be charged, the six-degree-of-freedom robotic arm control mechanism is controlled to perform a charging gun plugging and unplugging action, so as to control the charging gun to complete docking with the vehicle to be charged;

[0078] S3: When the charging gun and the vehicle to be charged are docked, the six-degree-of-freedom robotic arm control mechanism is controlled to perform a homing action, and the charging pile is controlled to charge the vehicle to be charged through the electrically connected charging gun.

[0079] In this embodiment, by acquiring the vehicle parking signal, the detection of the vehicle that needs to be charged can be realized, so that the automatic start control of the entire unmanned charging process can be realized by responding to the acquired vehicle parking signal; when the vehicle parking signal is acquired, it means that there is a vehicle that needs to be charged (i.e., the vehicle that needs to be charged) parked in the parking space. At this time, in response to the vehicle parking signal, the six-degree-of-freedom robotic arm control mechanism is controlled to perform the charging gun grabbing action; the six-degree-of-freedom robotic arm control mechanism can realize six independent degrees of freedom of movement (including translation along the x-axis, y-axis, and z-axis and rotation around the x-axis, y-axis, and z-axis), can move freely in three-dimensional space, and can realize the free grabbing, moving, and plugging and unplugging of the charging gun, thereby facilitating better control of the charging gun. Move to the target charging position corresponding to the vehicle to be charged and charge it; when the charging gun moves to the target charging position under the control of the six-degree-of-freedom robotic arm control mechanism, the six-degree-of-freedom robotic arm control mechanism is used to control it to perform the charging gun plugging and unplugging action, so as to realize the precise docking of the charging gun and the vehicle to be charged; when the charging gun and the vehicle to be charged are docked, the six-degree-of-freedom robotic arm control mechanism is controlled to perform the homing action to ensure the normal operation of charging and avoid mutual interference between the six-degree-of-freedom robotic arm control mechanism and the charging mechanism (including the charging gun and the charging pile); during the charging process of the vehicle to be charged, the corresponding electrically connected charging gun is charged by controlling the charging pile, which can further facilitate the realization of unmanned charging.

[0080] The unmanned charging control method of this embodiment can perform intelligent and fast charging on any type of vehicle, can support multiple electric vehicles, has strong versatility and practicality, can achieve rapid response and power matching for electric vehicles in any charging parking space, the charging gun and the charging interface can be connected quickly, the charging power is large and the efficiency is high, truly realizing unmanned intelligent charging; the entire system has a simple structure, mature technology, and low cost, and is suitable for promotion and application.

[0081] The six-degree-of-freedom robot control mechanism can select appropriate structural components according to actual conditions, such as Figure 2A and Figure 2B As shown, the six-degree-of-freedom robot control mechanism of this embodiment includes a bracket 1 (three in number), a truss 2, a truss slider 3, a Y-axis slide rail 4, a Y-axis slider 5, a Z-axis slider 6, a Z-axis slide rail 7, a six-degree-of-freedom robot 8, and a grasping device 9. Among them, the truss slider 3 can move left and right on the truss 2, the Y-axis slider 5 can move forward and backward on the Y-axis slide rail 4, and the Z-axis slider 6 can move up and down on the Z-axis slide rail 7, and these components constitute the XYZ three-axis slide rail; the grasping device 9 is arranged at the end of the six-degree-of-freedom robot 8, so combined with the control of the six-degree-of-freedom robot 8, the grasping device can realize any spatial curve motion in the XYZ three-axis coordinate system.

[0082] The specific implementation of each step of the unmanned charging control method of this embodiment is described in detail below.

[0083] In an optional embodiment, the unmanned charging control system further includes a parking space sensor provided on the parking space.

[0084] Correspondingly, before S1 of this embodiment, the method further includes:

[0085] S0.1: Using the parking space sensor to detect in real time whether there is a vehicle to be charged parked in the parking space;

[0086] S0.2: When the vehicle to be charged is parked at the parking space, a vehicle parking signal is issued.

[0087] The parking sensors installed on the parking spaces can detect whether there are vehicles that need to be charged (i.e., vehicles that need to be charged) parked in the parking spaces, which facilitates the intelligent start of the subsequent unmanned charging process. When the parking sensors on the parking spaces detect vehicles that need to be charged, the vehicle parking signal is triggered, which facilitates the subsequent start of the entire unmanned charging process through the response to the signal.

[0088] In this embodiment, the parking space refers to a charging space. When a vehicle is parked in such a parking space, it means that the vehicle needs to be charged. The parking space sensor can be an infrared sensor, a geomagnetic sensor, an ultrasonic sensor, an image sensor, etc., which is not limited in this embodiment.

[0089] In an optional embodiment, there are multiple parking spaces, and each parking space is provided with a corresponding parking space sensor;

[0090] There are multiple charging guns, and there are one or more charging piles. Each charging gun is electrically connected to a corresponding charging pile.

[0091] Through the corresponding setting of parking space sensors and parking spaces, multiple vehicles that need to be charged can be detected simultaneously; through the setting of multiple charging guns and one or more charging piles, unmanned intelligent charging of multiple vehicles that need to be charged can be realized simultaneously.

[0092] Furthermore, the number of the six-degree-of-freedom robotic arm control mechanisms is one or more.

[0093] Similarly, by using the configuration of one or more six-degree-of-freedom robotic arm control mechanisms, it is further possible to simultaneously realize unmanned intelligent charging of multiple vehicles that need to be charged.

[0094] When the vehicle parking signal corresponding to the vehicle to be charged is obtained, Figure 3As shown, in this embodiment S1, in response to the vehicle parking signal, before controlling the six-degree-of-freedom mechanical arm control mechanism to perform the charging gun grabbing action, it also includes:

[0095] S1.1: When a vehicle parking signal corresponding to a vehicle to be charged is obtained, the vehicle parking signal is identified to determine a parking position where the parking sensor corresponding to the vehicle parking signal is located;

[0096] S1.2: According to the parking position, determine a target charging gun from all the charging guns, and determine a target charging pile and an initial charging position corresponding to the target charging gun according to the target charging gun.

[0097] Since the vehicle parking signal fed back by each parking sensor usually carries its own identity information, the signal can be identified to determine which parking sensor sent the vehicle parking signal, and then determine the parking space information corresponding to the parking sensor, which includes the parking position that has been determined when the parking space is planned; based on the parking position, on the one hand, it is convenient to match the optimal target charging gun (such as the charging gun closest to the parking position), and on the other hand, it is convenient for the subsequent path planning of the six-degree-of-freedom robotic arm control mechanism to achieve precise control of the six-degree-of-freedom robotic arm control mechanism; when the target charging gun is determined according to the parking position, since the correspondence and layout positions of each charging gun and each charging pile are pre-planned, the target charging pile corresponding to the target charging gun can be determined according to the pre-planned correspondence, which is convenient for subsequent control of the target charging pile to perform charging work, and at the same time, the target charging position corresponding to the target charging gun can also be determined according to the pre-planned layout position, which is convenient for subsequent control of the six-degree-of-freedom robotic arm control mechanism to perform the charging gun grasping action and achieve precise grasping of the target charging gun.

[0098] In an optional embodiment, the six-degree-of-freedom robotic arm control mechanism includes a six-degree-of-freedom robotic arm (i.e. Figure 2A and Figure 2B The six-degree-of-freedom robot arm 8) and the grasping device (i.e. Figure 2A and Figure 2B The grasping device 9) and the visual positioning device ( Figure 2A and Figure 2B not shown).

[0099] The six-degree-of-freedom robotic arm can realize the control of the grasping device; the grasping device is used to grasp, move and plug and unplug the charging gun under the control of the six-degree-of-freedom robotic arm; the visual positioning device can use visual positioning technology to capture the image or video stream of the vehicle environment where the six-degree-of-freedom robotic arm control mechanism is located, and through image processing and algorithm analysis, identify the target charging position of the charging port of the vehicle to be charged, the preset position of the six-degree-of-freedom robotic arm control mechanism and other target positions.

[0100] In the above-mentioned six-degree-of-freedom robot arm control mechanism, the six-degree-of-freedom robot arm can be a conventional six-degree-of-freedom robot arm, which is not limited here. The grasping device can be a robot gripper, an electromagnetic gripper, etc.; the visual positioning device includes a high-precision camera (for grasping images or video streams) and a processor (for processing and analyzing the grasped images or video streams) and other components.

[0101] When the vehicle stops, Figure 3 As shown, this embodiment S1 includes:

[0102] S1.3: In response to the vehicle parking signal, using the visual positioning device, identifying the target charging position corresponding to the charging port in the vehicle to be charged; and controlling the six-degree-of-freedom robotic arm control mechanism to move to the initial charging position corresponding to the target charging gun;

[0103] S1.4: When the six-degree-of-freedom robotic arm control mechanism moves to the initial charging position, the grasping device at the end of the six-degree-of-freedom robotic arm is controlled to grasp the target charging gun, and the visual positioning device is used to control the six-degree-of-freedom robotic arm control mechanism carrying the target charging gun to move from the initial charging position to the target charging position.

[0104] When a vehicle docking signal is obtained, that is, by responding to the signal, the six-degree-of-freedom robotic arm control mechanism is controlled to move to the initial charging position determined in the previous step, so as to achieve accurate grasping of the target charging gun; at the same time, the target charging position of charging is determined by the visual positioning device, so as to facilitate the subsequent accurate planning of the motion trajectory of the six-degree-of-freedom robotic arm control mechanism based on the initial charging position and the target charging position, so that the six-degree-of-freedom robotic arm control mechanism can accurately deliver the grasped target charging gun to the charging port of the vehicle to be charged, thereby facilitating the realization of efficient and intelligent charging of the vehicle to be charged, with high control accuracy and high efficiency.

[0105] Specifically, in this embodiment, in the process of controlling the six-degree-of-freedom robotic arm control mechanism carrying a target charging gun to move from an initial charging position to a target charging position, a visual positioning device can be used to generate a motion trajectory of the six-degree-of-freedom robotic arm control mechanism according to the initial charging position and the target charging position, and navigation is performed according to the motion trajectory to control the six-degree-of-freedom robotic arm control mechanism carrying the target charging gun to move. At the same time, during the movement, the visual positioning device updates the position of the six-degree-of-freedom robotic arm control mechanism in real time, and updates the motion trajectory in real time, so that the six-degree-of-freedom robotic arm control mechanism carrying the target charging gun can accurately move from the initial charging position to the target charging position.

[0106] In an optional embodiment, if Figure 4 As shown, S2 includes:

[0107] S2.1: When the target charging gun moves to the target charging position corresponding to the vehicle to be charged, based on the visual positioning device, control the grasping device to insert the target charging gun into the charging port of the vehicle to be charged;

[0108] S2.2: Detect the insertion depth of the target charging gun in real time, and when the insertion depth reaches a preset depth, complete the docking of the charging gun and the vehicle to be charged.

[0109] When the charging gun (specifically the target charging gun) moves to the target charging position driven by the six-degree-of-freedom mechanical arm control mechanism, the visual positioning device can be used to visually capture the vehicle environment to control the grasping device to insert the target charging gun into the charging port of the vehicle to be charged, so as to facilitate the subsequent automatic charging of the vehicle to be charged; during the insertion of the target charging gun, its insertion depth is detected in real time. When the insertion depth reaches the preset depth, it indicates that the target charging gun and the charging port are in a docking state, and the subsequent charging process can be started. The above steps of this embodiment can, on the one hand, realize the precise docking of the target charging gun and the charging port, and on the other hand, realize the automatic control of the charging pile to start charging.

[0110] Among them, the preset depth can be set and adjusted in advance according to actual conditions and is not limited here.

[0111] In this embodiment, the insertion depth detection can be achieved by a displacement sensor or a contact sensor provided on the charging gun, or by a visual positioning device to capture the image of the charging gun during the insertion process and using image analysis technology, which is not limited here.

[0112] Furthermore, if Figure 4 As shown, in S2.2, after the charging gun is docked with the vehicle to be charged, the method further includes:

[0113] S2.3: Using the target charging pile, a docking completion signal is sent.

[0114] The target charging pile is used to send a docking completion signal to facilitate the subsequent response to the signal. On the one hand, it triggers the target charging pile to start charging, and on the other hand, it triggers the grasping device to release the target charging gun and triggers the six-degree-of-freedom robotic arm control mechanism to return to the preset position, further realizing efficient and intelligent charging of vehicles that need to be charged.

[0115] In an optional embodiment, if Figure 5 As shown, S3 includes:

[0116] S3.1: When the charging gun and the vehicle to be charged are docked, in response to the docking completion signal, the gripping device is controlled to release the target charging gun;

[0117] S3.2: When the gripping device completes the release, based on the visual positioning device, the six-degree-of-freedom robotic arm control mechanism is controlled to return to the preset position; and the target charging pile is controlled to start charging, and the vehicle to be charged is charged through the target charging gun electrically connected to the target charging pile.

[0118] Through the above control method, it is possible to ensure automatic control of the charging operation of the target charging pile, and at the same time, the six-degree-of-freedom robotic arm control mechanism can be reset. On the one hand, it is convenient for other vehicles that need to be charged to realize the unmanned charging process, and on the other hand, it avoids the interference of the six-degree-of-freedom robotic arm control mechanism with the charging process of the current vehicle that needs to be charged, thereby ensuring a better charging effect.

[0119] It should be understood that in the above step S3.2 of this embodiment, controlling the six-degree-of-freedom robotic arm control mechanism to return to the preset position and controlling the target charging pile to start charging can be performed simultaneously or one after the other; preferably, first controlling the six-degree-of-freedom robotic arm control mechanism to return to the preset position, and then controlling the target charging pile to start charging, which can further increase the anti-interference between the six-degree-of-freedom robotic arm control mechanism and the target charging pile.

[0120] In this embodiment, the preset position can be either a starting position of the six-degree-of-freedom robotic arm control mechanism before executing the charging gun grabbing action, or a pre-specified fixed position.

[0121] In an optional embodiment, if Figure 6 As shown, after S3, the method further includes:

[0122] S4: Using the target charging pile to send a full-charge signal;

[0123] S5: In response to the full-charge signal, the six-degree-of-freedom robotic arm control mechanism is controlled in sequence to perform a charging gun recovery action and a homing action, so as to control the target charging gun to move to the initial charging position and control the six-degree-of-freedom robotic arm control mechanism to return to the preset position.

[0124] The full-charge signal represents that the power of the vehicle to be charged has reached the full-charge state, that is, the charging of the vehicle to be charged is completed. At this time, the target charging pile is used again to send a full-charge signal. Based on the triggering of this signal, it can facilitate the start control of the subsequent charging gun recovery action and homing action. The execution of the charging gun recovery action and homing action based on the six-degree-of-freedom robotic arm control mechanism can realize closed-loop control of the entire unmanned charging process, ensuring the orderly and rapid unmanned charging of multiple vehicles.

[0125] like Figure 7 As shown, S5 includes:

[0126] S5.1: In response to the full-charge signal, based on the visual positioning device, control the six-degree-of-freedom robotic arm control mechanism to move from the preset position to the target charging position;

[0127] S5.2: When the six-degree-of-freedom manipulator control mechanism moves to the target charging position, based on the visual positioning device, control the grasping device to grasp the target charging gun at the target charging position; and use the visual positioning device to control the six-degree-of-freedom manipulator control mechanism carrying the target charging gun to move from the target charging position to the initial charging position;

[0128] S5.3: When the six-degree-of-freedom manipulator control mechanism carrying the target charging gun moves to the initial charging position, control the grasping device to release the target charging gun;

[0129] S5.4: When the gripping device completes the release, based on the visual positioning device, the six-degree-of-freedom robotic arm control mechanism is controlled to return from the initial charging position to the preset position.

[0130] In order to avoid the influence of the six-degree-of-freedom robotic arm control mechanism on the charging process of the vehicle to be charged, the six-degree-of-freedom robotic arm control mechanism has returned to the preset position during the charging process of the vehicle to be charged; when the vehicle to be charged completes charging, that is, receives a full-charge signal, it is necessary to first use the visual positioning device to control the six-degree-of-freedom robotic arm control mechanism to move from the preset position to the target charging position, so that the grasping device at the end of the six-degree-of-freedom robotic arm in the six-degree-of-freedom robotic arm control mechanism can grasp the target charging gun located at the target charging position, thereby facilitating the recovery of the target charging gun; when the six-degree-of-freedom robotic arm control mechanism moves to the target charging position, the grasping device therein is controlled to grasp the target charging gun, and the entire six-degree-of-freedom robotic arm control mechanism carrying the target charging gun is controlled to move from the target charging position to the initial charging position, and then the grasping device is controlled to release the target charging gun, so as to truly realize the recovery of the target charging gun; finally, based on the visual positioning device, the six-degree-of-freedom robotic arm control mechanism is controlled again to return from the initial charging position to the preset position, so as to truly realize the return of the six-degree-of-freedom robotic arm control mechanism and facilitate the unmanned intelligent charging of the next vehicle to be charged.

[0131] Through the charging gun recovery action and return action described in S5.1 to S5.4 of this embodiment, closed-loop control of the entire unmanned charging process can be truly achieved, effectively ensuring the orderly and rapid unmanned charging of multiple vehicles.

[0132] The complete process of the unmanned charging control method of this embodiment is as follows: Figure 8 shown.

[0133] Embodiment 2

[0134] An unmanned charging control device is applied to an unmanned charging control system, wherein the unmanned charging control system comprises a six-degree-of-freedom mechanical arm control mechanism, a charging gun and a charging pile, wherein the charging gun and the charging pile are electrically connected;

[0135] The device is used in the unmanned charging control method of embodiment 1, such as Fig. 9 As shown, including:

[0136] A grab control module, configured to, when a vehicle parking signal corresponding to a vehicle to be charged is obtained, control the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action in response to the vehicle parking signal, so as to control the charging gun to move to a target charging position corresponding to the vehicle to be charged;

[0137] A docking control module, used to control the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun plugging and unplugging action when the charging gun moves to the target charging position corresponding to the vehicle to be charged, so as to control the charging gun to complete docking with the vehicle to be charged;

[0138] The charging control module is used to control the six-degree-of-freedom robotic arm control mechanism to perform a homing action when the charging gun completes docking with the vehicle to be charged, and control the charging pile to charge the vehicle to be charged through the electrically connected charging gun.

[0139] In this embodiment, by acquiring the vehicle parking signal through the grabbing control module, the detection of the vehicle to be charged can be realized, and the automatic start control of the entire unmanned charging process can be realized by responding to the acquired vehicle parking signal; when the vehicle parking signal is acquired, it means that there is a vehicle that needs to be charged (i.e., the vehicle to be charged) parked in the parking space at this time. At this time, the grabbing control module is used to respond to the vehicle parking signal to control the six-degree-of-freedom mechanical arm control mechanism to perform the charging gun grabbing action; the six-degree-of-freedom mechanical arm control mechanism can realize six independent degrees of freedom of movement (including translation along the x-axis, y-axis, and z-axis and rotation around the x-axis, y-axis, and z-axis), can move freely in three-dimensional space, and can realize the free grabbing, moving, and plugging of the charging gun, thereby facilitating better control of the movement of the charging gun. Move to the target charging position corresponding to the vehicle to be charged to charge it; when the charging gun moves to the target charging position under the control of the six-degree-of-freedom robotic arm control mechanism, the docking control module is used to control the six-degree-of-freedom robotic arm control mechanism to perform the charging gun plugging and unplugging action, so as to realize the precise docking of the charging gun and the vehicle to be charged; when the charging gun and the vehicle to be charged are docked, the charging control module is used to control the six-degree-of-freedom robotic arm control mechanism to perform the homing action, so as to ensure the normal operation of charging and avoid mutual interference between the six-degree-of-freedom robotic arm control mechanism and the charging mechanism (including the charging gun and the charging pile); during the charging process of the vehicle to be charged, the corresponding electrically connected charging gun is charged by controlling the charging pile, which can further facilitate the realization of unmanned charging.

[0140] The unmanned charging control device of this embodiment can perform intelligent and fast charging on any type of vehicle, can support multiple electric vehicles, has strong versatility and practicality, can achieve rapid response and power matching for electric vehicles in any charging parking space, the charging gun and the charging interface can be connected quickly, the charging power is large and the efficiency is high, truly realizing unmanned intelligent charging; the entire system has a simple structure, mature technology, and low cost, and is suitable for promotion and application.

[0141] The functions of each module in the unmanned charging control device described in this embodiment correspond to the method steps in the unmanned charging control method described in Example 1. Therefore, for details not included in this embodiment, please refer to Example 1 and Figures 1 to 8 The detailed description will not be repeated here.

[0142] Embodiment 3

[0143] An unmanned charging control system includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed, the method steps in the unmanned charging control method of the first embodiment are implemented.

[0144] Through computer programs stored in the memory and running on the processor, any type of vehicle can be charged intelligently and quickly, and can support multiple electric vehicles. It has strong versatility and practicality, and can achieve rapid response and power matching for electric vehicles in any charging parking space. The charging gun and the charging interface can be connected quickly, with high charging power and efficiency, truly realizing unmanned intelligent charging. The entire system has a simple structure, mature technology, and low cost, and is suitable for promotion and application.

[0145] The processor may be a central processing unit (CPU), 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. The processor is the control center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0146] The memory can be used to store computer programs and / or models. The processor realizes various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0147] It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by a computer program. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0148] These computer programs may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0149] These computer programs can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0150] This embodiment further provides a computer storage medium, which includes: at least one instruction, which implements the method steps in the unmanned charging control method of embodiment 1 when the instruction is executed by the computer.

[0151] By executing a computer storage medium containing at least one instruction, any type of vehicle can be charged intelligently and quickly, and multiple electric vehicles can be supported. It has strong versatility and practicality, and can achieve rapid response and power matching for electric vehicles in any charging parking space. The charging gun and the charging interface can be connected quickly, with high charging power and efficiency, truly realizing unmanned intelligent charging. The entire system has a simple structure, mature technology, and low cost, and is suitable for promotion and application.

[0152] Similarly, for details not yet provided in this embodiment, please refer to Embodiment 1, Embodiment 2 and Figures 1 to 9 The detailed description will not be repeated here.

[0153] Embodiment 4

[0154] like Fig.10As shown, an unmanned charging control system includes a six-degree-of-freedom robotic arm control mechanism, a charging gun and a charging pile, wherein the charging gun and the charging pile are electrically connected;

[0155] It also includes a main controller, which is communicatively connected to the six-degree-of-freedom robotic arm control mechanism and the charging pile;

[0156] The main controller is used for:

[0157] When a vehicle parking signal corresponding to the vehicle to be charged is obtained, in response to the vehicle parking signal, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a charging gun grabbing action to control the charging gun to move to a target charging position corresponding to the vehicle to be charged;

[0158] When the charging gun moves to the target charging position corresponding to the vehicle to be charged, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform the charging gun plugging and unplugging action, so as to control the charging gun to complete docking with the vehicle to be charged;

[0159] When the charging gun completes docking with the vehicle to be charged, the six-degree-of-freedom robotic arm control mechanism is controlled to perform a homing action, and the charging pile is controlled to charge the vehicle to be charged through the electrically connected charging gun.

[0160] The unmanned charging control system of this embodiment can perform intelligent and fast charging on any type of vehicle, can support multiple electric vehicles, has strong versatility and practicality, can achieve rapid response and power matching for electric vehicles in any charging parking space, the charging gun and the charging interface can be connected quickly, the charging power is large and the efficiency is high, truly realizing unmanned intelligent charging; the entire system has a simple structure, mature technology, and low cost, and is suitable for promotion and application.

[0161] In this embodiment, when the main controller obtains the vehicle docking signal corresponding to the vehicle to be charged, it communicates and interacts with the six-degree-of-freedom robotic arm control mechanism, and sends a grabbing control instruction to the six-degree-of-freedom robotic arm control mechanism. After receiving the grabbing control instruction, the six-degree-of-freedom robotic arm control mechanism executes the charging gun grabbing action, and uses the grabbing device and the six-degree-of-freedom robotic arm therein to accurately move the charging gun to the target charging position corresponding to the vehicle to be charged; when the six-degree-of-freedom robotic arm control mechanism controls the charging gun to move to the target charging position corresponding to the vehicle to be charged, it communicates and interacts with the main controller again (the visual positioning device in the six-degree-of-freedom robotic arm control mechanism sends a movement completion signal to the main controller), and the main controller sends a docking control instruction to the six The six-degree-of-freedom robotic arm control mechanism and the six-degree-of-freedom robotic arm control mechanism (the grasping device therein) execute the plugging and unplugging action of the charging gun according to the docking control instruction, and accurately dock the charging gun with the vehicle to be charged; when the docking is completed, the charging pile corresponding to the charging gun and the six-degree-of-freedom robotic arm control mechanism communicate and interact with the main controller (the charging pile sends a docking completion signal to the main controller), and the main controller sends a homing control instruction to the six-degree-of-freedom robotic arm control mechanism. The grasping device in the six-degree-of-freedom robotic arm control mechanism executes a homing action according to the homing control instruction, releases the charging gun, and returns to the preset position. At the same time, the main controller sends a charging control instruction to the charging pile, and the charging pile uses the corresponding electrically connected charging gun to start charging the vehicle to be charged.

[0162] The specific components of the six-degree-of-freedom robotic arm control mechanism, charging gun and charging pile of this embodiment can all adopt conventional mechanisms and are not limited here.

[0163] The unmanned charging control system of this embodiment also includes:

[0164] A parking space sensor is arranged on the parking space and is in communication connection with the main controller;

[0165] The parking space sensor is used to detect in real time whether there is a vehicle that needs to be charged parked in the parking space; when a vehicle that needs to be charged is parked in the parking space, a vehicle parking signal is sent to the main controller.

[0166] In the unmanned charging control system of this embodiment, the six-degree-of-freedom robotic arm control mechanism is used to:

[0167] When the main controller receives a vehicle parking signal sent by the parking sensor and responds to the vehicle parking signal, a first control instruction sent by the main controller is received;

[0168] According to the received first control instruction, the charging gun grabbing action is executed to control the charging gun to move to the target charging position corresponding to the vehicle to be charged.

[0169] In the unmanned charging control system of this embodiment, the six-degree-of-freedom robotic arm control mechanism is also used for:

[0170] When the charging gun moves to the target charging position corresponding to the vehicle to be charged, a second control instruction sent by the main controller is received;

[0171] According to the received second control instruction, the charging gun is plugged in and out, and the charging gun is controlled to complete docking with the vehicle to be charged.

[0172] In the unmanned charging control system of this embodiment, the charging pile is used to:

[0173] After the charging gun is docked with the vehicle to be charged, a docking completion signal is sent.

[0174] In the unmanned charging control system of this embodiment, the six-degree-of-freedom robotic arm control mechanism is also used for:

[0175] When the main controller receives a docking completion signal sent by the target charging pile and responds to the docking completion signal, receiving a third control instruction sent by the main controller;

[0176] According to the received third control instruction, a homing action is performed.

[0177] In the unmanned charging control system of this embodiment, the charging pile is also used for:

[0178] After the vehicle to be charged is fully charged, a full charge signal is sent.

[0179] In the unmanned charging control system of this embodiment, the six-degree-of-freedom robotic arm control mechanism is also used for:

[0180] When the main controller receives a full-charge signal sent by the target charging pile and responds to the full-charge signal, receives a fourth control instruction sent by the main controller;

[0181] According to the received fourth control instruction, the charging gun recovery action and the homing action are executed in sequence, the target charging gun is controlled to move to the initial charging position and the charging gun itself is controlled to return to the preset position.

[0182] For details of this embodiment, see Example 1, Example 2 and Figures 1 to 9 The detailed description will not be repeated here.

[0183] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An unmanned charging control method, characterized in that: Applied to an unmanned charging control system, the unmanned charging control system includes a six-degree-of-freedom robotic arm control mechanism, a charging gun and a charging pile, the charging gun and the charging pile are electrically connected; The method comprises: When a vehicle parking signal corresponding to the vehicle to be charged is obtained, in response to the vehicle parking signal, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a charging gun grabbing action to control the charging gun to move to a target charging position corresponding to the vehicle to be charged; When the charging gun moves to the target charging position corresponding to the vehicle to be charged, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform the charging gun plugging and unplugging action, so as to control the charging gun to complete docking with the vehicle to be charged; When the charging gun completes docking with the vehicle to be charged, the six-degree-of-freedom robotic arm control mechanism is controlled to perform a homing action, and the charging pile is controlled to charge the vehicle to be charged through the electrically connected charging gun.

2. The unmanned charging control method according to claim 1, characterized in that: The unmanned charging control system further includes a parking space sensor provided on the parking space; When a vehicle parking signal corresponding to the vehicle to be charged is obtained, before controlling the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action in response to the vehicle parking signal, the method further includes: Using the parking space sensor, real-time detection is performed on whether the vehicle to be charged is parked in the parking space; When the vehicle to be charged is parked at the parking space, a vehicle parking signal is issued.

3. The unmanned charging control method according to claim 2, characterized in that: There are multiple parking spaces, and each parking space is provided with a corresponding parking space sensor; There are multiple charging guns, and there are one or more charging piles, and each charging gun is electrically connected to a corresponding charging pile; In response to the vehicle parking signal, before controlling the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action, the method further includes: Identifying the vehicle parking signal and determining the parking position of the parking sensor corresponding to the vehicle parking signal; According to the parking position, a target charging gun is determined from all the charging guns, and a target charging pile and an initial charging position corresponding to the target charging gun are determined according to the target charging gun.

4. The unmanned charging control method according to claim 3, characterized in that: The six-degree-of-freedom robotic arm control mechanism includes a six-degree-of-freedom robotic arm and a grasping device and a visual positioning device arranged at the end of the six-degree-of-freedom robotic arm; In response to the vehicle parking signal, controlling the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action to control the charging gun to move to a target charging position corresponding to the vehicle to be charged, including: In response to the vehicle parking signal, the visual positioning device is used to identify the target charging position corresponding to the charging port in the vehicle to be charged; and the six-degree-of-freedom mechanical arm control mechanism is controlled to move to the initial charging position corresponding to the target charging gun; When the six-degree-of-freedom robotic arm control mechanism moves to the initial charging position, the grasping device at the end of the six-degree-of-freedom robotic arm is controlled to grasp the target charging gun, and the visual positioning device is used to control the six-degree-of-freedom robotic arm control mechanism carrying the target charging gun to move from the initial charging position to the target charging position.

5. The unmanned charging control method according to claim 3, characterized in that: The six-degree-of-freedom robotic arm control mechanism includes a six-degree-of-freedom robotic arm and a grasping device and a visual positioning device arranged at the end of the six-degree-of-freedom robotic arm; When the charging gun moves to the target charging position corresponding to the vehicle to be charged, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a charging gun plugging and unplugging action to control the charging gun to complete docking with the vehicle to be charged, including: When the charging gun moves to the target charging position corresponding to the vehicle to be charged, based on the visual positioning device, the grasping device is controlled to insert the target charging gun into the charging port of the vehicle to be charged; The insertion depth of the target charging gun is detected in real time, and when the insertion depth reaches a preset depth, the charging gun is docked with the vehicle to be charged.

6. The unmanned charging control method according to claim 5, characterized in that: After the charging gun is docked with the vehicle to be charged, the method further includes: The target charging pile is used to send a docking completion signal.

7. The unmanned charging control method according to claim 6, characterized in that: When the charging gun and the vehicle to be charged are docked, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a homing action, and the charging pile is controlled to charge the vehicle to be charged through the electrically connected charging gun, including: When the charging gun and the vehicle to be charged are docked, in response to the docking completion signal, the gripping device is controlled to release the target charging gun; When the gripping device completes the release, based on the visual positioning device, the six-degree-of-freedom robotic arm control mechanism is controlled to return to the preset position; and the target charging pile is controlled to start charging, and the vehicle to be charged is charged through the target charging gun electrically connected to the target charging pile.

8. The unmanned charging control method according to claim 7, characterized in that: After controlling the six-degree-of-freedom mechanical arm control mechanism to perform a homing action and controlling the charging pile to charge the vehicle to be charged through the electrically connected charging gun, the method further includes: Using the target charging pile, sending a full-charge signal; In response to the full-charge signal, the six-degree-of-freedom robotic arm control mechanism is sequentially controlled to perform a charging gun recovery action and a homing action, so as to control the target charging gun to move to the initial charging position and control the six-degree-of-freedom robotic arm control mechanism to return to the preset position.

9. The unmanned charging control method according to claim 8, characterized in that: In response to the full-charge signal, sequentially controlling the six-degree-of-freedom robotic arm control mechanism to perform a charging gun recovery action and a homing action, so as to control the target charging gun to move to the initial charging position and control the six-degree-of-freedom robotic arm control mechanism to return to the preset position, including: In response to the full-charge signal, based on the visual positioning device, control the six-degree-of-freedom robotic arm control mechanism to move from the preset position to the target charging position; When the six-degree-of-freedom robot arm control mechanism moves to the target charging position, based on the visual positioning device, the grasping device is controlled to grasp the target charging gun at the target charging position; and the six-degree-of-freedom robot arm control mechanism carrying the target charging gun is controlled to move from the target charging position to the initial charging position by using the visual positioning device; When the six-degree-of-freedom manipulator control mechanism carrying the target charging gun moves to the initial charging position, controlling the grasping device to release the target charging gun; When the gripping device completes the release, based on the visual positioning device, the six-degree-of-freedom robotic arm control mechanism is controlled to return from the initial charging position to the preset position.

10. An unmanned charging control device, characterized in that: Applied to an unmanned charging control system, the unmanned charging control system includes a six-degree-of-freedom robotic arm control mechanism, a charging gun and a charging pile, the charging gun and the charging pile are electrically connected; The device is used in the unmanned charging control method according to any one of claims 1 to 9, comprising: A grab control module, configured to, when a vehicle parking signal corresponding to a vehicle to be charged is obtained, control the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun grabbing action in response to the vehicle parking signal, so as to control the charging gun to move to a target charging position corresponding to the vehicle to be charged; A docking control module, used to control the six-degree-of-freedom mechanical arm control mechanism to perform a charging gun plugging and unplugging action when the charging gun moves to the target charging position corresponding to the vehicle to be charged, so as to control the charging gun to complete docking with the vehicle to be charged; The charging control module is used to control the six-degree-of-freedom robotic arm control mechanism to perform a homing action when the charging gun completes docking with the vehicle to be charged, and control the charging pile to charge the vehicle to be charged through the electrically connected charging gun.

11. A computer storage medium, characterized in that: The computer storage medium includes: at least one instruction, which implements the method steps in the unmanned charging control method according to any one of claims 1 to 9 when the instruction is executed by the computer.

12. An unmanned charging control system, characterized in that: It includes a six-degree-of-freedom robotic arm control mechanism, a charging gun and a charging pile, wherein the charging gun and the charging pile are electrically connected; It also includes a main controller, which is communicatively connected to the six-degree-of-freedom robotic arm control mechanism and the charging pile; The main controller is used for: When a vehicle parking signal corresponding to the vehicle to be charged is obtained, in response to the vehicle parking signal, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform a charging gun grabbing action to control the charging gun to move to a target charging position corresponding to the vehicle to be charged; When the charging gun moves to the target charging position corresponding to the vehicle to be charged, the six-degree-of-freedom mechanical arm control mechanism is controlled to perform the charging gun plugging and unplugging action, so as to control the charging gun to complete docking with the vehicle to be charged; When the charging gun completes docking with the vehicle to be charged, the six-degree-of-freedom robotic arm control mechanism is controlled to perform a homing action, and the charging pile is controlled to charge the vehicle to be charged through the electrically connected charging gun.

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