Automatic error correction device and method for walking positioning of guide rail type robot for orderly charging of new energy automobile

Abstract

The invention discloses a walking positioning automatic error correction device of a new energy automobile ordered charging guide rail type robot. The walking positioning automatic error correction device comprises a control system, a code scanning system, a driving system and a sensor. The control system exchanges data with the scanning system through a communication interface, and interacts with the driving system and the sensor through an I / O interface; the code scanning system is used for identifying the position code of each charging parking space so as to ensure the correctness of the charging target and the walking position of the robot; the sensor detects the walking direction of the robot, the driving system is used for driving the robot, the problem that in the prior art, walking positioning of a charging robot is inaccurate is solved, charging interruption caused by positioning errors is reduced, and the charging experience of a user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicle charging, and in particular to a walking positioning automatic error correction technology and implementation method of a rail-type charging robot. Background Art

[0002] With the popularity of new energy vehicles, the automation and intelligence of charging facilities have become the key to improving charging efficiency and user experience. Existing track-type charging robots may make mistakes when walking and positioning, resulting in charging interruptions and affecting user charging experience. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides an automatic error correction device and method for the walking positioning of a rail-type robot for orderly charging of new energy vehicles. The present invention aims to solve the problem of inaccurate walking positioning of the charging robot in the prior art, so as to reduce charging interruptions caused by positioning errors and improve the user's charging experience.

[0004] To achieve the above object, the present invention provides the following technical solutions: A walking positioning automatic error correction device for a rail-type robot for orderly charging of new energy vehicles comprises a control system, a code scanning system, a drive system and a sensor; the control system exchanges data with the scanning system through a communication interface, and interacts with the drive system and the sensor through an I / O interface; the code scanning system is used to identify the position code of each charging parking space to ensure the correctness of the charging target and the robot's walking position; the sensor detects the walking direction of the robot, and the drive system is used to drive the robot.

[0005] As a further solution of the present invention, the driving system is used to drive the walking mechanism, thereby driving the robot to move on the track.

[0006] As a further solution of the present invention, a positive limit and a reverse limit are provided on the track. The sensor determines whether the walking process detected by the robot is wrong through the positive limit and the reverse limit, and automatically reverses when the limit is touched.

[0007] As a further aspect of the present invention, the control system is responsible for coordinating and controlling all operations and functions of the robot.

[0008] The present invention also provides a walking positioning automatic error correction method for a rail-type robot for orderly charging of new energy vehicles, comprising the following steps: Step S1: The robot determines its walking direction according to the current position and task instructions. The robot needs to decide whether to walk forward or backward; Step S2: According to the determination result, the robot starts to walk along the guide rail in the specified direction; Step S3: During the walking process, the robot detects whether it has reached the physical limit position of the guide rail through the forward limit sensor and the reverse limit sensor. If the robot reaches the limit position, the position correction step will be executed; Step S4: The robot automatically adjusts and updates the current actual position through the built-in error correction algorithm. After the position is corrected, the robot continues to move until it reaches the target charging parking space specified by the task; Step S5: After reaching the vicinity of the target position, the robot uses the code scanning system to identify the current actual position. The robot compares the position identified by the code scanning with the target position specified by the task. If the position identified by the code scanning is consistent with the target position, the robot will start the charging operation; if the positions do not match, the robot will perform the position correction step again, and then repeat the process of code scanning and position comparison.

[0009] As a further solution of the present invention, the positive limit usually corresponds to the maximum parking space number, and the reverse limit corresponds to the minimum parking space number.

[0010] The present invention has the following beneficial effects: The present invention solves the problem of avoiding positioning errors. Through a closed-loop automatic error correction algorithm, positioning errors of the robot during task execution are avoided; the user experience is improved, charging interruptions caused by positioning errors are reduced, and the user's charging experience is improved.

[0011] The entire process of the present invention is highly automated, and the robot can independently complete walking positioning and error correction. Error correction mechanism: The built-in error correction algorithm can ensure that the robot automatically corrects deviations during walking to avoid errors. Closed-loop feedback: The process includes a closed-loop feedback mechanism. If the position recognition is wrong, the robot will re-correct the position until the positioning is accurate.

[0012] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1-Figure 2 This is a module schematic diagram of a walking positioning automatic error correction device for a rail-type robot for orderly charging of new energy vehicles mentioned in the present invention.

[0014] Figure 3 The present invention is a flowchart of an automatic error correction method for walking positioning of a rail-type robot for orderly charging of new energy vehicles mentioned in the present invention. DETAILED DESCRIPTION

[0015] The present invention will be further explained below in conjunction with the accompanying drawings and related knowledge, and described clearly and completely. Obviously, the described application is only a part of the embodiments of the present invention, rather than all the embodiments.

[0016] Reference Figure 1-Figure 2 As shown, the present invention provides a walking positioning automatic error correction device for a rail-type robot for orderly charging of new energy vehicles, including a control system, a code scanning system, a drive system and a sensor; the control system exchanges data with the scanning system through a communication interface, and interacts with the drive system and the sensor through an I / O interface; the code scanning system is used to identify the position code of each charging parking space to ensure the correctness of the charging target and the robot's walking position; the sensor detects the walking direction of the robot, and the drive system is used to drive the robot.

[0017] The control system of the present invention: as the core part, it is responsible for the overall management and coordination of the entire robot. It receives information from the code scanning system, sensors, etc., analyzes and processes it, and then issues instructions to the drive system, etc. to realize the robot's walking, positioning and error correction operations, and ensure that the robot runs accurately according to the predetermined task and path. The code scanning system: The main function is to identify the position code of each charging parking space. By scanning the specific code on the parking space, the position information is transmitted to the control system, so that the control system can clearly understand the current position of the robot and the position of the target charging parking space, thereby ensuring the accuracy of the charging target and the correctness of the robot's walking position, and providing basic data for the robot's path planning and positioning. Drive system: Under the command of the control system, it provides power to the robot and drives the robot to move on the guide rail so that it can reach the target charging parking space from the current position, including motors, transmission devices and other components to ensure the smooth and accurate movement of the robot. Sensor: used to detect the walking direction of the robot, including direction sensors, gyroscopes and other types. Monitor the walking state of the robot in real time and feed back the direction information to the control system. When the robot's walking direction deviates, the control system corrects errors based on the information fed back by the sensor and adjusts the drive system to return the robot to the correct walking path. The various parts of the present invention work together to realize the automatic error correction function of the walking positioning of the rail-type robot for orderly charging of new energy vehicles, improve the automation and accuracy of charging, and have high application value.

[0018] Reference Figure 1 and Figure 2As shown in the figure, the charging robot-walking positioning automatic error correction system consists of: control system: as the core of the entire charging robot, it is responsible for coordinating and controlling all operations and functions of the robot. Communication interface: used for data exchange between the robot controller and the RFID reader. I / O interface: provides input and output functions, allowing the robot controller to interact with external devices. Scanning system: used to identify the location code of each charging parking space to ensure the correctness of the charging target and the robot's walking position. Drive system: enables the robot to move to the specified position. Limit sensor: used for the robot to detect whether there is an error in the walking process, and automatically reverses when touching the limit position. Walking mechanism: enables the robot to move on the track. Specifically: Control system: The hardware part includes the central processing unit (CPU), microcontroller (MCU), etc., which are responsible for executing instructions and data processing. The software contains various control algorithms and programs, which can coordinate the robot's motion control, such as planning paths, controlling speed and direction; managing charging operations, such as connecting charging piles and controlling charging power; and can also perform status monitoring and fault diagnosis, real-time monitoring of the robot's power and the operating status of each component, and timely alarm or take emergency measures when faults are found. Communication interface: It is the bridge for the robot to communicate with external devices. Common types include RS232, RS485, USB, Ethernet interface, etc. When communicating with the RFID reader, it can read the information in the RFID tag, such as parking space number, vehicle information, etc. It can also use wireless communication methods such as Wi-Fi, Bluetooth, ZigBee, etc. to achieve data interaction with the host computer or other devices, which is convenient for remote monitoring and management. I / O interface: As the link between the robot and external devices, there are digital input and output interfaces, which can receive external switch signals and sensor signals, such as limit sensor signals, button signals, etc., and can also control the switch of external devices, such as controlling the plug-in and unplug action of the charging gun and the on and off of the indicator light; there are also analog input and output interfaces, which can collect analog signals, such as battery voltage and current signals, and can also output analog signals to control the motor speed, steering gear angle, etc. Scanning system: It can quickly and accurately read the QR code or barcode on the charging parking space to obtain information such as location code. The information read by the barcode scanner is decoded and processed, converted into instructions that the robot can understand, and the robot is guided to accurately dock at the target charging parking space. It can also cooperate with the control system to update the robot's position information in real time to ensure the accuracy of the walking path. Drive system: mainly composed of motors, drivers, reducers, etc. The motor is the power source of the drive system, including DC motors, AC motors, stepper motors, etc., which provide power for the robot. The driver is used to control the operation of the motor and can adjust the speed, direction and torque of the motor. The reducer converts the high speed and low torque of the motor into low speed and high torque to meet the robot's movement requirements, so that the robot can move accurately to the specified position according to the instructions of the control system, and realize straight-line walking, turning and other actions.Limit sensors: Generally, there are mechanical, photoelectric, and electromagnetic types. Mechanical limit sensors detect whether the robot has reached the limit position by connecting and disconnecting mechanical contacts; photoelectric limit sensors use the emission and reception of light, and trigger signals when the light is blocked or reflected; electromagnetic limit sensors work based on the principle of electromagnetic induction. When the robot touches the limit position, the sensor will immediately send a signal to the control system. After receiving the signal, the control system will control the robot to automatically reverse to prevent the robot from exceeding the safety range and prevent accidents such as collisions and derailment.

[0019] Reference Figure 3 As shown, a walking positioning automatic error correction method for a rail-type robot for orderly charging of a new energy vehicle comprises the following steps: Step S1: The robot determines its walking direction according to the current position and task instructions. The robot needs to decide whether to walk forward or backward; Step S2: According to the result of the determination, the robot starts to walk along the guide rail in the specified direction. The robot obtains the current location information by relying on its own position perception system, and compares and analyzes the location of the target charging parking space in the received task instruction to determine the walking direction. Step S3: During the walking process, the robot detects whether it has reached the physical limit position of the guide rail through the forward limit and reverse limit sensors. If the robot reaches the limit, the position correction step will be executed. After determining the walking direction, the robot's drive system and walking mechanism start working and move along the guide rail in the established direction. The forward limit and reverse limit sensors are the key to ensure that the robot can walk safely within the specified range of the guide rail. When the robot approaches the physical limit position of the guide rail, the sensor will detect it in time and trigger the position correction mechanism to prevent the robot from exceeding the range of the guide rail and causing failures or safety problems; Step S4: The robot automatically adjusts and updates the current actual position through the built-in error correction algorithm. After the position is corrected, the robot continues to move until it reaches the target charging parking space specified in the task. The error correction algorithm is one of the core functions of the robot. When it detects that the position needs to be corrected, the algorithm will calculate the appropriate adjustment amount based on the current state of the robot, the limit situation and other factors, and automatically update the current actual position, so that the robot returns to the correct walking path and continues to move towards the target; Step S5: After reaching the vicinity of the target position, the robot uses the code scanning system to identify the current actual position. The robot compares the position identified by the code scanning with the target position specified by the task. If the position identified by the code scanning is consistent with the target position, the robot will start the charging operation; if the position does not match, the robot will perform the position correction step again, and then repeat the process of code scanning and position comparison. The code scanning system plays a role in precise positioning in this step. After reaching the vicinity of the target position, the current actual position information is obtained by scanning the position code of the charging parking space, and accurately compared with the target position specified by the task. If the position is consistent, it means that the robot has accurately reached the target and can start the charging operation; if it is inconsistent, the position correction step is performed again to ensure that the robot can accurately align with the target charging parking space.

[0020] The present invention achieves improved positioning accuracy: through multi-step detection and correction, it can effectively reduce the position deviation of the robot during walking, ensure accurate arrival at the target charging parking space, and improve the success rate of charging operations. Enhance system reliability: The combination of limit sensors and error correction algorithms enables the robot to self-correct in a timely manner when encountering situations beyond the normal range, reducing the risk of system failure caused by position deviation and ensuring the stable operation of the charging system. Adapt to different scenarios: This method can adapt to charging rail systems of various layouts and environments. No matter how the shape and length of the rails change, the robot can accurately complete the task through its own positioning and error correction functions.

[0021] Specifically include: Figure 3 As shown: Charging robot - walking positioning automatic error correction implementation method: Process description: Start, the starting point of the process, the robot waits to receive the charging task.

[0022] Received a task? Determine whether the robot has received a charging task. If the task is not received, the process will pause or return to the start state; if the task is received, the process continues.

[0023] Determine the walking direction? The robot determines its walking direction based on its current position and task instructions. The robot needs to decide whether to walk forward or backward.

[0024] Forward walking / reverse walking, according to the judgment result, the robot starts walking along the guide rail in the specified direction.

[0025] Positive limit / negative limit During the robot's movement, the positive limit and negative limit sensors detect whether it has reached the physical limit position of the guide rail. The positive limit usually corresponds to the maximum parking space number, and the negative limit corresponds to the minimum parking space number. If the robot reaches the limit, the position correction step will be performed.

[0026] Correct the current position. The robot automatically adjusts and updates the current actual position through the built-in error correction algorithm.

[0027] Move to the target position: After the position is corrected, the robot continues to move until it reaches the target charging parking space specified in the task.

[0028] Scan the code to identify the location. After reaching the vicinity of the target location, the robot uses the code scanning system to identify the current actual location.

[0029] Scanning position = target position? The robot compares the position identified by the scanned code with the target position specified by the task. If the position identified by the scanned code is consistent with the target position, the robot will start to perform the charging operation. If the positions do not match, the robot will perform the position correction step again and then repeat the process of scanning code identification and position comparison.

[0030] End,Once the robot successfully locates the target position, the process ends.

[0031] The automatic error correction process of the present invention has the following features: 1. Automation: the entire process is highly automated, and the robot can independently complete walking positioning and error correction. 2. Error correction mechanism: the built-in error correction algorithm can ensure that the robot automatically corrects deviations during walking to avoid errors. 3. Closed-loop feedback: the process includes a closed-loop feedback mechanism. If the position recognition error is made, the robot will re-correct the position until the positioning is accurate.

[0032] The technical principle of the present invention is described above in combination with the specific embodiments, which are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments, and all technical solutions under the idea of ​​the present invention belong to the protection scope of the present invention. Those skilled in the art can think of other specific implementations of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. A walking positioning automatic error correction device for a rail-type robot for orderly charging of new energy vehicles, characterized in that: It includes a control system, a code scanning system, a drive system and a sensor; the control system exchanges data with the scanning system through a communication interface, and interacts with the drive system and the sensor through an I / O interface; the code scanning system is used to identify the position code of each charging parking space to ensure the correctness of the charging target and the robot's walking position; the sensor detects the robot's walking direction, and the drive system is used to drive the robot.

2. The walking positioning automatic error correction device of a rail-type robot for orderly charging of new energy vehicles as claimed in claim 1 is characterized in that: The driving system is used to drive the walking mechanism, thereby driving the robot to move on the track.

3. The walking positioning automatic error correction device of the rail-type robot for orderly charging of new energy vehicles as described in claim 2 is characterized in that: Positive limit and reverse limit are set on the track. The sensor determines whether the walking process detected by the robot is wrong through the positive limit and reverse limit, and automatically reverses when the limit is touched.

4. The walking positioning automatic error correction device of the rail-type robot for orderly charging of new energy vehicles as claimed in claim 3 is characterized in that: The control system is responsible for coordinating and controlling all operations and functions of the robot.

5. A walking positioning automatic error correction method for a rail-type robot for orderly charging of new energy vehicles, characterized in that: The following steps are involved: Step S1: The robot determines its walking direction according to the current position and task instructions. The robot needs to decide whether to walk forward or backward; Step S2: According to the determination result, the robot starts to walk along the guide rail in the specified direction; Step S3: During the walking process, the robot detects whether it has reached the physical limit position of the guide rail through the forward limit sensor and the reverse limit sensor. If the robot reaches the limit position, the position correction step will be executed; Step S4: The robot automatically adjusts and updates the current actual position through the built-in error correction algorithm. After the position is corrected, the robot continues to move until it reaches the target charging parking space specified by the task; Step S5: After reaching the vicinity of the target position, the robot uses the code scanning system to identify the current actual position. The robot compares the position identified by the code scanning with the target position specified by the task. If the position identified by the code scanning is consistent with the target position, the robot will start to perform the charging operation; If the positions do not match, the robot will perform the position correction step again and then repeat the process of scanning code recognition and position comparison.

6. The walking positioning automatic error correction device of the rail-type robot for orderly charging of new energy vehicles as claimed in claim 5 is characterized in that: The positive limit usually corresponds to the maximum parking space number, and the negative limit corresponds to the minimum parking space number.

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