Robot

Abstract

The invention relates to a vehicle automatic charging and inflating robot, which comprises an information acquisition module for acquiring vehicle electric quantity or tire pressure information, and controlling charging or inflating after judging a threshold value; the motion control module drives the robot to a charging or inflating interface of the vehicle; the charging module charges a vehicle through a charging gun; the inflation module inflates vehicle tires through an inflation pump. The positioning module realizes accurate identification and positioning of the interface through double positioning units; the clamping and fixing module grabs and fixes a charging gun or an inflation pump. According to the robot, vehicle end transformation is not needed, charging and inflation functions are integrated, automatic charging, tire pressure monitoring and inflation are achieved through intelligent judgment, accurate butt joint and closed-loop control, the intelligent experience is improved, safety is ensured, and the use cost is reduced.

Description

Technical Field:

[0001] The present invention belongs to the field of robots, and particularly relates to an automatic charging and inflating robot for vehicles. Background Art:

[0002] With the popularization of electric vehicles, the charging and maintenance requirements of vehicles are increasing day by day. Traditional charging devices usually only have the charging function, while the tire maintenance of vehicles (such as tire pressure monitoring and automatic inflation) often requires additional devices and manual operations, which not only increases the usage cost of users, but also reduces the intelligent experience. In addition, in the prior art, tire pressure monitoring devices usually need to install hardware on the vehicle end, increasing the vehicle modification cost and maintenance complexity. Summary of the Invention:

[0003] An embodiment of the present application provides a robot, which can realize the automatic charging of the vehicle, the tire pressure monitoring and automatic inflation functions without modifying the vehicle end by integrating an information acquisition module, a motion control module, a charging module, an inflation module and a positioning module, improving the intelligent experience and reducing the usage cost.

[0004] The information acquisition module is used to acquire the power information of the vehicle or the tire pressure information of the tire. The information acquisition module acquires the power and tire pressure information of the vehicle in a wireless manner or through the charging interface respectively through the wireless communication unit or the interface communication unit to ensure real-time monitoring of the vehicle state.

[0005] The motion control module includes a driving motor and a pose adjustment unit, which are used to drive the robot to move to the charging interface or the inflation interface of the vehicle and adjust the position of the robot to achieve precise docking, ensuring the smooth progress of the charging and inflation processes.

[0006] The charging module includes a charging gun and a power detection unit, which are used to dock with the charging interface of the vehicle and charge the vehicle. When the power reaches the preset range, the charging gun stops charging to avoid overcharging and ensure the safety and efficiency of the charging process.

[0007] The inflation module includes an air pump and a pressure detection unit, which are used to dock with the inflation interface of the vehicle and inflate the vehicle tire. When the tire pressure reaches the preset range, the air pump stops inflating to ensure that the tire pressure is moderate and improve driving safety.

[0008] The positioning module includes a first positioning unit and a second positioning unit, which respectively collect images at different positions, identify the characteristics of the charging interface or the inflation interface, control the robot to move to the target position and complete precise docking to ensure the reliability of the operation.

[0009] The clamping and fixing module is used to clamp and fix the charging module and the inflating module, ensuring the stability and reliability of the device during operation and preventing the device from loosening or falling off during movement.

[0010] The embodiments of this application have the following advantages:

[0011] Intelligent integration: Integrates the charging and inflating functions, realizes automatic charging and intelligent inflation of the vehicle, reduces manual intervention, and improves the user experience.

[0012] No need for vehicle-end modification: Real-time obtains vehicle information through the information acquisition module, without installing hardware devices at the vehicle end, reducing the vehicle modification cost and maintenance complexity.

[0013] Precise docking: Utilizes the positioning module to achieve precise docking of the charging interface and the inflating interface, ensuring the reliability of the operation and improving the work efficiency.

[0014] Efficient and convenient: The whole process from tire pressure monitoring to inflation completion is intelligently controlled without manual intervention, improving the efficiency of charging and tire maintenance.

[0015] High safety: Real-time monitors the vehicle status through the abnormal state detection module, ensuring the safety of the charging and inflating processes and preventing accidents. Description of the drawings:

[0016] Figure 1 It is a schematic structural diagram of a robot provided by an embodiment of this application;

[0017] Figure 2 It is a schematic diagram of a robot provided by an embodiment of this application

[0018] Figure 3 It is a flowchart of a method for automatic inflation of a robot provided by an embodiment of this application; Detailed implementation manners:

[0019] In the description of this application, "a plurality" means two or more. "At least one" means one or more. " / ", describing the association relationship of associated objects, indicates that there can be three relationships. For example, A and / or B can indicate: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. Terms such as "first" and "second" are only used for the purpose of distinguishing descriptions and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0020] Next, the embodiments of this application will be described in detail with reference to the drawings.

[0021] See Figure 1, which is a schematic structural diagram of a robot provided by an embodiment of the present application, including:

[0022] An information acquisition module S110, configured to acquire the power information or tire pressure information of the vehicle. Specifically, the information acquisition module S110 includes a wireless communication unit S111 and an interface communication unit S112.

[0023] Among them, the wireless communication unit S111 is used to acquire the power information of the vehicle and / or the tire pressure information of the tires through wireless communication. The wireless communication methods include but are not limited to Bluetooth, Wi-Fi, 4G / 5G, and vehicle-to-everything (V2X) technology, etc.

[0024] In some embodiments, the wireless communication unit S111 acquires the power information of the vehicle and / or the tire pressure information of the tires through Bluetooth, which is applicable to scenarios where the distance between the vehicle and the wireless communication unit S111 is relatively close. For example, after the vehicle enters the parking lot or charging area, the wireless communication unit S111 can quickly establish a connection with the vehicle through Bluetooth to acquire real-time tire pressure and power information.

[0025] Specifically, the Bluetooth technology is based on a short-range wireless communication protocol to establish a communication connection between the vehicle and the wireless communication unit S111. The tire pressure monitoring system (TPMS) and battery management system (Battery Management System ， BMS) of the vehicle can broadcast the tire pressure and power data in a specific data format through the Bluetooth protocol. The wireless communication unit S111 is equipped with a Bluetooth receiving module, which can search for and identify these broadcast signals, and then decode and analyze the signals to obtain accurate tire pressure and power information.

[0026] In some other embodiments, the wireless communication unit S111 acquires the power information of the vehicle and / or the tire pressure information of the tires through V-to-X technology.

[0027] Specifically, the vehicle can upload its own tire pressure and power information to the vehicle network platform through the V2X communication module. The wireless communication unit S111 can access the vehicle network platform to acquire relevant information of the vehicle.

[0028] Among them, the interface communication unit S112 is used to connect to the vehicle through the charging interface to acquire the power information of the vehicle and / or the tire pressure information of the tires.

[0029] In some embodiments, the charging interface is connected to the TPMS system via the in-vehicle CAN bus, requests tire pressure data from the vehicle through the ISO15118 protocol, the body control module forwards the request to the TPMS control unit, and the TPMS control unit aggregates the data of each tire and encrypts and transmits it.

[0030] Specifically, the charging interface serves as a two-way channel for electric energy and data, and its data interaction is realized through dedicated pins and a protocol stack. Taking the national standard GB / T 27930 charging interface as an example: The CC pin (Control Confirmation) is used to detect the connection status of the charging gun, and the connection or disconnection is judged by the resistance value; the CP pin (Control Pilot) uses a PWM signal for charging handshake and supports the ISO 15118 protocol stack to realize the identity authentication between the vehicle and the charging device.

[0031] The protocol stack architecture includes: an application layer for defining the content of data interaction; a transport layer: using the TCP / IP protocol to achieve reliable data transmission; a physical layer: improving the anti-interference ability through differential signals.

[0032] The information acquisition module S110 is also used to judge whether the power information of the vehicle is lower than a preset charging threshold, or whether the tire pressure information is lower than a preset inflation threshold; if the power information is lower than the preset charging threshold, the charging module is controlled to charge the vehicle; if the tire pressure information is lower than the preset inflation threshold, the inflation module is controlled to inflate the vehicle tires.

[0033] It can be understood that the information acquisition module S110 has preset the charging threshold and the inflation threshold, which are used as the benchmarks for judging the charging and inflation requirements of the vehicle.

[0034] In some embodiments, the charging threshold can be in the range of 15%-20% of the total vehicle power, and this threshold can be adjusted according to the differences in vehicle types and usage scenarios.

[0035] The inflation threshold can be set in the range of 80%-85% of the vehicle's standard tire pressure, and this threshold supports dynamic adjustment according to the specific model of the vehicle, the actual usage environment, and the user's personalized preferences.

[0036] After the information acquisition module S110 obtains the power information and tire pressure information of the vehicle, it compares and analyzes them with the preset thresholds. In the power judgment link, if the obtained power information is lower than the preset charging threshold, the module determines that the vehicle is in a low-power state and needs to be charged, and records this charging requirement. In terms of tire pressure judgment, when the obtained tire pressure information is lower than the preset low-pressure threshold, the module determines that the tire pressure is insufficient and needs to be inflated, and records this inflation requirement.

[0037] If the vehicle's battery level is lower than the charging threshold, the information acquisition module S110 sends a charging control instruction to the charging module. This instruction may include information such as the vehicle's current battery level and charging requirements. After receiving the instruction, the charging module quickly docks with the vehicle's charging interface and starts the charging process.

[0038] If the tire pressure is lower than the inflation threshold, the information acquisition module S110 sends an inflation control instruction to the inflation module. The instruction may include information such as the current tire pressure and the target tire pressure. After receiving the instruction, the inflation module quickly moves to the inflation interface of the vehicle tire to complete the docking and starts inflating the tire.

[0039] The motion control module S120 is used to drive the robot to move to the vehicle's charging interface or inflation interface. Specifically, the motion control module S120 includes a drive motor S121 and a pose adjustment unit S122.

[0040] In some embodiments, the drive motor S121 can be a DC brushless motor. It can be understood that the drive motor S121 converts electrical energy into mechanical energy based on the principle of electromagnetic induction and is the power source for the robot to move. The control signal of the drive motor S121 is sent by the information acquisition module S110. The information acquisition module S110 calculates the required motion direction and speed based on the received target position information and the current position information of the robot, and sends the corresponding control instruction to the drive motor S121.

[0041] The main function of the pose adjustment unit S122 is to adjust the position and pose of the robot to achieve precise docking with the vehicle's charging interface or inflation interface. It realizes the adjustment of position and pose through a multi-degree-of-freedom motion mechanism (such as a robotic arm, joints, etc.). The pose adjustment unit S122 receives the vehicle interface position information from the positioning module and the current pose information of the robot, calculates the angles and displacement amounts that need to be adjusted through algorithms, and controls the corresponding actuators to act.

[0042] In some embodiments, when the motion control module S120 receives an instruction to move to the vehicle's charging interface or inflation interface, the main control unit first plans the robot's movement path based on the target position information. Then, it sends a control instruction to the drive motor S121, and the drive motor S121 drives the robot to move along the planned path according to the instruction. During the movement, the drive motor S121 feeds back the operating state of the motor in real time through an encoder, and the main control unit adjusts the rotation speed and direction of the motor according to the feedback information to ensure that the robot accurately moves towards the target position.

[0043] When the robot approaches the target position, the pose adjustment unit S122 starts to work. The pose adjustment unit S122 receives the accurate position information of the vehicle interface provided by the positioning module and the pose information of the current robot, calculates the angles and displacement amounts that need to be adjusted through algorithms, and then controls the corresponding actuators to act, gradually adjusting the position and pose of the robot to align it with the vehicle charging interface or inflation interface. During the docking process, the pose adjustment unit S122 continuously monitors the docking situation and makes fine adjustments according to the actual situation until precise docking is achieved.

[0044] The charging module S130 is used to dock with the charging interface of the vehicle to charge the vehicle. It can be understood that the charging module S130 interacts with the vehicle charging system through a standardized interface protocol to achieve the charging operation. The charging module S140 includes a charging gun S131 and a power detection unit S132.

[0045] In some embodiments, the charging nozzle of the charging gun S131 can be combined with magnetic adsorption positioning to ensure precise docking; the connection state is detected by the change of the CC pin resistance of the charging nozzle; an internal sensor is used to monitor the insertion depth of the interface in real time to ensure complete contact of the terminals.

[0046] In the pre-charging stage, the charging gun S131 performs identity authentication with the vehicle BMS through the ISO 15118-20 protocol to verify the legality of the digital certificate. The negotiated charging parameters may include the maximum current, target voltage, charging termination threshold (State of Charge, SOC), etc.

[0047] In some embodiments, the charging gun S131 can adopt a three-stage charging strategy: for example, within the range of SOC from 0% to 30%, constant current charging is adopted; within the range of SOC from 30% to 80%, constant power charging is adopted; within the range of SOC from 80% to 95%, constant voltage charging is adopted.

[0048] The power detection unit S132 monitors and adjusts the charging process in real time. In some embodiments, the power detection unit S132 may include using a current sensor to monitor the charging current in real time and using a voltage sensor to monitor the charging voltage in real time.

[0049] In some embodiments, when SOC≥95% or the charging time exceeds 1 hour, the electromagnetic lock of the charging gun S131 is automatically released to stop charging.

[0050] The inflation module S140 is used to dock with the inflation interface of the vehicle and inflate the vehicle tires, which includes an air pump S141 and a pressure detection unit S142.

[0051] In some embodiments, the inflation module S140 can also be docked with the inflation interface of the vehicle tire by magnetic attraction. The inflation nozzle part uses a sealing ring to ensure no leakage during the inflation process, and the pressure detection unit S142 monitors the sealing state at the interface in real time.

[0052] In some embodiments, the pressure detection unit S142 includes, but is not limited to, a pressure sensor, a temperature sensor, a data processing module, and a communication interface.

[0053] Among them, the pressure sensor is used to measure the air pressure inside the tire in real time, and the temperature sensor is used to detect the temperature of the tire. It can be understood that the tire air pressure will change with the temperature. Measuring the temperature can perform air pressure compensation and precisely control the inflation amount during the inflation process.

[0054] The data processing module can use a microcontroller, which is responsible for receiving the data collected by the pressure sensor and the temperature sensor, processing and analyzing them, and performing intelligent control and decision-making on the inflation process according to the preset algorithms and logics.

[0055] The communication interface is used for data interaction and communication with other units of the inflation module S140 (such as the inflation pump S141) and the central control system of the vehicle. Through this interface, the pressure detection unit S142 can obtain relevant information of the vehicle (such as the standard tire pressure value) and feedback the detected real-time data to other systems.

[0056] Before starting inflation, the pressure detection unit S142 performs self-check to ensure that each sensor and communication interface are working properly. At the same time, relevant information such as the standard tire pressure value of this tire is obtained from the central control system of the vehicle through the communication interface.

[0057] After the inflation nozzle is docked with the tire inflation interface, the pressure sensor and the temperature sensor immediately start to collect the initial air pressure and temperature data of the tire and transmit them to the data processing module.

[0058] The data processing module calculates the amount of gas to be filled according to the collected initial data and the standard tire pressure value, combined with the air pressure compensation algorithm (considering the influence of temperature on air pressure).

[0059] During the inflation process, the pressure sensor and the temperature sensor continuously collect the air pressure and temperature data of the tire in real time. The data processing module analyzes these data in real time, continuously compares the difference between the current air pressure and the target air pressure, and dynamically adjusts the working parameters of the inflation pump according to the difference.

[0060] When the tire air pressure reaches the target value and the data collected continuously for multiple times remains stable, the data processing module determines that the inflation process is over and sends a signal of inflation completion to other systems through the communication interface.

[0061] Based on the collected data and calculation results, the pressure detection unit S142 sends control instructions to the inflator S141 through the communication interface to precisely control parameters such as the start, stop, inflation flow rate, and inflation time of the inflator. The inflator S141 then operates according to these instructions to achieve the inflation operation of the tire. At the same time, the working status of the inflator S141 (such as whether it is operating normally, the actual inflation flow rate, etc.) is also fed back to the inflation detection unit for real-time monitoring and adjustment.

[0062] The inflation nozzle is responsible for docking and sealing with the tire inflation interface to ensure the tightness of the inflation process. After the inflation nozzle is docked, the inflation detection unit detects the air pressure change at the interface through the pressure sensor to determine whether the docking is successful and whether the seal is good. If abnormal docking or poor sealing is detected, the inflation detection unit will send corresponding signals to prompt re-docking or fault handling.

[0063] The pressure detection unit S142 conducts data interaction with the vehicle's central control system through the communication interface. It can obtain relevant information such as the standard tire pressure value and tire type of the vehicle from the central control system, and at the same time feedback the real-time data (such as air pressure, temperature, inflation status, etc.) during the inflation process to the central control system. The central control system can monitor and manage the entire inflation process based on this feedback data, and can send instructions to the inflation detection unit to intervene and adjust the inflation process when necessary.

[0064] The positioning module S150 is used to identify and locate the charging interface or inflation interface of the vehicle. Specifically, it includes a first positioning unit S151 and a second positioning unit S152.

[0065] The first positioning unit S151 is used to collect a first image at a first position, identify the characteristics of the charging interface or inflation interface based on the first image, and control the robot to move to a position close to the charging interface or inflation interface.

[0066] It can be understood that the first positioning unit S151 collects the first image of the vehicle at a relatively far first position, uses image processing and pattern recognition technologies to identify the characteristics of the charging interface or inflation interface from the image, and then controls the robot to move in the direction close to the target interface.

[0067] In some embodiments, a high-definition camera is used as the image acquisition device, which has characteristics such as high resolution and wide viewing angle, and can collect clear and complete vehicle images at a relatively long distance. For example, a camera with a resolution of 4K (3840×2160) pixels is selected to effectively capture the detailed information of the vehicle.

[0068] The first position is generally within a range of several meters to more than ten meters from the vehicle. At this position, the camera can obtain an image containing the overall outline of the vehicle and the approximate interface position.

[0069] Use image processing algorithms to preprocess the first acquired image, including operations such as grayscale conversion, filtering, and edge detection, to enhance the feature information of the image. Then, extract the key features of the charging interface or inflation interface, such as shape, color, texture, etc., through feature extraction algorithms.

[0070] Match the extracted features with the templates of the pre-stored charging interface or inflation interface to determine the position of the target interface in the image. By calculating the similarity between the features, find the most matching template, so as to identify the approximate position of the charging interface or inflation interface.

[0071] The first positioning unit S151 calculates the direction and distance that the robot needs to move according to the identified position information of the charging interface or inflation interface, and sends a control instruction to the motion control module. The motion control module drives the robot to move in the direction close to the target interface, so that the robot gradually approaches the target interface.

[0072] The second positioning unit S152 is used to collect a second image at a position close to the charging interface or inflation interface, identify the features of the charging interface or inflation interface according to the second image, and control the robot to move to the position of the charging interface or inflation interface and dock with the charging interface or inflation interface.

[0073] It can be understood that when the robot moves to a position close to the charging interface or inflation interface under the control of the first positioning unit S151, the second positioning unit S152 starts to work. It collects a second image at this closer position, performs more refined processing and analysis on the image to accurately identify the features of the charging interface or inflation interface, and controls the robot to accurately move to the position of the target interface and complete the docking.

[0074] In some embodiments, the second positioning unit S152 can also use a high-definition camera for image acquisition, and can adjust the parameters of the camera, such as focal length, aperture, etc., according to actual needs to obtain a clearer and more accurate image of the target interface. Further process the acquired second image to extract more refined features, such as the edges, holes, markings, etc. of the interface. By analyzing the feature information, obtain the posture of the charging interface or inflation interface, including position, angle, orientation, etc.

[0075] The second positioning unit S152 calculates the fine-tuning actions that the robot needs to perform, such as translation, rotation, etc., based on the accurate position and attitude information of the identified charging interface or inflation interface, and sends control instructions to the motion control module. The motion control module drives the robot to perform accurate position and attitude adjustments, so that the docking component of the robot is accurately docked with the target interface.

[0076] In practical applications, due to environmental factors (such as light changes, obstacles, etc.) and equipment accuracy limitations, there may be certain errors in the positioning process.

[0077] In some embodiments, to improve the accuracy of positioning, the positioning module may adopt an error compensation and correction mechanism.

[0078] For example, perform correction processing on the collected images to eliminate the influence of factors such as image distortion and uneven illumination;

[0079] Through camera calibration technology, obtain the internal and external parameters of the camera, perform distortion correction and brightness adjustment on the images, and improve the quality of the images and the accuracy of feature recognition;

[0080] During the positioning process, perform multiple image acquisitions and feature recognitions, and analyze and compare the recognition results of each time. If it is found that there are large differences between the recognition results of multiple times, the results will be further verified and corrected to reduce errors;

[0081] During the movement and docking of the robot, real-time monitor the position and attitude information of the robot, and compare it with the target position and attitude. If a deviation is found, adjust the control instructions in a timely manner, and correct the movement and attitude of the robot to ensure that accurate docking can be achieved finally.

[0082] The clamping and fixing module S160 is used to clamp and position-fix the charging module S130 or the inflation module S140, and is arranged in the pose adjustment unit S122, and may include:

[0083] Mechanical clamping mechanism: Adopt high-rigidity alloy jaws with an anti-slip rubber layer on the surface, which are used to adapt to the different equipment shapes of charging guns and inflators, support adjustable structures such as parallel jaws and adaptive jaws, and take into account the requirements of friction and anti-scratch.

[0084] Detection and feedback component: Integrate a pressure sensor and a position sensor. The pressure sensor monitors the clamping force to prevent overpressure, and the position sensor feedbacks the jaw state to ensure accurate actions.

[0085] After receiving the instruction, the driving unit drives the gripper to act, realizing the clamping function. When clamping the charging gun, the gripper adaptively adjusts the opening degree, and the pressure sensor monitors the clamping force to the preset value to firmly fix the device. After the clamping module, it cooperates with the pose adjustment unit S122 to fix the position. When the robotic arm adjusts its pose, the module ensures no displacement of the charging / inflating module through rigid connection. For example, when the inflating nozzle docks with the tire inflation interface, it maintains the stability of the module and improves the docking accuracy.

[0086] It works in cooperation with the pose adjustment unit S122. When the pose adjustment unit plans the path, the clamping and fixing module S160 feeds back the clamping state, and adjusts the motion parameters accordingly. When carrying the air pump S141, the pose adjustment unit S122 reduces the speed to cooperate with the clamping and fixing module S160 to stably fix the air pump S141.

[0087] See Figure 2 , which is a schematic diagram of a robot provided by an embodiment of the present application, including:

[0088] Communication module S201, first positioning module S202, second positioning module S203, robotic arm module S204, clamping module S205, first fixing buckle S206, air pump S207, inflating nozzle S208, second fixing buckle S209, charging gun S210, charging nozzle S211, support S212, steering base S213, slide rail S214, steering module S215.

[0089] The robot in this embodiment uses the slide rail as the basic moving platform, constructs the installation foundation of the robotic arm module S204 through the steering base S213 and the support S212, and realizes multi-functional operations in combination with the communication module S201, the first camera module S202, the second camera module S203, the inflating module, and the charging module. The connection relationships of each component are as follows:

[0090] Slide rail S214 and steering base S213: The steering base S213 is installed on the slide rail S214 and can move horizontally along the slide rail, providing the function of position adjustment for the whole robot.

[0091] Support S212 and steering base S213: The bottom of the support S212 is fixedly connected to the steering base S213, and the steering base drives the support S212 through a rotating mechanism to realize angle adjustment, providing the installation foundation for the upper robotic arm module S204.

[0092] Robotic arm module S204 and support S212: The bottom of the robotic arm module S204 is connected to the top of the support S212, and the robotic arm module S204 rotates through the internal steering module S215.

[0093] Steering Module S215 Collaboration: A steering module S215 is provided at the segmented part of the robotic arm module S204. Each segment of the robotic arm is connected through this steering module S215 to achieve flexible direction change. For example, the front end of the robotic arm module S204 can adjust the working angles of the inflator pump S207 and the charging gun S210 through the steering module S215.

[0094] The communication module S201 is installed on the robotic arm module S204 and is used for communication with the vehicle and / or the cloud.

[0095] The first camera module S202 is installed on the robotic arm module S204, and the second camera module S203 is installed on the charging gun S210 and the inflator pump SZ07.

[0096] The clamping module S205 is installed on one side of the robotic arm and is used to fix the charging gun S210 and the inflator pump S207.

[0097] The first fixing buckle S206 is provided on one side of the inflator pump S207 and is used to form an embedded relationship with the clamping module S205 to assist in connecting the inflator pump S207 to the robotic arm module S204.

[0098] The second fixing buckle S209 is provided on one side of the charging gun S210 and is used to form an embedded relationship with the clamping module S205 to assist in connecting the charging gun S210 to the robotic arm module S204.

[0099] Among them, the basic support structure includes: a slide rail S214, a steering base S213, and a support S212.

[0100] The slide rail S214 serves as the basic moving platform of the robot and provides the robot with the ability to move horizontally. Through a preset track or a planned path, the robot can accurately position itself near the vehicle charging or inflation interface within the working area to meet the working requirements of different parking positions.

[0101] The steering base S213 is installed on the slide rail S214. In addition to moving horizontally with the slide rail, it also has a rotation function. The internal rotation mechanism drives the upper support S212 to adjust the angle, enabling the robot to flexibly change the working direction within the fixed slide rail range to adapt to the interface positions at different angles of the vehicle.

[0102] The support S212 serves as the installation base of the robotic arm module S204. The bottom is fixedly connected to the steering base S213, and the top supports the robotic arm module. Its function is to bear the weight of the robotic arm and its attached equipment, and at the same time, in cooperation with the rotation of the steering base, provide a stable angle adjustment basis for the robotic arm to ensure the structural stability during the operation of the robotic arm.

[0103] The bottom of the robotic arm module S204 is connected to the top of the support S212, and it can achieve multi-degree-of-freedom motion through the steering module S215, including extension, contraction, bending, and multi-angle rotation. Its core function is to drive devices such as the inflator pump S207 and charging gun S210 at the front end to accurately reach the vehicle interface position and complete the inflation or charging operation, covering the interface requirements of different vehicle models and different installation heights. Through the flexible direction change of the steering module S215, the robotic arm module S204 can achieve complex path motion. For example, adjust the working angles of the inflator pump S207 and charging gun S210 at the front end of the robotic arm to ensure the accurate docking of the inflation nozzle S208 and charging nozzle S211 with the vehicle interface.

[0104] The communication module S201 is installed on the robotic arm module S204 and is responsible for data interaction with the vehicle control system and the cloud server. Before the operation, it receives the charging / inflation parameters sent by the vehicle (such as the target tire pressure, charging power, etc.); during the operation, it uploads the device status in real time (such as inflation progress, charging current); after the operation, it feeds back the result data and at the same time receives cloud instructions to achieve remote monitoring and management.

[0105] The first camera module S202 is installed on the robotic arm module S204 and is mainly used to collect images of the vehicle's charging interface, inflation interface, or the surrounding environment. Through image recognition technology, it initially locates the positions of the charging interface and inflation interface, providing visual guidance for the adjustment of the robotic arm to bring the charging gun S210 and inflator pump S207 closer to the charging interface and inflation interface positions of the vehicle.

[0106] The second camera module S203 is installed on the charging gun S210 and inflator pump S207 and focuses on the charging interface and inflation interface areas of the vehicle. Through image recognition technology, it further locates the positions of the charging interface and inflation interface, providing visual guidance for the adjustment of the robotic arm to ensure the accurate docking of the inflation nozzle S208.

[0107] The inflator pump S207 serves as the power source and starts after receiving the control instruction, compressing gas through an internal air pressure mechanism. The inflation nozzle S208 serves as the gas output end and docks with the inflation interface of the vehicle tire, injecting the gas generated by the inflator pump into the tire to achieve the automatic inflation function, and it can accurately control the inflation volume in cooperation with the inflation detection unit.

[0108] The charging gun S210 integrates a charging control circuit, and the charging nozzle S211 is the physical connection end. During the operation, the charging nozzle S211 docks with the vehicle charging interface, and the charging gun controls the output of current and voltage according to the parameters received by the communication module to charge the vehicle battery. At the same time, it has overcurrent and overvoltage protection functions to ensure charging safety.

[0109] See Figure 3 , which is a flowchart of a method for automatic inflation of a robot provided by an embodiment of this application.

[0110] S301: Start. The process is initiated, and the overall operation process of automatic inflation of the robot is entered.

[0111] S302: Determine whether it is charging. The robot detects whether the vehicle is currently in a charging state to divide the data acquisition path: if not charging, it goes through the wireless communication path; if charging, it goes through the interface communication path.

[0112] Scenario of not charging (judgment in S302 is "No"):

[0113] S303: The wireless communication unit acquires data. Through wireless communication, it acquires the vehicle tire model and tire pressure data to provide a basis for tire pressure analysis.

[0114] Scenario of charging (judgment in S302 is "Yes"):

[0115] S313: The interface communication unit acquires data. Utilizing the charging interface, it acquires the tire model and tire pressure data during the charging process.

[0116] S304 (wireless communication path): Analyze whether the tire pressure is lower than the preset inflation threshold to determine whether inflation is required.

[0117] S314 (interface communication path): Similarly analyze the tire pressure data acquired through the charging interface to determine the inflation requirement.

[0118] If the tire pressure is normal (judgment in S304 / S314 is "No"):

[0119] S305 (wireless path) / S316 (interface path): Directly end the process without inflation.

[0120] If charging and the tire pressure is insufficient (judgment in S314 is "Yes"):

[0121] S315: After charging is completed, unplug the charging gun. Wait for charging to complete, then unplug the charging gun to prepare for the inflation operation.

[0122] S306: The first positioning module locates, collects tire images, and moves to a position close to the inflation interface.

[0123] S307: The second positioning module makes a precise docking, collects images again, and adjusts the position to complete the precise docking of the inflation interface.

[0124] S308: Clamp and fix the air pump. Use the clamping and fixing module to clamp and fix the air pump.

[0125] S309: Start inflation. Turn on the air pump to officially perform the inflation operation.

[0126] S310: Determine whether the tire pressure reaches the standard. Monitor the tire pressure in real time to determine whether it reaches the target tire pressure range.

[0127] If the standard is met (S310 determines "yes"):

[0128] S311: The control process ends and inflation is completed.

[0129] If the standard is not met (S310 determines "no"):

[0130] S312: Continue inflation and loop until the tire pressure meets the standard, forming an "inflation - detection" closed - loop to ensure that the tire pressure precisely meets the requirements.

Claims

1. A robot for automatic charging and inflating of a vehicle, characterized in that, Comprising: An information acquisition module, configured to acquire the power information or tire pressure information of the vehicle, and determine whether charging is required based on the power information, and determine whether inflation is required based on the tire pressure information; A motion control module, configured to drive the robot to move to the charging interface or inflation interface of the vehicle; A charging module, configured to dock with the charging interface of the vehicle and charge the vehicle; An inflation module, configured to dock with the inflation interface of the vehicle and inflate the vehicle; A positioning module, configured to identify and locate the charging interface or inflation interface of the vehicle.

2. The robot according to claim 1, wherein The information acquisition module includes: A wireless communication unit, configured to acquire the power information or tire pressure information of the vehicle through wireless communication; An interface communication unit, configured to connect to the charging interface of the vehicle through the charging nozzle in the charging module to acquire the power information or tire pressure information of the vehicle.

3. The robot according to claim 2, wherein The information acquisition module is further configured to: Judge whether the power information of the vehicle is lower than a preset charging threshold, or whether the tire pressure information is lower than a preset inflation threshold; If the power information is lower than the preset charging threshold, control the charging module to charge the vehicle; If the tire pressure information is lower than the preset inflation threshold, control the inflation module to inflate the vehicle.

4. The robot according to claim 1, wherein The motion control module includes: A driving motor, configured to drive the robot to move; A pose adjustment unit, configured to adjust the position of the robot to achieve precise docking with the charging interface or inflation interface.

5. The robot according to claim 1, characterized in that, The charging module includes: A charging gun, configured to provide electric energy for the vehicle; A power detection unit, configured to detect the power of the vehicle.

6. The robot according to claim 5, wherein, When the power reaches a preset power range, the charging gun stops charging the vehicle.

7. The robot according to claim 6, characterized in that, The inflation module includes: An air pump, configured to provide gas for the vehicle tires; A pressure detection unit, configured to detect the tire pressure of the vehicle.

8. The robot according to claim 7, characterized in that, When the tire pressure reaches a preset tire pressure range, the air pump stops inflating the vehicle tires.

9. The robot according to claim 1, wherein, The positioning module includes: A first positioning unit, which is arranged on the pose adjustment unit, configured to collect a first image at a first position, and identify the characteristics of the charging interface or inflation interface according to the first image, and control the robot to move to a position close to the charging interface or inflation interface; A second positioning unit, which is arranged on the charging module and the inflation module, configured to collect a second image at a position close to the charging interface or inflation interface, and identify the characteristics of the charging interface or inflation interface according to the second image, and control the robot to move to the position of the charging interface or inflation interface to dock with the charging interface or inflation interface.

10. The robot according to any one of claims 1-9, characterized in that, The robot further includes a clamping and fixing module, configured to clamp and fix the charging module or the inflation module, and the clamping and fixing module is arranged on the pose adjustment unit.

11. A vehicle, characterized in that, Comprising a vehicle body and the robot according to any one of claims 1-10, wherein the robot is detachably arranged on the vehicle body.

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