Charging robot gun inserting method and device and charging robot
By combining multi-stage approximation control with vision-force feedback, the error compensation problem in the charging robot's gun insertion process was solved, achieving high-precision and safe gun insertion operation.
Patent Information
- Application Number
- CN202610079051.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-21
- Publication Date
- 2026-03-06
AI Technical Summary
In the existing charging robot insertion process, there are pixel-level errors in visual positioning and model and transmission errors in the movement of the robotic arm, resulting in a low insertion success rate and potential equipment damage. There is also a lack of dynamic error compensation mechanism.
A multi-stage approximation control method is adopted, including remote coarse adjustment, mid-range fine adjustment and short-range fine adjustment. Through visual recognition and force sensor feedback, the position deviation is acquired in real time and the attitude is adjusted. The system error is compressed step by step, and finally the system switches to insertion control based on force sensor feedback.
It achieves high-precision gun insertion in dynamic environments, reduces the dependence on the kinematic model and visual positioning accuracy of the robotic arm, improves the success rate of gun insertion, and ensures the smoothness and safety of the gun insertion process.
Smart Images
Figure CN121608159A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of charging, specifically to a charging robot plug-in method, device, and charging robot. Background Technology
[0002] Charging robots have solved the "last mile" problem of automatic charging for new energy vehicles. Existing charging robots generally employ a serial static control process of camera scanning, coarse positioning, fine positioning, and charging port insertion. In this process, the vision system first identifies and locates the charging port, and the robotic arm performs a one-time, complete insertion action based on this single positioning result. This open-loop model has inherent drawbacks: visual positioning has pixel-level errors, robotic arm movement has model and transmission errors, and dynamic errors caused by minor vehicle vibrations during insertion cannot be compensated for, resulting in low insertion success rates and, in severe cases, potential equipment damage. Therefore, current technology lacks an effective mechanism that can perceive and compensate for errors in real time during dynamic execution. Summary of the Invention
[0003] This invention provides a charging robot gun insertion method, device, and charging robot, which is used to sense and compensate for errors in real time during the dynamic execution of gun insertion by the charging robot.
[0004] The technical solution of this invention is as follows:
[0005] This application provides a charging robot plug-in method, including:
[0006] When the end effector of the robotic arm reaches the preset position in front of the target charging port, a multi-stage approximation control consisting of at least two positioning stages is executed. Each positioning stage is configured with an independent travel distance, adjustment coefficient, and position deviation threshold.
[0007] In each positioning phase, the following steps are performed: the robotic arm end effector moves towards the target charging port according to the corresponding travel distance for that positioning phase, and the current position deviation between the robotic arm end effector and the target charging port is obtained; if the current position deviation is less than or equal to the corresponding position deviation threshold, the process proceeds to the next phase; otherwise, the posture of the robotic arm end effector is adjusted based on the corresponding adjustment coefficient, and the current position deviation is obtained again after adjustment; if the current position deviation obtained again is less than or equal to the corresponding position deviation threshold, the process proceeds to the next phase.
[0008] Once all positioning stages are complete, switch to insertion control based on force sensor feedback to complete the insertion action.
[0009] Preferably, the step of adjusting the posture of the robotic arm end effector based on the corresponding adjustment coefficient includes:
[0010] The attitude adjustment amount of the robotic arm end effector is determined based on the corresponding adjustment coefficient;
[0011] The robotic arm end effector is controlled to make a secondary adjustment according to the stated posture adjustment amount.
[0012] Preferably, if the current position deviation obtained again is still greater than the corresponding position deviation threshold, the following is also performed in each positioning stage:
[0013] The robotic arm end effector is controlled to move randomly along a preset distance in one direction, and the current position deviation is obtained for the third time after the movement.
[0014] If the current position deviation obtained in the third acquisition is less than or equal to the position deviation threshold of the current stage, then the current positioning stage is determined to be completed and the next stage is entered;
[0015] Otherwise, control the end of the robotic arm, along with the charging gun at its end, to retract to the initial parking position of the charging pile.
[0016] Preferably, in the order of execution, from the initial positioning stage to the final positioning stage, the visual gain coefficient and position deviation threshold corresponding to each positioning stage decrease step by step.
[0017] Preferably, in the order of execution, the travel distance corresponding to each positioning stage decreases progressively from the initial positioning stage to the final positioning stage.
[0018] Preferably, the step of determining the attitude adjustment amount of the robotic arm end effector based on the corresponding adjustment coefficient includes:
[0019] The attitude adjustment amount is calculated using the following formula:
[0020] Attitude adjustment amount = Kp × current position deviation + Kd × (current position deviation - previous cycle position deviation);
[0021] Where Kp is the proportional adjustment coefficient corresponding to the current positioning stage, and Kd is the differential adjustment coefficient corresponding to the current positioning stage.
[0022] This application also provides a charging robot charging gun device, including:
[0023] The approximation control module is used to perform multi-stage approximation control, which includes at least two positioning stages, when the end effector of the robotic arm reaches a preset position in front of the target charging port. Each positioning stage is configured with an independent travel distance, adjustment coefficient, and position deviation threshold.
[0024] In each positioning phase, the following steps are performed: the robotic arm end effector moves towards the target charging port according to the corresponding travel distance for that positioning phase, and the current position deviation between the robotic arm end effector and the target charging port is obtained; if the current position deviation is less than or equal to the corresponding position deviation threshold, the process proceeds to the next phase; otherwise, the posture of the robotic arm end effector is adjusted based on the corresponding adjustment coefficient, and the current position deviation is obtained again after adjustment; if the current position deviation obtained again is less than or equal to the corresponding position deviation threshold, the process proceeds to the next phase.
[0025] Once all positioning stages are complete, switch to insertion control based on force sensor feedback to complete the insertion action.
[0026] Preferably, the approximation control module is further configured to:
[0027] If the current position deviation obtained again is still greater than the corresponding position deviation threshold, the following will be executed in each positioning stage:
[0028] The robotic arm end effector is controlled to move randomly along a preset distance in one direction, and the current position deviation is obtained for the third time after the movement.
[0029] If the current position deviation obtained in the third acquisition is less than or equal to the position deviation threshold of the current stage, then the current positioning stage is determined to be completed and the next stage is entered;
[0030] Otherwise, control the end of the robotic arm, along with the charging gun at its end, to retract to the initial parking position of the charging pile.
[0031] This application also provides a charging robot, including the aforementioned charging robot plug-in device.
[0032] The beneficial effects of this invention are as follows:
[0033] This method employs a loop that acquires and assesses the current position deviation after each movement in the positioning stage. If the current position deviation is less than the corresponding position deviation threshold, the process proceeds to the next stage; otherwise, attitude adjustment is performed based on the corresponding adjustment coefficient, and the current position deviation is acquired again for verification. This closed-loop mechanism of measurement, assessment, adjustment, and re-measurement embedded within each positioning stage enables immediate and quantitative compensation for pose errors sensed in real time. Multiple positioning stages are sequentially connected, with the corrected pose from the previous stage serving as the input for the next. This allows system errors to be progressively compressed and eliminated in a coarse-to-fine manner, ultimately converging to a high-precision pose that meets the insertion requirements at the end of the process, thus laying the foundation for accurate gun insertion.
[0034] Furthermore, by acquiring the relative measurement of the current position deviation in real time, for vehicle parking deviations, as long as the target is within the visually identifiable range, the resulting initial pose shift is included in the first deviation measurement. All subsequent adjustment commands aim to eliminate this real-time deviation, thus automatically adapting to various initial conditions. For dynamic disturbances such as vehicle swaying, since the latest position deviation is acquired in each control cycle, the charging robot can continuously sense changes in the target's relative pose and track and compensate for them in the next round of adjustments. The repetitive positioning error of the mechanical system itself is also included in the current position deviation measurement and systematically compensated during the closed-loop correction process, reducing the direct dependence on the absolute positioning accuracy of the actuator.
[0035] The final alignment accuracy of the charging robot no longer depends solely on the absolute accuracy of the world coordinate transformation of the robotic arm's kinematic model, nor entirely on the absolute accuracy of the camera calibration parameters in converting pixel coordinates to world coordinates. Instead, it depends on whether the deviation can converge after the robotic arm executes posture adjustment commands based on adjustment coefficients, based on the real-time visual measurement of the current position deviation. As long as the vision system can stably and consistently detect the relative magnitude and direction changes of the deviation, and the robotic arm can linearly and repeatably execute the corresponding adjustment actions, the charging robot can gradually compensate for and converge the accumulated error to an allowable range through multi-stage, multi-iterative closed-loop control.
[0036] The system is protected by independent movement strokes configured for each positioning stage and a deviation acquisition and judgment mechanism executed immediately after each movement. Long-distance approximation tasks are broken down into multiple small movements executed in stages, gradually approaching the target in an incremental manner. This avoids the risk of loss of control due to model errors or perception errors in a single long-distance movement. After each small movement, the system performs a safety check by acquiring the current position deviation and comparing it with a threshold, forming a high-frequency monitoring point. If the deviation is abnormal, timely correction will be intervened in the adjustment or fault-tolerant stage before executing the next approximation action. Finally, after all visual stages are completed, the process switches to insertion control based on force sensor feedback, using force information as a final guarantee to prevent over-contact, thus making the entire insertion process smooth, controllable, and safe. Attached Figure Description
[0037] Figure 1 This is a flowchart of the charging robot gun insertion method in the embodiments of this application;
[0038] Figure 2 This is a detailed flowchart of the remote coarse adjustment stage in the embodiments of this application;
[0039] Figure 3 This is a detailed flowchart of the mid-range fine-tuning stage in the embodiments of this application;
[0040] Figure 4 This is a detailed flowchart of the short-range fine-tuning stage in the embodiments of this application. Detailed Implementation
[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
[0042] Reference Figure 1 This application provides a charging robot plug-in method, including:
[0043] Determine whether the end effector of the robotic arm has reached the preset position in front of the target charging port;
[0044] When the end effector of the robotic arm reaches the preset position in front of the target charging port, it performs multi-stage approximation control, which includes at least two positioning stages. Each positioning stage is configured with an independent travel distance, adjustment coefficient, and position deviation threshold.
[0045] In this embodiment of the application, the process of performing multi-stage approximation control, which includes at least two positioning stages, specifically includes:
[0046] In each positioning phase, the following steps are performed: the robotic arm end effector moves towards the target charging port according to the corresponding travel distance for that positioning phase, and the current position deviation between the robotic arm end effector and the target charging port is obtained; if the current position deviation is less than or equal to the corresponding position deviation threshold, the process proceeds to the next phase; otherwise, the posture of the robotic arm end effector is adjusted based on the corresponding adjustment coefficient, and the current position deviation is obtained again after adjustment; if the current position deviation obtained again is less than or equal to the corresponding position deviation threshold, the process proceeds to the next phase.
[0047] Once all positioning stages are complete, switch to insertion control based on force sensor feedback to complete the insertion action.
[0048] The charging robot initially moves its robotic arm end effector to the front of the charging station using its navigation system. Then, a vision camera mounted on the robotic arm's wrist identifies the charging port. The robot calculates the straight-line distance between the charging gun's feature point (e.g., the center of the charging gun or a specific feature point) and the center of the charging port. If this distance falls within a preset range, and the angle between the gun's axis and the charging port's normal direction is less than a preset angle, the robot's end effector is considered to have reached the preset position in front of the target charging port, and the robot enters a precise positioning mode. The preset distance range is, for example, 130mm ± 5mm, and the preset angle is, for example, 5°. This preset distance range and preset angle represent a calibrated fixed threshold range and angle. The engineering considerations for choosing this 130mm ± 5mm threshold range are: close enough to ensure the charging robot's vision system obtains a clear and stable image; and far enough to allow for adjustments in subsequent multi-stage approximation and to avoid collisions due to excessive initial errors.
[0049] The steps for adjusting the posture of the robotic arm's end effector based on the corresponding adjustment coefficients include:
[0050] The attitude adjustment amount of the robotic arm end effector is determined based on the corresponding adjustment coefficient;
[0051] The robotic arm end effector is controlled to make a secondary adjustment according to the stated posture adjustment amount.
[0052] If the current position deviation obtained again is still greater than the corresponding position deviation threshold, the following will be executed in each positioning stage:
[0053] The robotic arm end effector is controlled to move randomly along a preset distance in one direction, and the current position deviation is obtained for the third time after the movement.
[0054] If the current position deviation obtained in the third acquisition is less than the position deviation threshold for the current stage, then the current positioning stage is determined to be completed and the next stage is entered.
[0055] Otherwise, control the end of the robotic arm, along with the charging gun at its end, to retract to the initial parking position of the charging pile.
[0056] According to the execution sequence, from the initial positioning stage to the final positioning stage, the visual gain coefficient and position deviation threshold corresponding to each positioning stage decrease step by step.
[0057] In the order of execution, from the initial positioning stage to the final positioning stage, the corresponding travel distance for each positioning stage decreases progressively.
[0058] The steps for determining the attitude adjustment amount of the robotic arm's end effector based on the corresponding adjustment coefficient include:
[0059] The attitude adjustment amount is calculated using the following formula:
[0060] Attitude adjustment amount = Kp × current position deviation + Kd × (current position deviation - previous cycle position deviation);
[0061] Where Kp is the proportional adjustment coefficient corresponding to the current positioning stage, and Kd is the differential adjustment coefficient corresponding to the current positioning stage.
[0062] In the embodiments of this application, the multi-stage approximation control specifically refers to the control of three positioning stages: a long-range coarse adjustment stage, a mid-range fine adjustment stage, and a short-range fine adjustment stage.
[0063] Specifically, the movement distance, adjustment coefficient, and position deviation threshold configured in the remote coarse adjustment stage are the first movement distance stage1, the first adjustment coefficient, and the first position deviation threshold T1, respectively; the movement distance, adjustment coefficient, and position deviation threshold configured in the mid-range fine adjustment stage are the second movement distance stage2, the second adjustment coefficient, and the second position deviation threshold T2, respectively; and the movement distance, adjustment coefficient, and position deviation threshold configured in the short-range fine adjustment stage are the third movement distance stage3, the third adjustment coefficient, and the third position deviation threshold T3, respectively.
[0064] The first travel stage1 is greater than the second travel stage2, the second travel stage2 is greater than the third travel stage3; the first adjustment coefficient is greater than the second adjustment coefficient, the second adjustment coefficient is greater than the third adjustment coefficient; the first position deviation threshold T1 is greater than the second position deviation threshold T2, the second position deviation threshold T2 is greater than the third position deviation threshold T3.
[0065] Combination Figure 2 The specific control process of multi-stage approximation control is as follows:
[0066] Enter the remote coarse adjustment phase and execute:
[0067] S101, control the end effector of the robotic arm to move towards the target charging port according to the first travel distance stage1 (e.g., 40mm);
[0068] S102, obtain the first position deviation △X1 between the end of the robotic arm and the target charging port; wherein, the first position deviation △X1 is obtained in real time through a visual recognition algorithm.
[0069] S103, determine whether the first position deviation △X1 is less than or equal to the first position deviation threshold T1 (e.g., 3mm); if the first position deviation △X1 is less than or equal to the first position deviation threshold T1, then proceed to the mid-range fine-tuning stage; otherwise, proceed to S104.
[0070] S104, determine the first attitude adjustment amount of the robotic arm end based on the first adjustment coefficient;
[0071] The first attitude adjustment amount is calculated using the formula: First attitude adjustment amount = Kp1 × First position deviation + Kd1 × (First position deviation - First position deviation of the previous cycle).
[0072] Wherein, Kp1 and Kd1 are the proportional adjustment coefficient and differential adjustment coefficient corresponding to the remote coarse adjustment stage, respectively.
[0073] S105, control the end effector of the robotic arm to make a second adjustment according to the first posture adjustment amount; thereby, perform the first compensation action on the position of the robotic arm.
[0074] S106, reacquire the first position deviation △X1 between the end effector of the robotic arm and the target charging port;
[0075] S107, determine whether the first position deviation △X1 is less than or equal to the first position deviation threshold T1; if the first position deviation △X1 is less than or equal to the first position deviation threshold T1, then proceed to the mid-range fine-tuning stage; otherwise, proceed to S108.
[0076] S108, determine the first posture adjustment amount of the robotic arm end based on the first adjustment coefficient;
[0077] The first attitude adjustment amount is calculated using the formula: First attitude adjustment amount = Kp1 × First position deviation + Kd1 × (First position deviation - First position deviation of the previous cycle).
[0078] Wherein, Kp1 and Kd1 are the proportional adjustment coefficient and differential adjustment coefficient corresponding to the remote coarse adjustment stage, respectively.
[0079] S109, control the end effector of the robotic arm to make a second adjustment according to the first posture adjustment amount; thereby, perform a second compensation action on the position of the robotic arm;
[0080] S110, reacquire the first position deviation △X1 between the end effector of the robotic arm and the target charging port;
[0081] S111, determine whether the first position deviation △X1 is less than or equal to the first position deviation threshold T1; if the first position deviation △X1 is less than or equal to the first position deviation threshold T1, then enter the mid-range fine-tuning stage; otherwise, enter S112.
[0082] S112, control the end effector of the robotic arm to move randomly along a preset distance in one direction; since the end effector of the robotic arm has been compensated twice, it is still impossible to reduce the distance between the end effector of the robotic arm and the target charging port, indicating that the position adjustment based on this orientation may still not be able to reduce the position difference, so the movement direction of the end effector of the robotic arm will be adjusted to reposition the movement path of the end effector of the robotic arm.
[0083] S113, reacquire the first position deviation △X1 between the end effector of the robotic arm and the target charging port;
[0084] S114, determine whether the first position deviation △X1 is less than or equal to the first position deviation threshold T1; if the first position deviation △X1 is less than or equal to the first position deviation threshold T1, then enter the mid-range fine-tuning stage; otherwise, then perform the return to position.
[0085] If the distance between the robotic arm end effector and the target charging port cannot be reduced after multiple rounds of control, it indicates a systematic deviation or failure of a key function, rather than a random error. In this case, the charging robot needs to be returned to its initial parking position to ensure safety.
[0086] Entering the mid-term fine-tuning phase, execute:
[0087] S201, control the end effector of the robotic arm to move towards the target charging port according to the second travel stage2 (e.g., 30mm);
[0088] S202, obtain the second position deviation △X2 between the end of the robotic arm and the target charging port; wherein, the second position deviation △X2 is obtained in real time through a visual recognition algorithm.
[0089] S203, determine whether the second position deviation △X2 is less than or equal to the second position deviation threshold T2 (e.g., 2mm); if the second position deviation △X2 is less than or equal to the second position deviation threshold T2, then proceed to the short-range fine-tuning stage; otherwise, proceed to S104.
[0090] S204, determine the second attitude adjustment amount of the robotic arm end based on the second adjustment coefficient;
[0091] The second attitude adjustment amount is calculated using the formula: Second attitude adjustment amount = Kp2 × Second position deviation + Kd2 × (Second position deviation - Second position deviation of the previous cycle).
[0092] Wherein, Kp2 and Kd2 are the proportional adjustment coefficient and differential adjustment coefficient corresponding to the mid-range fine-tuning stage, respectively.
[0093] S205, control the end effector of the robotic arm to make a second adjustment according to the second posture adjustment amount; thereby, perform the first compensation action on the position of the robotic arm;
[0094] S206, reacquire the second position deviation △X2 between the end effector of the robotic arm and the target charging port;
[0095] S207, determine whether the second position deviation △X2 is less than or equal to the second position deviation threshold T2; if the second position deviation △X2 is less than or equal to the second position deviation threshold T2, then proceed to the short-range fine-tuning stage; otherwise, proceed to S208.
[0096] S208, determine the second attitude adjustment amount of the robotic arm end based on the second adjustment coefficient;
[0097] The second attitude adjustment amount is calculated using the formula: Second attitude adjustment amount = Kp2 × Second position deviation + Kd2 × (Second position deviation - Second position deviation of the previous cycle).
[0098] Wherein, Kp2 and Kd2 are the proportional adjustment coefficient and differential adjustment coefficient corresponding to the mid-range fine-tuning stage, respectively.
[0099] S209, control the end effector of the robotic arm to make a second adjustment according to the second posture adjustment amount; thereby, perform a second compensation action on the position of the robotic arm;
[0100] S210, reacquire the second position deviation △X2 between the end effector of the robotic arm and the target charging port;
[0101] S211, determine whether the second position deviation △X2 is less than or equal to the second position deviation threshold T2; if the second position deviation △X2 is less than or equal to the second position deviation threshold T2, then enter the short-range fine-tuning stage; otherwise, enter S212.
[0102] S212, control the end effector of the robotic arm to move randomly along a preset distance in one direction; since the end effector of the robotic arm has been compensated twice, it is still impossible to reduce the distance between the end effector of the robotic arm and the target charging port, indicating that the position adjustment based on this orientation may still not be able to reduce the position difference, so the movement direction of the end effector of the robotic arm will be adjusted to reposition the movement path of the end effector of the robotic arm.
[0103] S213, reacquire the second position deviation △X2 between the end effector of the robotic arm and the target charging port;
[0104] S214, determine whether the second position deviation △X1 is less than or equal to the second position deviation threshold T2; if the second position deviation △X2 is less than or equal to the second position deviation threshold T2, then enter the short-range fine-tuning stage; otherwise, then perform the return to position.
[0105] If the distance between the robotic arm end effector and the target charging port cannot be reduced after multiple rounds of control, it indicates a systematic deviation or failure of a key function, rather than a random error. In this case, the charging robot needs to be returned to its initial parking position to ensure safety.
[0106] Entering the mid-term fine-tuning phase, execute:
[0107] S301, control the end effector of the robotic arm to move towards the target charging port according to the third travel stage3 (e.g., 20mm);
[0108] S302, obtain the third position deviation △X3 between the end of the robotic arm and the target charging port; wherein, the third position deviation △X3 is obtained in real time through a visual recognition algorithm.
[0109] S303, determine whether the third position deviation △X3 is less than or equal to the third position deviation threshold T3 (e.g., 1mm); if the third position deviation △X3 is less than or equal to the third position deviation threshold T3, then it means that the charging robot has moved into place and can automatically insert the charging gun; otherwise, proceed to S104.
[0110] S304, determine the third attitude adjustment amount of the robotic arm end based on the third adjustment coefficient;
[0111] The third attitude adjustment is calculated using the formula: Third attitude adjustment amount = Kp3 × Third position deviation + Kd3 × (Third position deviation - Third position deviation of the previous cycle).
[0112] Wherein, Kp3 and Kd3 are the proportional adjustment coefficient and differential adjustment coefficient corresponding to the near-range fine-tuning stage, respectively.
[0113] S305, control the end effector of the robotic arm to make a second adjustment according to the third posture adjustment amount; thereby, perform the first compensation action on the position of the robotic arm;
[0114] S306, reacquire the third position deviation △X3 between the end effector of the robotic arm and the target charging port;
[0115] S307, determine whether the third position deviation △X3 is less than or equal to the third position deviation threshold T3; if the third position deviation △X3 is less than or equal to the third position deviation threshold T3, it means that the charging robot has moved into place and can automatically insert the charging gun; otherwise, proceed to S308.
[0116] S308, determine the third attitude adjustment amount of the robotic arm end based on the third adjustment coefficient;
[0117] The third attitude adjustment is calculated using the formula: Third attitude adjustment amount = Kp3 × Third position deviation + Kd3 × (Third position deviation - Third position deviation of the previous cycle).
[0118] Wherein, Kp3 and Kd3 are the proportional adjustment coefficient and differential adjustment coefficient corresponding to the mid-range fine-tuning stage, respectively.
[0119] S309, control the end effector of the robotic arm to make three adjustments according to the third posture adjustment amount; thereby, perform a third compensation action on the position of the robotic arm;
[0120] S310, reacquire the third position deviation △X3 between the end effector of the robotic arm and the target charging port;
[0121] S311, determine whether the third position deviation △X3 is less than or equal to the third position deviation threshold T3; if the third position deviation △X3 is less than or equal to the third position deviation threshold T3, it means that the charging robot has moved into place and can automatically insert the charging gun; otherwise, proceed to S313.
[0122] S312, control the end effector of the robotic arm to move randomly along a preset distance in one direction; since the end effector of the robotic arm has been compensated twice, it is still impossible to reduce the distance between the end effector of the robotic arm and the target charging port, indicating that the position adjustment based on this orientation may still not be able to reduce the position difference, so the movement direction of the end effector of the robotic arm will be adjusted to reposition the movement path of the end effector of the robotic arm.
[0123] S313, reacquire the third position deviation △X3 between the end effector of the robotic arm and the target charging port;
[0124] S314, determine whether the third position deviation △X1 is less than or equal to the third position deviation threshold T3; if the third position deviation △X3 is less than or equal to the third position deviation threshold T3, it means that the charging robot has moved into place and can insert the charging gun by itself; otherwise, return to the original position.
[0125] If the distance between the robotic arm end effector and the target charging port cannot be reduced after multiple rounds of control, it indicates a systematic deviation or failure of a key function, rather than a random error. In this case, the charging robot needs to be returned to its initial parking position to ensure safety.
[0126] When the charging robot inserts the charging gun, if the force sensor on the charging robot detects a sudden change in the insertion force, it immediately stops moving, determines that the insertion is successful, and enters the locking and charging process.
[0127] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0128] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by software or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.
[0129] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A method of charging a robot with a gun, characterized by, The method comprises the following steps: When the end of the mechanical arm reaches a preset position in front of the target charging port, multi-stage approaching control including at least two positioning stages is performed, each positioning stage being configured with an independent movement stroke, an adjustment coefficient and a position deviation threshold value; In each positioning stage, the following steps are performed: the end of the mechanical arm is controlled to move towards the target charging port according to the movement stroke corresponding to the positioning stage, and a current position deviation between the end of the mechanical arm and the target charging port is obtained; If the current position deviation is less than or equal to the corresponding position deviation threshold value, the next stage is entered; otherwise, pose adjustment of the end of the mechanical arm is performed based on the corresponding adjustment coefficient, and the current position deviation is obtained again after the adjustment; if the current position deviation obtained again is less than or equal to the corresponding position deviation threshold value, the next stage is entered; When all the positioning stages are completed, switching is performed to insertion control based on force sensor feedback to complete the gun insertion action.
2. The method of claim 1, wherein, The step of performing pose adjustment of the end of the mechanical arm based on the corresponding adjustment coefficient comprises the following steps: The pose adjustment amount of the end of the mechanical arm is determined according to the corresponding adjustment coefficient; The end of the mechanical arm is controlled to be adjusted again according to the pose adjustment amount.
3. The method of claim 1, wherein, If the current position deviation obtained again is still greater than the corresponding position deviation threshold value, the following steps are further performed in each positioning stage: The end of the mechanical arm is controlled to move randomly in a direction by a preset stroke, and the current position deviation is obtained for the third time after the movement; If the current position deviation obtained for the third time is less than or equal to the position deviation threshold value of the current stage, it is determined that the current positioning stage is completed and the next stage is entered; Otherwise, the end of the mechanical arm is controlled to retreat to the initial parking position of the charging pile together with the charging gun at the end thereof.
4. The method of claim 1, wherein, According to the execution order, the visual gain coefficient and the position deviation threshold value corresponding to each positioning stage gradually decrease from the starting positioning stage to the final positioning stage.
5. The method of claim 1, wherein, According to the execution order, the movement stroke corresponding to each positioning stage gradually decreases from the starting positioning stage to the final positioning stage.
6. The method of claim 2, wherein, The step of determining the pose adjustment amount of the end of the mechanical arm according to the corresponding adjustment coefficient comprises the following steps: The pose adjustment amount is calculated by the following formula: Pose adjustment amount = Kp × current position deviation + Kd × (current position deviation - last period position deviation); Wherein, Kp is the proportional adjustment coefficient corresponding to the current positioning stage, and Kd is the differential adjustment coefficient corresponding to the current positioning stage.
7. A charging robot gun insertion device, characterized by, The method comprises the following steps: An approaching control module is configured to perform multi-stage approaching control including at least two positioning stages when the end of the mechanical arm reaches a preset position in front of the target charging port, each positioning stage being configured with an independent movement stroke, an adjustment coefficient and a position deviation threshold value; In each positioning stage, the following steps are performed: the end of the mechanical arm is controlled to move towards the target charging port according to the movement stroke corresponding to the positioning stage, and a current position deviation between the end of the mechanical arm and the target charging port is obtained; In each positioning stage, the following steps are performed: the end of the mechanical arm is controlled to move towards the target charging port according to the movement stroke corresponding to the positioning stage, and a current position deviation between the end of the mechanical arm and the target charging port is obtained; If the current position deviation is less than or equal to the corresponding position deviation threshold, the next stage is entered; otherwise, the pose of the end of the robot arm is adjusted based on the corresponding adjustment coefficient, and the current position deviation is obtained again after the adjustment; if the current position deviation obtained again is less than or equal to the position deviation threshold, the next stage is entered; When all the positioning stages are completed, switching to insertion control based on force sensor feedback is performed to complete the gun insertion action.
8. The charging robot gun insertion device of claim 7, wherein, The approximation control module is further configured to: If the current position deviation obtained again is still greater than the corresponding position deviation threshold, the following is further performed in each positioning stage: controlling the end of the robot arm to move a preset stroke in a random direction, and obtaining the current position deviation for the third time after the movement; If the current position deviation obtained for the third time is less than or equal to the position deviation threshold of the current stage, it is determined that the current positioning stage is completed and the next stage is entered; Otherwise, the end of the robot arm together with the charging gun at the end thereof is controlled to retreat to the initial parking position of the charging pile as a whole.
9. A charging robot characterized by, The charging robot gun insertion device of claim 7 or 8 is included.