Automatic charging gun lock control method and system based on charging control pilot circuit

Abstract

This invention discloses an automatic charging gun lock control method and system based on a charging control guidance circuit. The method includes: when the automatic charging robotic arm receives a gun insertion command, controlling the robotic arm to insert the charging gun into the vehicle's charging port; upon detecting that the gun is in place, controlling the controllable gun lock control switch to close to lock the gun; upon receiving a successful charging start indication, controlling the automatic charging robotic arm to disengage from the secondary connector and return to its original position; upon receiving a stop charging indication, sending a shutdown control signal to the controllable gun lock control switch and controlling the automatic charging robotic arm to dock with the secondary connector; and after successful docking with the secondary connector, implementing a corresponding control strategy for the automatic charging robotic arm based on the current switch state fed back by the controllable gun lock control switch. Therefore, by setting a controllable gun lock control switch in the charging control guidance circuit to automatically control the gun lock, the waste of human and material resources is effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of automatic charging gun lock control technology, and specifically to an automatic charging gun lock control method and system based on a charging control guide circuit. Background Technology

[0002] The charging gun lock is used to prevent high-voltage electricity from being connected when the charging plug is not reliably locked, thereby avoiding huge safety risks caused by loose connections, disconnection, or plugging and unplugging while the plug is energized.

[0003] In related technologies, during manual charging, the charging gun's lock status is manually controlled to enable normal plugging and unplugging. However, during automatic charging, the automatic charging robotic arm still needs to control the gun lock to perform different operational procedures. Using manual control of the gun lock status would significantly increase the waste of human and material resources. Summary of the Invention

[0004] To solve the above-mentioned technical problems, this invention provides an automatic charging gun lock control method based on a charging control guide circuit. A controllable gun lock control switch is set in the charging control guide circuit to automatically control the gun lock, thereby effectively avoiding the waste of human and material resources.

[0005] The technical solution adopted in this invention is as follows:

[0006] An automatic charging gun lock control method based on a charging control guidance circuit, wherein the charging control guidance circuit includes a controllable gun lock control switch, and the gun lock is locked / unlocked by controlling the on / off state of the controllable gun lock control switch. The control method includes the following steps: S1, when the automatic charging robotic arm receives a gun insertion command, it controls the automatic charging robotic arm to mate with the secondary connector on the charging gun and drive the charging gun to insert into the vehicle charging port. After detecting that the gun is inserted in place, it controls the controllable gun lock control switch to close to lock the gun lock and wait for charging to start; S2, after receiving a successful charging start indication, it controls the automatic charging robotic arm to disengage. S3, after receiving a stop charging instruction, a shutdown control signal is sent to the controllable gun lock control switch, and the automatic charging robotic arm is controlled to dock with the secondary connector. After the secondary connector is successfully docked, the automatic charging robotic arm is controlled according to the current switch state fed back by the controllable gun lock control switch. Specifically, when the current switch state of the controllable gun lock control switch is off, the automatic charging robotic arm is controlled to unplug the gun; when the current switch state of the controllable gun lock control switch is closed, the automatic charging robotic arm is controlled to disengage from the secondary connector and an alarm is triggered.

[0007] In one embodiment of the present invention, the automatic charging gun lock control method based on the charging control guidance circuit further includes the following steps: S4, when a fault indication signal of the automatic charging robotic arm is received during the insertion and removal of the gun, the current state of the gun lock is determined according to the current switch state fed back by the controllable gun lock control switch; S5, if the current state of the gun lock is the unlocked state, the automatic charging robotic arm is controlled to reset and return to its position with the gun; S6, if the current state of the gun lock is the locked state, the corresponding control strategy is executed on the automatic charging robotic arm according to the current state of the charging gun.

[0008] In one embodiment of the present invention, step S6 specifically includes: S61, if the current state of the charging gun is the plugged-in state, then control the automatic charging robotic arm to return to its original position; S62, if the current state of the charging gun is the unplugged state, then control the automatic charging robotic arm to reposition and determine the position of the secondary connector, and dock with the secondary connector according to the determined position of the secondary connector, and perform a second unplugging operation.

[0009] In one embodiment of the present invention, the automatic charging gun lock control method based on the charging control guide circuit further includes the following steps: S7, when receiving the indication signal for emergency stop of the automatic charging robotic arm, controlling the automatic charging robotic arm to stop operation and stopping the charging process; S8, judging the current state of the gun lock according to the current switch state fed back by the controllable gun lock control switch, and controlling the automatic charging robotic arm to perform a corresponding emergency stop reset operation according to the current state of the gun lock.

[0010] In one embodiment of the present invention, step S8 specifically includes the following steps: S81, if the current state of the gun lock is unlocked, then control the automatic charging robotic arm to drive the charging gun directly back to its original position; S82, if the current state of the gun lock is locked, then send a shutdown control signal to the controllable gun lock control switch, and control the automatic charging robotic arm to reposition and determine the position of the secondary connector, and dock with the secondary connector according to the determined position of the secondary connector, and after the secondary connector is successfully docked, perform a corresponding control strategy on the automatic charging robotic arm according to the current switch state fed back by the controllable gun lock control switch; wherein, when the current switch state of the controllable gun lock control switch is off, control the automatic charging robotic arm to pull out the gun and return to its original position, and when the current switch state of the controllable gun lock control switch is closed, control the automatic charging robotic arm to disengage from the secondary connector and issue an alarm.

[0011] An automatic charging gun lock control system based on a charging control guidance circuit includes a controllable gun lock control switch. By controlling the on / off state of the controllable gun lock control switch, the system controls the locking / unlocking of the charging gun lock. The control system includes: a first control module, which, upon receiving a gun insertion command, controls the automatic charging robotic arm to mate with the secondary connector on the charging gun and insert the charging gun into the vehicle's charging port; and, upon detecting that the gun is in place, controls the controllable gun lock control switch to close, locking the charging gun lock and awaiting charging initiation; and a second control module, which, upon receiving a successful charging initiation indication, controls the automatic charging robotic arm to... The charging robotic arm disengages from the secondary connector and returns to its original position. A third control module, upon receiving a stop charging instruction, sends a shutdown control signal to the controllable gun lock control switch and controls the automatic charging robotic arm to dock with the secondary connector. After successful docking, the third control module implements a corresponding control strategy for the automatic charging robotic arm based on the current switch state feedback from the controllable gun lock control switch. Specifically, when the current switch state of the controllable gun lock control switch is off, the automatic charging robotic arm is controlled to unplug the gun; when the current switch state of the controllable gun lock control switch is closed, the automatic charging robotic arm is controlled to disengage from the secondary connector and an alarm is triggered.

[0012] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described automatic charging gun lock control method based on a charging control guide circuit.

[0013] A non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described automatic charging gun lock control method based on a charging control guide circuit.

[0014] The beneficial effects of this invention are:

[0015] This invention incorporates a controllable gun lock control switch in the charging control guide circuit to automatically control the gun lock, thereby effectively avoiding the waste of human and material resources. Attached Figure Description

[0016] Figure 1 This is a flowchart of an automatic charging gun lock control method based on a charging control guide circuit according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of a charging control guide circuit according to an embodiment of the present invention;

[0018] Figure 3This is a block diagram of an automatic charging gun lock control system based on a charging control guide circuit according to an embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Figure 1 This is a flowchart of an automatic charging gun lock control method based on a charging control guide circuit, according to an embodiment of the present invention.

[0021] It should be noted that the charging control guidance circuit is a core component of the electric vehicle automatic charging system, used for communication, control, and safety management during the charging process. Specifically, it includes: connection status confirmation and safety detection, which uses electrical signals (such as resistance values ​​or PWM waves) to detect the physical connection status between the charging gun and the vehicle interface, ensuring a complete connection before charging is allowed to prevent risks such as arcing or overheating due to poor contact; charging parameter negotiation and process control, which negotiates parameters such as maximum current and voltage levels through signal interaction (such as duty cycle modulation) before charging starts, and controls the on / off state of the contactor to manage charging start and stop; real-time monitoring and fault protection, which continuously monitors the connection status and vehicle BMS signals during charging, and immediately interrupts charging if a disconnection, overcurrent, or fault is detected to avoid equipment damage or safety accidents; and compatibility and standardization support, ensuring interoperability between vehicles and charging piles from different manufacturers and guaranteeing reliable switching of charging sessions.

[0022] Specifically, the charging control guidance circuit of this embodiment of the invention can be as follows: Figure 2 As shown, S represents the controllable gun lock control switch. By controlling the on / off state of the controllable gun lock control switch, the locking / unlocking of the gun lock can be controlled. Specifically, sending an off control signal to the controllable gun lock control switch turns it off, thereby controlling the unlocking of the gun lock; sending a closing control signal to the controllable gun lock control switch closes it, thereby controlling the locking of the gun lock. It should be noted that when the controllable gun lock control switch is switched off, it can report the current switch state as off; when it is switched on, it can report the current switch state as closed. Therefore, the current state of the gun lock can be determined based on the current switch state reported by the controllable gun lock control switch.

[0023] like Figure 1 As shown, the automatic charging gun lock control method based on the charging control guide circuit of this invention may include the following steps:

[0024] S1. When the automatic charging robotic arm receives the gun insertion command, it controls the automatic charging robotic arm to connect to the secondary connector on the charging gun and drive the charging gun to be inserted into the vehicle's charging port. After detecting that the gun is in place, it controls the controllable gun lock control switch to close to lock the gun lock and wait for charging to start.

[0025] Specifically, one end of the charging gun is equipped with a secondary connector, and the other end of the charging gun is the charging gun head. After the automatic charging robotic arm receives the gun insertion command, it can first control the automatic charging robotic arm to connect to the secondary connector on the charging gun. After successful connection, it controls the automatic charging robotic arm to drive the charging gun to insert into the vehicle's charging port. Finally, after detecting that the gun is inserted in place, it controls the controllable gun lock control switch to close to lock the gun lock and wait for charging to start.

[0026] S2, upon receiving a successful charging start indication, controls the automatic charging robotic arm to disengage from the secondary connector and return to its original position.

[0027] Among them, controlling the automatic charging robotic arm to return to its original position means controlling the automatic charging robotic arm to return to its initial control position.

[0028] S3, upon receiving a stop charging instruction, sends a shutdown control signal to the controllable gun lock control switch and controls the automatic charging robotic arm to dock with the secondary connector. After the secondary connector docks successfully, it implements a corresponding control strategy for the automatic charging robotic arm based on the current switch status fed back by the controllable gun lock control switch.

[0029] Specifically, when the controllable gun lock control switch is currently in the off state, the automatic charging robotic arm is controlled to remove the gun; when the controllable gun lock control switch is currently in the closed state, the automatic charging robotic arm is controlled to disconnect from the secondary connector and an alarm is triggered.

[0030] Specifically, when the controllable gun lock control switch reports that the current switch state is off, it indicates that the gun lock is currently unlocked, and therefore, the automatic charging robotic arm can be controlled to remove the gun. When the controllable gun lock control switch reports that the current switch state is closed, it indicates that the gun lock is currently locked. Therefore, it can be seen that sending a shutdown control signal to the controllable gun lock control switch cannot control the controllable gun lock control switch to shut down, indicating that the controllable gun lock control switch is malfunctioning. As a result, the automatic charging robotic arm can be controlled to disconnect from the secondary connector and an alarm can be triggered.

[0031] In one embodiment of the present invention, when the automatic charging robotic arm malfunctions during the insertion and removal of the gun, an indication signal indicating the automatic charging robotic arm malfunction can be received. At this time, a fault reset process can be performed according to the gun lock status.

[0032] Specifically, the automatic charging gun lock control method based on the charging control guide circuit further includes the following steps:

[0033] S4, when receiving an indication signal of automatic charging robotic arm malfunction during gun insertion / removal, determines the current state of the gun lock based on the current switch state fed back by the controllable gun lock control switch.

[0034] S5, if the gun lock is currently in the unlocked state, control the automatic charging robotic arm to reset and return the gun to its original position.

[0035] S6. If the gun lock is currently locked, then execute the corresponding control strategy for the automatic charging robotic arm according to the current state of the charging gun.

[0036] Specifically, if the charging gun is currently in the plugged-in state, the automatic charging robotic arm is controlled to return to its original position; if the charging gun is currently in the unplugged state, the automatic charging robotic arm is controlled to reposition itself and determine the position of the secondary connector, and then dock with the secondary connector according to the determined position, and perform a second unplugging operation.

[0037] The process includes a secondary gun-removal operation. This involves: after successful secondary connector docking, implementing corresponding control strategies for the automatic charging robotic arm based on the current switch status feedback from the controllable gun lock control switch. Specifically, when the controllable gun lock control switch is currently in the off state, the automatic charging robotic arm is controlled to remove the gun; when the controllable gun lock control switch is currently in the closed state, the automatic charging robotic arm is controlled to disengage from the secondary connector, and an alarm is triggered.

[0038] In one embodiment of the present invention, the automatic charging gun lock control method based on the charging control guide circuit further includes the following steps:

[0039] S7, upon receiving an emergency stop instruction signal for the automatic charging robotic arm, controls the automatic charging robotic arm to stop operating and halts the charging process.

[0040] S8 determines the current state of the gun lock based on the current switch state feedback from the controllable gun lock control switch, and controls the automatic charging robotic arm to perform the corresponding emergency stop and reset operation based on the current state of the gun lock.

[0041] Specifically, if the gun lock is currently unlocked, the automatic charging robotic arm is controlled to return the charging gun directly to its original position. If the gun lock is currently locked, a shutdown control signal is sent to the controllable gun lock control switch, and the automatic charging robotic arm is controlled to reposition itself and determine the position of the secondary connector. The robotic arm then docks with the secondary connector based on its determined position. After successful docking, the automatic charging robotic arm is controlled according to the current switch state fed back by the controllable gun lock control switch. Specifically, when the controllable gun lock control switch is currently off, the automatic charging robotic arm is controlled to remove the gun and return to its original position. When the controllable gun lock control switch is currently closed, the automatic charging robotic arm is controlled to disengage from the secondary connector and an alarm is triggered.

[0042] Therefore, a controllable gun lock control switch is set in the charging control guidance circuit to automatically control the gun lock. The current state of the gun lock is determined based on the current switch state feedback from the controllable gun lock control switch. Based on the current state of the gun lock in different processes, namely the normal gun insertion and removal process, the automatic charging robot arm failure process, and the automatic charging robot arm emergency stop process, the corresponding control strategy is executed on the automatic charging robot arm, thereby effectively avoiding the waste of human and material resources.

[0043] In summary, according to the automatic charging gun lock control method based on the charging control guide circuit of the present invention, when the automatic charging robotic arm receives the gun insertion command, it controls the automatic charging robotic arm to dock with the secondary connector on the charging gun and drive the charging gun to insert into the vehicle charging port. After detecting that the gun is in place, it controls the controllable gun lock control switch to close to lock the gun lock and wait for charging to start. After receiving the charging start success indication, it controls the automatic charging robotic arm to disengage from the secondary connector and return to its original position. After receiving the stop charging indication, it sends a shutdown control signal to the controllable gun lock control switch and controls the automatic charging robotic arm to dock with the secondary connector. After the secondary connector docking is successful, it performs corresponding control strategies on the automatic charging robotic arm according to the current switch state fed back by the controllable gun lock control switch. Specifically, when the current switch state of the controllable gun lock control switch is off, it controls the automatic charging robotic arm to remove the gun. When the current switch state of the controllable gun lock control switch is closed, it controls the automatic charging robotic arm to disengage from the secondary connector and issues an alarm. Therefore, a controllable gun lock control switch is set in the charging control guide circuit to automatically control the gun lock, thereby effectively avoiding the waste of human and material resources.

[0044] Corresponding to the automatic charging gun lock control method based on the charging control guide circuit in the above embodiments, the present invention also proposes an automatic charging gun lock control system based on the charging control guide circuit.

[0045] It should be noted that the charging control guide circuit in this embodiment of the invention can be as follows: Figure 2 As shown, S represents the controllable gun lock control switch. By controlling the on / off state of the controllable gun lock control switch, the locking / unlocking of the gun lock can be controlled. Specifically, sending an off control signal to the controllable gun lock control switch turns it off, thereby controlling the unlocking of the gun lock; sending a closing control signal to the controllable gun lock control switch closes it, thereby controlling the locking of the gun lock. It should be noted that when the controllable gun lock control switch is switched off, it can report the current switch state as off; when it is switched on, it can report the current switch state as closed. Therefore, the current state of the gun lock can be determined based on the current switch state reported by the controllable gun lock control switch.

[0046] like Figure 3 As shown, the automatic charging gun lock control system based on the charging control guide circuit of this invention may include a first control module 100, a second control module 200 and a third control module 300.

[0047] The first control module 100, upon receiving a charging gun insertion command, controls the automatic charging robotic arm to connect to the secondary connector on the charging gun and insert the charging gun into the vehicle's charging port. After detecting that the charging gun is in place, it controls the controllable gun lock switch to close and lock the gun, awaiting charging start. The second control module 200, upon receiving a successful charging start indication, controls the automatic charging robotic arm to disengage from the secondary connector and return to its original position. The third control module 300, upon receiving a stop charging indication, sends a shutdown control signal to the controllable gun lock switch and controls the automatic charging robotic arm to connect to the secondary connector. After successful connection, it implements corresponding control strategies for the automatic charging robotic arm based on the current switch state fed back by the controllable gun lock switch. Specifically, when the current switch state of the controllable gun lock switch is off, it controls the automatic charging robotic arm to remove the charging gun; when the current switch state of the controllable gun lock switch is closed, it controls the automatic charging robotic arm to disengage from the secondary connector and issues an alarm.

[0048] In one embodiment of the present invention, the automatic charging gun lock control system based on the charging control guidance circuit may further include a fourth control module (not specifically shown in the figure). Specifically, the fourth control module is used to: when receiving a fault indication signal from the automatic charging robotic arm during the insertion / removal of the charging gun, determine the current state of the charging gun lock based on the current switch state fed back by the controllable charging gun lock control switch; if the current state of the charging gun lock is unlocked, control the automatic charging robotic arm to reset and return the charging gun to its position; if the current state of the charging gun lock is locked, execute a corresponding control strategy on the automatic charging robotic arm based on the current state of the charging gun.

[0049] In one embodiment of the present invention, the fourth control module is specifically used to: if the current state of the charging gun is the plugged-in state, control the automatic charging robotic arm to return to its original position; if the current state of the charging gun is the unplugged state, control the automatic charging robotic arm to reposition and determine the position of the secondary connector, and dock with the secondary connector according to the determined position of the secondary connector, and perform a second unplugging operation.

[0050] In one embodiment of the present invention, the automatic charging gun lock control system based on the charging control guidance circuit may further include a fifth control module (not specifically shown in the figure). Specifically, the fifth control module is used to: control the automatic charging robot arm to stop operating and halt the charging process upon receiving an emergency stop indication signal from the automatic charging robot arm; determine the current state of the gun lock based on the current switch state feedback from the controllable gun lock control switch; and control the automatic charging robot arm to perform a corresponding emergency stop reset operation based on the current state of the gun lock.

[0051] In one embodiment of the present invention, the fifth control module is specifically used for: if the gun lock is currently in an unlocked state, controlling the automatic charging robotic arm to drive the charging gun directly back to its original position; if the gun lock is currently in a locked state, sending a shutdown control signal to the controllable gun lock control switch, controlling the automatic charging robotic arm to reposition and determine the position of the secondary connector, and docking with the secondary connector according to the determined position of the secondary connector, and after the secondary connector docking is successful, performing a corresponding control strategy on the automatic charging robotic arm according to the current switch state fed back by the controllable gun lock control switch; wherein, when the current switch state of the controllable gun lock control switch is in an off state, controlling the automatic charging robotic arm to pull out the gun and return to its original position, and when the current switch state of the controllable gun lock control switch is in a closed state, controlling the automatic charging robotic arm to disengage from the secondary connector and triggering an alarm.

[0052] It should be noted that for details not disclosed in the automatic charging gun lock control system based on the charging control guide circuit of the present invention, please refer to the details disclosed in the automatic charging gun lock control method based on the charging control guide circuit described above, which will not be elaborated here.

[0053] According to an embodiment of the present invention, an automatic charging gun lock control system based on a charging control guidance circuit comprises the following: A first control module controls the automatic charging robotic arm to connect to the secondary connector on the charging gun after receiving a gun insertion command, and drives the charging gun to insert into the vehicle's charging port. After detecting that the gun is in place, the controllable gun lock control switch is closed to lock the gun, awaiting charging start. A second control module controls the automatic charging robotic arm to disengage from the secondary connector and return to its original position after receiving a successful charging start indication. A third control module sends a shutdown control signal to the controllable gun lock control switch after receiving a stop charging indication, and controls the automatic charging robotic arm to connect to the secondary connector. After successful connection, the controllable gun lock control switch provides feedback on the current switch state and implements corresponding control strategies for the automatic charging robotic arm. Specifically, when the current switch state of the controllable gun lock control switch is off, the automatic charging robotic arm is pulled out of the charging gun; when the current switch state is closed, the automatic charging robotic arm disengages from the secondary connector and triggers an alarm. Therefore, a controllable gun lock control switch is set in the charging control guide circuit to automatically control the gun lock, thereby effectively avoiding the waste of human and material resources.

[0054] Corresponding to the automatic charging gun lock control method based on the charging control guide circuit in the above embodiments, the present invention also proposes a computer device.

[0055] The computer device of this invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described automatic charging gun lock control method based on the charging control guide circuit.

[0056] According to an embodiment of the present invention, a controllable gun lock control switch is provided in the charging control guide circuit to automatically control the gun lock, thereby effectively avoiding the waste of human and material resources.

[0057] Corresponding to the automatic charging gun lock control method based on the charging control guide circuit in the above embodiments, the present invention also proposes a non-transitory computer-readable storage medium.

[0058] The non-transitory computer-readable storage medium of this invention stores a computer program that, when executed by a processor, implements the above-described automatic charging gun lock control method based on a charging control guide circuit.

[0059] According to an embodiment of the present invention, a non-transitory computer-readable storage medium is provided in the charging control guide circuit to automatically control the gun lock, thereby effectively avoiding the waste of human and material resources.

[0060] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0061] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0064] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0065] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatic charging gun lock control method based on a charging control guide circuit, characterized in that, The charging control guidance circuit includes a controllable gun lock control switch. By controlling the on / off state of the controllable gun lock control switch, the locking / unlocking of the gun lock is controlled. The control method... Includes the following steps: S1, When the automatic charging robotic arm receives the gun insertion command, it controls the automatic charging robotic arm to dock with the secondary connector on the charging gun and drives the charging gun to insert into the vehicle charging port. After detecting that the gun is in place, it controls the controllable gun lock control switch to close to lock the gun lock and wait for charging to start. S2, after receiving the charging start success indication, control the automatic charging robotic arm to disengage from the secondary connector and return to its original position; S3, upon receiving a stop charging instruction, sends a shutdown control signal to the controllable gun lock control switch and controls the automatic charging robotic arm to dock with the secondary connector. After successful docking with the secondary connector, the automatic charging robotic arm is controlled according to the current switch state fed back by the controllable gun lock control switch. Specifically, when the current switch state of the controllable gun lock control switch is off, the automatic charging robotic arm is controlled to unplug the gun; when the current switch state of the controllable gun lock control switch is closed, the automatic charging robotic arm is controlled to disengage from the secondary connector and an alarm is triggered.

2. The automatic charging gun lock control method based on a charging control guide circuit according to claim 1, characterized in that, It also includes the following steps: S4, when a fault indication signal of the automatic charging robotic arm is received during the insertion and removal of the gun, the current state of the gun lock is determined according to the current switch state fed back by the controllable gun lock control switch; S5, if the gun lock is currently in the unlocked state, control the automatic charging robotic arm to reset and return to its original position with the gun; S6. If the gun lock is currently locked, then the corresponding control strategy is executed on the automatic charging robotic arm according to the current state of the charging gun.

3. The automatic charging gun lock control method based on the charging control guide circuit according to claim 2, characterized in that, Step S6 specifically includes: S61, if the charging gun is currently in the plug-in state, then control the automatic charging robotic arm to return to its original position; S62, if the current state of the charging gun is the unplugged state, then control the automatic charging robotic arm to reposition and determine the position of the secondary connector, and dock with the secondary connector according to the determined position of the secondary connector, and perform a second unplugging operation.

4. The automatic charging gun lock control method based on the charging control guide circuit according to claim 3, characterized in that, It also includes the following steps: S7, upon receiving an instruction signal for the automatic charging robotic arm to stop, control the automatic charging robotic arm to stop operating and halt the charging process; S8. Determine the current state of the gun lock based on the current switch state fed back by the controllable gun lock control switch, and control the automatic charging robotic arm to perform the corresponding emergency stop and reset operation based on the current state of the gun lock.

5. The automatic charging gun lock control method based on the charging control guide circuit according to claim 4, characterized in that, Step S8 specifically includes the following steps: S81, if the gun lock is currently in the unlocked state, control the automatic charging robotic arm to drive the charging gun directly back to its original position; S82, if the gun lock is currently in a locked state, a shutdown control signal is sent to the controllable gun lock control switch, and the automatic charging robotic arm is controlled to reposition and determine the position of the secondary connector, and to dock with the secondary connector according to the determined position of the secondary connector. After the secondary connector is successfully docked, the automatic charging robotic arm is controlled according to the current switch state fed back by the controllable gun lock control switch. Specifically, when the current switch state of the controllable gun lock control switch is in a closed state, the automatic charging robotic arm is controlled to pull out the gun and return to its original position. When the current switch state of the controllable gun lock control switch is in a closed state, the automatic charging robotic arm is controlled to disengage from the secondary connector and an alarm is triggered.

6. An automatic charging gun lock control system based on a charging control guide circuit, characterized in that, The charging control guidance circuit includes a controllable gun lock control switch. By controlling the on / off state of the controllable gun lock control switch, the locking / unlocking of the gun lock is controlled. The control system includes: The first control module is used to control the automatic charging robotic arm to dock with the secondary connector on the charging gun after receiving the insertion command, and to drive the charging gun to be inserted into the vehicle charging port. After detecting that the insertion is in place, the first control module controls the controllable gun lock control switch to close to lock the gun lock and wait for charging to start. The second control module is used to control the automatic charging robotic arm to disengage from the secondary connector and return to its original position after receiving a successful charging start indication. The third control module is used to send a shutdown control signal to the controllable gun lock control switch after receiving a stop charging instruction, and to control the automatic charging robotic arm to dock with the secondary connector. After the secondary connector docking is successful, the third control module performs corresponding control strategies on the automatic charging robotic arm according to the current switch state fed back by the controllable gun lock control switch. Specifically, when the current switch state of the controllable gun lock control switch is off, the automatic charging robotic arm is controlled to unplug the gun; when the current switch state of the controllable gun lock control switch is closed, the automatic charging robotic arm is controlled to disengage from the secondary connector and an alarm is triggered.

7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the automatic charging gun lock control method based on the charging control guide circuit according to any one of claims 1-5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the automatic charging gun lock control method based on the charging control guide circuit according to any one of claims 1-5.

Images