New energy automatic charging method and device

Abstract

The invention discloses a new energy automatic charging method and device, and relates to the technical field of charging. The new energy automatic charging device comprises a signal transmitting module used for transmitting position information of a target; the signal acquisition module is used for receiving the position information of the target; the control module is used for receiving the signal of the signal acquisition module, controlling a charging gun head to pre-position a charging port in a vehicle, and establishing a coordinate transformation relation between the charging gun head and the charging port based on the position information of the target, and based on the coordinate transformation relation, the charging gun head is controlled to move and is accurately in butt joint with the charging port. According to the new energy automatic charging method and device, automatic and accurate butt joint of the charging gun head and the charging port can be achieved.

Description

Technical Field

[0001] This invention relates to the field of charging technology, and in particular to a method and apparatus for automatic charging of new energy sources. Background Technology

[0002] Existing new energy charging robot systems face challenges in achieving precise docking between the charging gun and the charging port of an electric vehicle. Due to insufficient positioning accuracy and inherent uncertainties in the system, such as motion control errors due to joint position errors, calibration deviations, and mechanical tolerances, the expected position of the charging gun may deviate from its actual position. This can easily lead to misalignment between the charging gun and the charging port, hindering proper docking, preventing the establishment of a safe and reliable electrical connection, and even potentially damaging the charging infrastructure or the electric vehicle.

[0003] Secondly, the charging environment is also subject to dynamic changes. Factors such as vibration, ambient temperature fluctuations, and physical obstacles may further affect the accuracy of the robotic arm's movements. These external disturbances will bring additional uncertainties, which will not only affect the alignment and positioning accuracy of the charging gun head, but will also ultimately hinder the successful completion of the charging process.

[0004] Furthermore, the algorithms used for trajectory planning, motion control, and path optimization have limitations that may lead to deviations in the robotic arm's movements. Issues such as insufficient sensor fusion, insensitive feedback control, or data processing delays can all cause the robot to deviate from the preset target posture or motion trajectory, thereby affecting the accurate docking of the charging gun head and the charging port.

[0005] Furthermore, computer vision algorithms used to sense the charging environment and detect charging ports may be subject to errors. Challenges such as lighting conditions like strong light, backlight, and low light, as well as lens blurring due to rain, snow, or dust, and the presence of other objects, can hinder the reliable detection and identification of charging ports, affecting the accurate positioning of the charging gun head.

[0006] Therefore, how to provide a charging method that can ensure the automatic and accurate docking of the charging gun head and the charging port has become an urgent problem to be solved. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a new energy automatic charging method and device that can achieve automatic and precise docking between the charging gun head and the charging port.

[0008] This invention is achieved through the following technical solution:

[0009] In a first aspect, embodiments of the present invention provide a new energy automatic charging device, comprising:

[0010] The signal transmission module is used to transmit the target's position information;

[0011] The signal acquisition module is used to receive the target's position information;

[0012] The control module is used to receive signals from the signal acquisition module, control the charging gun head to pre-position itself with the charging port on the vehicle, establish a coordinate transformation relationship between the charging gun head and the charging port based on the position information of the target, and control the charging gun head to move and precisely dock with the charging port based on the coordinate transformation relationship.

[0013] Furthermore, it also includes targets.

[0014] The target is used to install the signal transmitting module on the outer periphery of the charging port on the vehicle.

[0015] Furthermore, the target comprises at least three.

[0016] At least three targets are arranged in a circle around the center of the charging port.

[0017] Furthermore, the target includes a lidar, an infrared emitting unit, an ultraviolet emitting unit, or an LED emitting unit.

[0018] Furthermore, it also includes charging stations.

[0019] The charging station includes a robot that carries a charging gun for establishing a charging connection with the charging port.

[0020] The charging gun head is surrounded by a target signal acquisition device, and the target signal acquisition device is equipped with the signal acquisition module.

[0021] Furthermore, at least three target signal acquisition devices are correspondingly provided on the periphery of the charging gun head.

[0022] At least three of the target signal acquisition devices are arranged in a circle around the center of the charging gun head.

[0023] Furthermore, the target signal acquisition device includes an industrial camera.

[0024] Furthermore, it also includes a control terminal, which contains the control module.

[0025] Secondly, embodiments of the present invention provide a method for automatic charging of new energy sources, comprising the following steps:

[0026] S1, the vehicle enters the charging area, and the charging gun head is controlled to pre-position the charging port on the vehicle, and the charging port emits a target signal.

[0027] S2, the charging gun head collects the target signal on the charging port;

[0028] S3, establish the coordinate transformation relationship between the charging gun head and the charging port based on the target signal;

[0029] S4, based on the coordinate transformation relationship, control the movement of the charging gun head and accurately connect it to the charging port for charging.

[0030] Furthermore, step S1 also includes:

[0031] The area and location of the region to be charged are pre-defined;

[0032] The location information of the charging port on the vehicle is determined based on the area and location of the area to be charged.

[0033] Furthermore, the location information of the charging port on the vehicle is the calibration area for the same model.

[0034] The calibration area is (390~410) mm with the center of the charging port as the center point. The range is (390~410) mm.

[0035] Further, in step S1, the pre-positioning of the charging gun head with the charging port on the vehicle includes:

[0036] Based on the calibration area, the charging gun head is controlled to pre-position the charging port on the vehicle.

[0037] Further, step S2 includes:

[0038] The target signal on the charging port is acquired through visual or sensor methods.

[0039] Further, step S3 includes:

[0040] Acquire at least three target signals from the charging port, wherein the target signals are the position information of the target;

[0041] A charging port coordinate system is established with the center point of the charging port as the origin based on the position information of at least three targets.

[0042] A measurement coordinate system with the center point of the charging gun head as the origin is established based on the position information of at least three target signal acquisition devices.

[0043] With the center point of each target signal acquisition device as the origin, establish a target signal acquisition device coordinate system corresponding to each target signal acquisition device, and establish an image plane coordinate system corresponding to each target signal acquisition device.

[0044] By obtaining the coordinate transformation relationships between the charging port coordinate system, the measurement coordinate system, the target signal acquisition device coordinate system, and the image plane coordinate system, the position equation of the image plane imaging of the target signal acquisition device is obtained:

[0045]

[0046]

[0047]

[0048]

[0049] Furthermore, step S4 specifically includes:

[0050] The position equation of the target signal acquisition device image plane imaging is used to control the movement of the charging gun head and its docking with the charging port.

[0051] Compared with the prior art, the advantages of this invention are:

[0052] The new energy automatic charging method and device of this invention control the automatic and precise docking of the charging gun head and the charging port by collecting target position data near the charging port. In terms of accuracy, compared to existing technologies that only achieve millimeter-level precision and require an auxiliary calibration system to ensure accurate connection, resulting in high system complexity and cost, this invention improves alignment accuracy by one level to a fraction of a millimeter, while also offering a simpler system structure and lower cost. Furthermore, the charging method of this invention eliminates interference from lighting conditions such as strong light, backlight, and low light, as well as issues like rain, snow, dust causing lens blurring, and the presence of other objects that might hinder the detection and identification of a reliable charging port, leading to failure to identify the charging port. Moreover, the charging method of this invention has low requirements for parking accuracy; the distance between the parking vehicle and the charging gun head only needs to be within ±25mm and ±2° of angle. In addition, current technologies require identification of charging ports for different vehicle models, necessitating extensive sampling training for the algorithm. In contrast, the charging method of this invention only requires installing a target on the charging port to achieve precise positioning, making it compatible with various vehicle models, avoiding extensive sampling training, and possessing universality. Compared to the existing technology where the connection time between the charging gun head and the charging port is longer than 70 seconds, the connection time of the new energy automatic charging method of the present invention can be reduced to less than 30 seconds. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of a new energy automatic charging device according to a first aspect embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram of an application scenario for the new energy automatic charging device according to the first aspect of the present invention;

[0055] Figure 3 This is a schematic diagram of the charging port structure according to an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of the charging port structure according to another embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of the control principle of the new energy automatic charging device according to the first aspect of the present invention;

[0058] Figure 6 This is a flowchart of a new energy automatic charging method according to a second aspect of the present invention;

[0059] Figure 7 This is a schematic diagram of position signal acquisition in the new energy automatic charging method according to the second aspect of the present invention;

[0060] Figure 8 This is a schematic diagram of the coordinate system in the new energy automatic charging method according to the second aspect of the present invention;

[0061] Figure 9 This is a schematic diagram of the coordinate transformation process from the charging port coordinate system to the image plane coordinate system in the new energy automatic charging method according to the second aspect of the present invention.

[0062] Figure 10 This is a schematic diagram of a database of sample vehicle models in the new energy automatic charging method according to a second aspect embodiment of the present invention.

[0063] Figure label:

[0064] 10. Charging port; 20. Target;

[0065] 100. Vehicle; 110. Area to be charged; 200. Charging pile; 210. Robot; 220. Charging gun head; 230. Target signal acquisition device. Detailed Implementation

[0066] The following detailed, non-limiting description of the invention's technical solutions, in conjunction with preferred embodiments and accompanying drawings, is provided. In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. Furthermore, 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 at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0067] In a first aspect, embodiments of the present invention provide a new energy automatic charging device 100, such as... Figure 1 As shown, it includes:

[0068] Signal transmitting module 110 is used to transmit the target's position information;

[0069] Signal acquisition module 120 is used to receive the target's position information;

[0070] The control module 130 is used to receive signals from the signal acquisition module, control the charging gun head to pre-position the charging port on the vehicle, establish a coordinate transformation relationship between the charging gun head and the charging port based on the target position information, and control the charging gun head to move and accurately dock with the charging port based on the coordinate transformation relationship.

[0071] In some embodiments, the new energy automatic charging device 100 may further include a target for installation on the outer periphery of the charging port on the vehicle, and a signal transmitting module 110 is mounted on the target.

[0072] As an example, such as Figure 2 As shown, vehicle 100 travels to a designated area for charging. The charging area 110 (corresponding to the vehicle's charging port location) on vehicles of the same type 100 has a fixed position (i.e., its coordinates relative to the vehicle's reference point remain unchanged). For example... Figure 3 and Figure 4As shown, a target 20 is set on the outer periphery of the charging port 10 on the vehicle. (The target can be composed of light-emitting units such as lidar, infrared light-emitting units, ultraviolet light-emitting units, or LED light-emitting units, and the light-emitting units on the target 20 constitute the signal transmitting module 110.) As an example, four or six targets 20 are evenly arranged around the periphery of the charging port 10. It should be noted that the multiple targets 20 are all arranged on the charging port 10 with the center of the charging port 10 as the center, and emit target signals by emitting light. In addition, the number of targets 20 can be three, four, six, etc., which is not specifically limited here.

[0073] In some embodiments, such as Figure 2 As shown, the new energy automatic charging device 100 may further include a charging pile 200, which includes a robot 210. The robot 210 carries a charging gun head 220 for establishing a charging connection with the charging port. A target signal acquisition device 230 is provided around the charging gun head 220, and a signal acquisition module is installed on the target signal acquisition device 230. At least three target signal acquisition devices 230 are correspondingly arranged around the periphery of the charging gun head 220, with the center of the charging gun head 220 as the center, arranged in a circle on the circumference of the charging gun head 220. The target signal acquisition device 230 may be an industrial camera. A control terminal is also included, which contains the control module.

[0074] Specifically, corresponding areas on the charging gun head 220 are equipped with target signal acquisition devices 230 (at least three), such as cameras or sensors. These devices capture position data by photographing the target 20 on the charging port 10, thus acquiring target signals. Then, the control module in the control terminal receives and processes the data transmitted by the target signal acquisition devices 230, and controls the robot 210 to move and adjust its posture so that the charging gun head 220 precisely aligns with the vehicle's charging port.

[0075] As an example, such as Figure 5As shown, in this embodiment of the new energy automatic charging device 100, four target signal acquisition devices 230 (industrial cameras) are installed on the charging gun head 220. These devices are mounted on the front end of the robotic arm (i.e., the connection point with the charging gun head) using a special fixture. The fixture allows for quick installation and removal, ensuring the consistency of the measurement module's installation position each time. Four targets 20 are correspondingly installed on the charging port 10, each target 20 equipped with a light-emitting unit. The number and structure of the light-emitting units can be combined according to requirements. The data and structure of the targets must meet the needs of signal acquisition to determine interpolation parameters. Each camera receives the optical image of the corresponding target, calculates the target's position data through image processing, and sends the data to the control device. The control terminal receives the measurement data from the four industrial cameras, calculates the relative positional relationship between the charging gun head 220 and the charging port 10, and sends control commands to the corresponding robot to adjust the position and attitude of the charging gun head based on the optimized installation trajectory path (i.e., calculation through the conversion between charging port coordinates and image plane coordinates), adjusting the position and attitude of the charging gun head and controlling it to travel along the predetermined trajectory path.

[0076] Secondly, embodiments of the present invention provide a method for automatic charging of new energy sources, such as... Figure 6 As shown, it may include the following steps:

[0077] S1, the vehicle enters the charging area, and the charging gun head is pre-positioned at the charging port on the vehicle, and the charging port emits a target signal.

[0078] Specifically, such as Figure 2 As shown, when vehicle 100 travels to the designated area, the charging gun head 220 can be moved to the charging area 110 (i.e., the charging port area) of the new energy vehicle by driving robot 210, thus achieving a rough location of the charging port and providing a basis for subsequent precise docking and positioning.

[0079] As an example, step S1 may also include:

[0080] Pre-determine the area and location of the region to be charged;

[0081] The location information of the charging port on the vehicle is determined based on the area and location of the area to be charged.

[0082] Specifically, such as Figure 2As shown, the installation position of the charging port on vehicle 100 is fixed for the same vehicle model (the coordinates relative to the vehicle reference point remain unchanged). With the area and position data of the area to be charged 110 calibrated, the calibration parameters of the area to be charged 110 are bound to the vehicle model. When vehicle 100 drives into and stops within the calibrated predetermined charging area, the system defaults to "the vehicle charging port has fallen into this area." The robot 210 connected to the charging pile 200 does not need to directly identify the charging port, but instead uses the area boundary to deduce the approximate coordinates of the area to be charged 110 and controls the charging gun head 220 to dock with it to achieve pre-positioning. Preferably, the position information of the charging port on the vehicle is the calibration area of ​​the same vehicle model, and the calibration area is (390~410) mm with the center of the charging port as the center point. The range is (390~410) mm.

[0083] In some embodiments, step S1, controlling the charging gun head to pre-position the charging port on the vehicle, includes: controlling the charging gun head to pre-position the charging port on the vehicle based on information from a calibration area. Thus, by using information from the calibration area to pre-position the charging gun head towards the charging port, the complex algorithm for directly identifying the charging port is avoided, reducing reliance on real-time visual recognition and improving positioning efficiency and anti-interference capabilities.

[0084] S2, the charging gun head collects the target signal on the charging port.

[0085] Specifically, for example, a target (which can be composed of light-emitting units such as lidar, infrared light-emitting units, ultraviolet light-emitting units, or LED light-emitting units) can be placed in the vicinity of the charging port on the vehicle. Figure 3 and Figure 4 As shown, four or six targets 20 are evenly arranged around the periphery of the charging port 10. It should be noted that the multiple targets 20 are arranged in a circle around the center of the charging port 10, and emit target signals by emitting light. In addition, the number of targets 20 can be three, four, six, etc., without specific limitation. The corresponding area on the charging gun head is respectively equipped with target signal acquisition devices such as cameras or sensors (at least three), and then the target signal acquisition devices on the charging gun head are used to capture the target position data on the charging port to realize the acquisition of target signals.

[0086] S3, establish the coordinate transformation relationship between the charging gun head and the charging port based on the target signal;

[0087] Specifically, such as Figure 8As shown, firstly, at least three target signals from the charging port are acquired. These target signals represent the position information of the targets. Then, based on the position information of the at least three targets, a charging port (charging base) coordinate system is established with the center point of the charging port as the origin. That is, the charging port coordinate system O-XYZ is a right-handed coordinate system, where O is the center point of the charging port, O-XZ is the vertical plane of the charging port, and the Y-axis is the forward direction. Targets B1, B2, B3, and B4 are located in the charging port coordinate system. Secondly, based on the position information of the at least three target signal acquisition devices, a measurement (charging head / charging connector) coordinate system is established with the center point of the charging head as the origin. That is, the measurement coordinate system O... c -X c Y c Z c Right-handed coordinate system, O c With the charging gun head as the center point, target signal acquisition devices A1, A2, A3, and A4 are located on the measurement coordinate system. Next, using the center point of each target signal acquisition device as the origin, a target signal acquisition device coordinate system is established for each device, and an image plane coordinate system is also established for each device. That is, the target signal acquisition device coordinate system O... J -X J Y J Z J A coordinate system O for the target signal acquisition device is established with the center of each target signal acquisition device as the origin. J1 -X J1 Y J1 Z J1 O J2 -X J2 Y J2 Z J2 O J3 -X J3 Y J3 Z J3 O J4 -X J4 Y J4 Z J4 That is, the image plane coordinate system O F -X F Y F Z F Each camera corresponds to one image plane coordinate system, O F1 -X F1 Y F1 Z F1 O F2 -X F2 Y F2 Z F2 O F3 -X F3 -Y F3 Z F3 O F4 -XF4 Y F4 Z F4 .

[0088] Finally, the coordinate transformation relationships between the charging port coordinate system, the measurement coordinate system, the target signal acquisition device coordinate system, and the image plane coordinate system are obtained. Specifically, assuming the coordinate system is translated (ΔX, -ΔY, ΔZ), rotated about the Z-axis to obtain the azimuth angle α, rotated about the x-axis to obtain the pitch angle β, and rotated about the Y-axis to obtain the roll angle γ, a three-dimensional measurement model is established. The coordinate transformation process from the charging port coordinate system to the image plane coordinate system is described in [link to documentation]. Figure 9 As shown.

[0089] The translation matrix from the charging port coordinate system to the charging gun head coordinate system is:

[0090] Z-axis rotation matrix from charging port coordinate system to charging gun head coordinate system:

[0091] X-axis rotation matrix from charging port coordinate system to charging gun head coordinate system:

[0092] Y-axis rotation matrix from charging port coordinate system to charging gun head coordinate system:

[0093] Translation matrix from the charging gun head coordinate system to the camera A1 coordinate system:

[0094] Translation matrix from the charging gun head coordinate system to the camera A2 coordinate system:

[0095] Translation matrix from the charging gun head coordinate system to the camera A3 coordinate system:

[0096] Translation matrix from the charging gun head coordinate system to the camera A4 coordinate system:

[0097] Transformation matrix from camera A1 to image plane 1:

[0098] Transformation matrix from camera A2 to image plane 2:

[0099] Transformation matrix from camera A3 to image plane 3:

[0100] Transformation matrix from camera A4 to image plane 4:

[0101] The position equation for the image plane formed by the camera is:

[0102]

[0103]

[0104]

[0105]

[0106] S4 controls the movement of the charging gun head based on coordinate transformation and precisely connects it to the charging port for charging.

[0107] Specifically, based on the coordinate transformation relationship between the charging port coordinate system, the measurement coordinate system, the target signal acquisition device coordinate system, and the image plane coordinate system, the charging gun head is controlled to move and align with the charging port. As an example, such as... Figure 7 As shown, four targets can be selected. Target signal acquisition devices A1, A2, A3, and A4 represent the positions of the charging gun head, and targets B1, B2, B3, and B4 represent the positions of the charging port. ZA1, ZA2, ZA3, and ZA4 represent the object distance, XB represents the lateral distance of the target, and YB represents the longitudinal distance of the target. These six parameters can be obtained through direct measurement or simple calculation. Simultaneously, based on the geometric positional relationships shown in the diagram, the azimuth angle α, pitch angle β, and roll angle γ can be calculated, thus obtaining the relative relationships of the six degrees of freedom between the charging gun head and the charging port. Therefore, based on ZA1, ZA2, ZA3, and ZA4, the charging gun head is controlled to move a corresponding distance relative to the charging port. Furthermore, based on the relative relationships of the six degrees of freedom between the charging gun head and the charging port obtained from the azimuth angle α, pitch angle β, and roll angle γ, the angle and distance of the charging gun head are fine-tuned to achieve precise docking. In addition, if external interference occurs during the charging process, the measurement and control system can still capture signals and adjust the docking accuracy in real time.

[0108] It should be noted that during the movement of the charging gun head, data from six degrees of freedom are acquired at a certain time point t1. This data is processed within the time interval δ set by the algorithm. t Then, obtain the six degrees of freedom information at the next time point t2, and calculate the change δ in the six degrees of freedom. X δ Y δ Z ,δα,δ β δ γ By analogy, the six-degree-of-freedom variation values ​​δ at multiple time points can be obtained. Xi δ Yi δ Zi δ αi δ βi δ γi .

[0109] The control logic of this invention is based on planning the end-effector trajectory of the attitude adjustment mechanism using a quintic B-spline curve. Kinematic boundary conditions are used to simplify the control points and node vectors, resulting in the B-spline parameterized equations for the end-effector pose. In actual interpolation tasks, the planned trajectory must ensure the end-effector moves smoothly from the starting point to the target point while also meeting certain performance requirements. Therefore, to ensure high computational efficiency and accuracy, a quintic B-spline curve trajectory with 11 control points is used. Since the charging task requires the end-effector of the attitude adjustment mechanism to reach the target pose from any initial pose point, and the velocity and acceleration at the initial and final poses should be zero, the B-spline curve should have a Clamped property, meaning the initial and final points of the curve are tangent to the initial and final pose points, respectively. The coordinates of the first three control points should be equal to the initial pose, and the coordinates of the last three control points should be equal to the target pose coordinates.

[0110] The smoothness of motion of the components loaded on the attitude adjustment mechanism and the safety of the installation process are of paramount importance, and the jerkiness of each drive mechanism is closely related to this. Therefore, the smaller the maximum absolute value of the jerkiness of each joint, the higher the motion stability of the mechanism and the lower the friction loss. While avoiding trajectory singularities, the attitude adjustment capability of the mechanism is increased as much as possible by increasing the δ value along the entire trajectory. The logarithm of the average δ value of n pose points on the trajectory is selected to evaluate the ease of attitude adjustment of the mechanism when moving along the trajectory, and the ease of attitude adjustment during the movement of the dual attitude adjustment mechanism is used as the third objective evaluation function.

[0111] Based on the sampled values, the velocity, acceleration, and jerk of the six degrees of freedom parameters can be calculated. The above values ​​of displacement change, velocity change, acceleration change, and jerk change are used as constraint parameters to minimize them.

[0112] Therefore, the charging gun head is controlled to move towards the charging port by converting between the charging port coordinates and the image plane coordinates. The acquired values ​​are used to calculate and correct deviations in real time until the charging gun is precisely aligned with and docked with the charging port. Specifically, the torque control sensor on the charging gun head determines the final position of the charging gun and sends a positioning signal to the charging pile. After receiving the positioning signal, the charging pile confirms the connection signal with the vehicle's charging port and begins charging. If the positioning is not detected, the machine will return to the remeasured position, recalculate, and re-control the movement and docking.

[0113] Compared to existing technologies that rely on "pure visual recognition of charging port outline + AI algorithm matching", this embodiment uses target signals as a positioning reference. Through visual or sensing methods, "recognizing the charging port" is transformed into "recognizing the target" to determine the precise location of the charging port. The target signal can be emitted by the light-emitting unit, which effectively avoids interference from environmental factors and does not require adaptation and training of a large number of vehicle model samples, thus reducing costs.

[0114] It should be noted that the size of the area to be charged 110 needs to be controlled within the adjustment range of the charging gun head to ensure that the positional error of the reverse thrust can be corrected through subsequent fine-tuning. This invention, by employing a design with a consistent target mounted at the charging port, avoids the need for multiple training sessions for different vehicle models required by existing technologies. For example, such as... Figure 10 As shown, each vehicle model will record corresponding data as a training database.

[0115] The new energy automatic charging method of this invention controls the precise docking of the charging gun head and the charging port by collecting target position data near the charging port. In terms of accuracy, compared to existing technologies that only achieve millimeter-level precision and require an auxiliary calibration system to ensure accurate connection, resulting in high system complexity and cost, this invention improves alignment accuracy by one level to a fraction of a millimeter, while also offering a simpler system structure and lower cost. Furthermore, this charging method eliminates interference from lighting conditions such as strong light, backlight, and low light, as well as issues like rain, snow, dust causing lens blurring, and the presence of other objects that might hinder the detection and identification of a reliable charging port, leading to its inability to be recognized. Moreover, this charging method has low requirements for parking accuracy; the distance between the parking vehicle and the charging gun head only needs to be within ±25mm and ±2° of angle. In addition, current technologies require identification of charging ports for different vehicle models, necessitating extensive sampling training. In contrast, this charging method only requires installing a target on the charging port to achieve precise positioning, making it compatible with various vehicle models, avoiding extensive sampling training, and possessing universality. Compared to the existing technology where the connection time between the charging gun head and the charging port is longer than 70 seconds, the connection time of the new energy automatic charging method of the present invention can be reduced to less than 30 seconds.

[0116] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A new energy automatic charging device, characterized in that, include: The signal transmission module is used to transmit the target's position information; The signal acquisition module is used to receive the target's position information; The control module is used to receive signals from the signal acquisition module, control the charging gun head to pre-position itself with the charging port on the vehicle, establish a coordinate transformation relationship between the charging gun head and the charging port based on the position information of the target, and control the charging gun head to move and precisely dock with the charging port based on the coordinate transformation relationship.

2. The new energy automatic charging device according to claim 1, characterized in that, It also includes targets, The target is used to install the signal transmitting module on the outer periphery of the charging port on the vehicle.

3. The new energy automatic charging device according to claim 2, characterized in that, The targets include at least three. At least three targets are arranged in a circle around the center of the charging port.

4. The new energy automatic charging device according to claim 2 or 3, characterized in that, The target includes a lidar, an infrared emitting unit, an ultraviolet emitting unit, or an LED emitting unit.

5. The new energy automatic charging device according to claim 1, characterized in that, It also includes charging stations, The charging station includes a robot that carries a charging gun for establishing a charging connection with the charging port. The charging gun head is surrounded by a target signal acquisition device, and the target signal acquisition device is equipped with the signal acquisition module.

6. The new energy automatic charging device according to claim 5, characterized in that, At least three target signal acquisition devices are provided around the periphery of the charging gun head. At least three of the target signal acquisition devices are arranged in a circle around the center of the charging gun head.

7. The new energy automatic charging device according to claim 6, characterized in that, The target signal acquisition device includes an industrial camera.

8. The new energy automatic charging device according to claim 1, characterized in that, It also includes a control terminal, which contains the control module.

9. A method for automatic charging of new energy sources, characterized in that, Includes the following steps: S1, the vehicle enters the charging area, and the charging gun head is controlled to pre-position the charging port on the vehicle, and the charging port emits a target signal. S2, the charging gun head collects the target signal on the charging port; S3, establish the coordinate transformation relationship between the charging gun head and the charging port based on the target signal; S4, based on the coordinate transformation relationship, control the movement of the charging gun head and accurately connect it to the charging port for charging.

10. The automatic charging method for new energy sources according to claim 9, characterized in that, Step S1 further includes: The area and location of the region to be charged are pre-defined; The location information of the charging port on the vehicle is determined based on the area and location of the area to be charged.

11. The new energy automatic charging method according to claim 10, characterized in that, The location information of the charging port on the vehicle is the calibration area for the same model. The calibration area is (390~410) mm with the center of the charging port as the center point. The range is (390~410) mm.

12. The new energy automatic charging method according to claim 11, characterized in that, In step S1, the process of controlling the charging gun head to pre-position the charging port on the vehicle includes: Based on the calibration area, the charging gun head is controlled to pre-position the charging port on the vehicle.

13. The new energy automatic charging method according to claim 9, characterized in that, Step S2 includes: The target signal on the charging port is acquired through visual or sensor methods.

14. The automatic charging method for new energy sources according to claim 9, characterized in that, Step S3 includes: Acquire at least three target signals from the charging port, wherein the target signals are the position information of the target; A charging port coordinate system is established with the center point of the charging port as the origin based on the position information of at least three targets. A measurement coordinate system with the center point of the charging gun head as the origin is established based on the position information of at least three target signal acquisition devices. With the center point of each target signal acquisition device as the origin, establish a target signal acquisition device coordinate system corresponding to each target signal acquisition device, and establish an image plane coordinate system corresponding to each target signal acquisition device. By obtaining the coordinate transformation relationships between the charging port coordinate system, the measurement coordinate system, the target signal acquisition device coordinate system, and the image plane coordinate system, the position equation of the image plane imaging of the target signal acquisition device is obtained: 。 15. The new energy automatic charging method according to claim 14, characterized in that, Step S4 specifically includes: The position equation of the target signal acquisition device image plane imaging is used to control the movement of the charging gun head and its docking with the charging port.

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