Automatic charging apparatus and control method therefor

Abstract

The present application relates to the technical field of electric vehicle charging piles, and discloses an automatic charging apparatus and a control method therefor. The automatic charging apparatus comprises: a main housing; a charging module, provided in the main housing, wherein the charging module is connected to a power grid and is used for outputting a direct current; a robotic arm, fixed in the main housing, wherein a charging gun is fixed on the robotic arm; a charging cable, wherein one end of the charging cable is connected to the charging module and the other end of the charging cable is connected to the charging gun, and the charging cable is provided with a sensing marker; a cable retraction assembly, fixed to the main housing and used for retracting the charging cable after the robotic arm is reset; a positioning assembly, comprising a positioning support and a sensing member fixed to the positioning support, wherein a cable inlet is formed in the positioning support, and the other end of the charging cable passes through the cable inlet and is connected to the charging gun; and a controller, electrically connected to the robotic arm, the cable retraction assembly and a sensing assembly, and used for controlling, when the sensing member identifies the sensing marker, the cable retraction assembly to stop operating.

Description

An automatic charging device and its control method This application claims priority to Chinese Patent Application No. 202411455696.7, filed on October 18, 2024, entitled "An Automatic Charging Device and Control Method Thereof", the entire contents of which are incorporated herein by reference. Technical Field

[0001] This application belongs to the field of vehicle charging pile technology, specifically relating to an automatic charging device and its control method. Background Technology

[0002] With the rapid development of new energy vehicles, car charging stations are becoming increasingly common. Charging stations are generally divided into manual charging stations and automatic charging stations based on their charging methods. The charging cables of manual charging stations dangle from the outside of the station, sometimes dragging on the ground, constantly rubbing against it and even being run over by vehicles, greatly shortening their lifespan. Most automatic charging stations on the market use machines for in-place charging. However, currently, the charging cables in the automatic charging field often follow the robot's path. When the robot is not working, the charging cables are also completely exposed outside the equipment without special cable management, increasing the probability of cable damage. Furthermore, the robot drags the charging cables during charging, with the weight of the cables entirely on the robot, increasing its load.

[0003] As vehicle charging speeds increase, the demands for safety and convenience in the charging process also rise. Liquid-cooled charging cables have become the mainstream choice for supercharging stations. To free up customers' hands and provide a better charging experience, liquid-cooled cables are gradually being applied to automatic charging devices. To better protect the liquid-cooled cables, an automatic cable feeding and take-up device is needed. Existing charging devices typically separate the charging module from the charging station, resulting in a complex overall structure and long charging cable harnesses, leading to high costs. However, current automatic cable feeding and take-up devices for charging cables on the market have complex structures, long cable harnesses, and high investment costs. Furthermore, due to the internal liquid-cooled pipes, the safety and reliability of the cable feeding and take-up mechanism for liquid-cooled cables are becoming increasingly important. Summary of the Invention

[0004] This application provides an automatic charging device and its control method, aiming to at least partially solve the technical problems of existing automatic charging gun cable feeding and receiving devices on the market, such as complex structure, excessively long cable harness, and high investment cost.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0006] A first aspect of this application provides an automatic charging device, comprising: a main housing; a charging module disposed within the main housing, the charging module being connected to a power grid for outputting direct current; a robotic arm fixed within the main housing, on which a charging gun is fixed; a charging cable, one end of which is connected to the charging module, and the other end of which is connected to the charging gun; the charging cable having a sensing mark; a cable retraction assembly fixed within the main housing for retracting the charging cable after the robotic arm has reset; a positioning assembly including a positioning bracket and a sensor fixed to the positioning bracket, the positioning bracket having a cable inlet, the other end of which passes through the cable inlet and connects to the charging gun; the sensor being electrically connected to the cable retraction assembly; and a controller electrically connected to the robotic arm, the cable retraction assembly, and the sensor assembly for controlling the cable retraction assembly to stop operating when the sensor detects the sensing mark.

[0007] In some embodiments, the cable take-up assembly includes: a mounting base fixed to the main housing; a drive motor mounted on the mounting base; and a roller unit connected to the power output terminal of the drive motor, through which the charging cable passes.

[0008] In some embodiments, the roller unit includes: a mounting plate connected to the mounting base; a drive wheel rotatably mounted on the mounting plate, the power output end of the drive motor being connected to the drive wheel; and a driven wheel rotatably mounted on the mounting plate, the charging cable passing between the drive wheel and the driven wheel, the drive motor driving the drive wheel to rotate and thus moving the charging cable.

[0009] In some embodiments, the mounting plate is provided with multiple mounting holes, and the pressure of the driving wheel and the driven wheel on the charging cable is adjusted by fixing the driven wheel to different mounting holes; the charging cable is a liquid-cooled cable harness.

[0010] In some embodiments, the length of the charging cable is set such that, when the robotic arm is reset, the lowest point of the charging cable is spaced apart from the bottom plate of the main housing.

[0011] In some embodiments, the automatic charging device further includes a protective component for preventing damage to the charging cable. The protective component includes: a first protective unit rotatably disposed within the cable inlet and in contact with the charging cable; and / or a second protective unit disposed within the main housing and in contact with a section of the charging cable near the charging module.

[0012] In some embodiments, the first protection unit includes a plurality of omnidirectional balls arranged in a ring along the inner wall of the inlet.

[0013] In some embodiments, the second protective unit includes a plurality of anti-friction balls, which are disposed on the lowest point of the charging cable segment.

[0014] In some embodiments, the main housing includes an outer shell and an inner frame, the inner frame is disposed inside the outer shell, the charging module is fixed to the outside of the inner frame, and the robotic arm, positioning bracket and drive assembly are all disposed inside the inner frame.

[0015] A second aspect of this application provides a control method for an automatic charging device, comprising the following steps:

[0016] After responding to the charging demand command, the controller controls the robotic arm to extend and move to the vehicle's charging port for charging.

[0017] In response to the charging completion signal, the controller controls the robotic arm to reset and controls the cable retraction assembly to retract the charging cable.

[0018] When the controller determines that the sensing mark on the charging cable is in the initial position based on the signal detected by the sensor, it controls the cable take-up assembly to stop taking up the cable.

[0019] In some embodiments, after responding to a charging demand command and before the controller controls the robotic arm to extend, the controller determines whether the sensing mark on the charging cable is in the initial position by the signal detected by the sensors.

[0020] If the sensor marker is not in its initial position, the controller will issue a maintenance prompt signal.

[0021] If the sensor marker is in its initial position, the controller controls the robotic arm to extend and move to the vehicle's charging port for charging. From the above technical solution, it can be seen that this application has at least the following advantages and positive effects:

[0022] An automatic charging device disclosed in this application minimizes the charging cable length and reduces its cost by arranging the charging module inside the main housing and sharing the main housing with other components for protection. This further reduces the power requirement of the liquid cooling unit in the charging module and minimizes energy loss during charging, thereby improving energy utilization. The device also features a cable retraction component and a positioning component working in tandem to ensure the charging cable returns to its designated position after charging. This effectively controls the cable length, minimizes contact between the cable and other components, and fully protects the cable. Furthermore, it reduces manufacturing and maintenance costs. The origin positioning device ensures the cable retracts to the set position each time, preventing excessive cable exposure due to slippage over time.

[0023] This application discloses a control method for an automatic charging device. By using a controller to drive a robotic arm, a cable retraction assembly, and a sensing assembly to work together, the method ensures that the charging cable returns to a designated position after charging is completed. It effectively controls the length of the charging cable, minimizes contact between the charging cable and other components, fully protects the charging cable, and has lower manufacturing and maintenance costs. Furthermore, the method includes an origin positioning device, which effectively ensures that the cable harness retracts to the set position each time, preventing excessive exposure of the cable harness due to slippage after prolonged use. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 is a structural schematic diagram of an automatic charging device according to an embodiment of this application;

[0026] Figure 2 is a simplified structural diagram of a roller unit of an automatic charging device according to an embodiment of this application;

[0027] Figure 3 is a logic block diagram of a control method applied to an automatic charging device according to an embodiment of this application.

[0028] The reference numerals in the attached drawings are explained as follows: 100, charging module; 200, charging cable; 210, sensing mark; 310, positioning bracket; 311, cable inlet; 320, sensing element; 410, mounting base; 420, drive motor; 430, roller unit; 431, mounting plate; 4311, mounting hole; 432, drive wheel; 433, driven wheel; 510, omnidirectional ball; 520, anti-friction ball; 600, main housing; 610, outer shell; 620, inner frame; 700, robotic arm; 800, charging gun. Detailed Implementation

[0029] To enable those skilled in the art to more clearly understand this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] Figure 1 is a structural schematic diagram of an automatic charging device according to an embodiment of this application. As shown in Figure 1, the device includes: a main housing 600; a charging module 100 disposed within the main housing 600, the charging module being connected to the power grid for outputting DC power; a robotic arm 700 fixed within the main housing 600, on which a charging gun 800 is fixed; a charging cable 200, one end of which is connected to the charging module, and the other end of which is connected to the charging gun 800; the charging cable 200 is provided with a sensing mark 210; and a cable take-up assembly fixed within the main housing. The system includes a body 600 for retrieving the charging cable 200 after the robotic arm 700 has reset; a positioning component including a positioning bracket 310 and a sensor 320 fixed to the positioning bracket 310, wherein the positioning bracket 310 is provided with a cable inlet 311, and the other end of the charging cable 200 passes through the cable inlet 311 and connects to the charging gun 800; the sensor 320 is electrically connected to the cable retraction component; and a controller electrically connected to the robotic arm 700, the cable retraction component, and the sensor component, for controlling the cable retraction component to stop working when the sensor 320 detects the sensing mark 210. By arranging the charging module 100 inside the main housing 600 and sharing the main housing 600 with other components for protection, the length of the charging cable 200 can be minimized, reducing the cost of the charging cable 200. This further reduces the power requirement of the liquid cooling module in the charging module 100 and reduces energy loss during charging, improving energy utilization. By setting up a cable retraction component and a positioning component to work together, the charging cable 200 can be ensured to return to the designated position after charging is completed. This effectively controls the length of the charging cable 200, minimizes contact between the charging cable 200 and other components, fully protects the charging cable 200, and reduces manufacturing and maintenance costs. The original positioning device can effectively ensure that the cable harness is retracted to the set position each time, preventing the problem of excessive exposed cable harness due to slippage after prolonged use.

[0031] In some embodiments, the charging cable 200 is a liquid-cooled cable harness, which includes a conductor and an integrally formed cable harness base. The cable harness base forms liquid-cooling channels during the forming process. These channels are filled with coolant, which circulates within them via a pump, carrying away the heat generated by the conductor during conduction. During circulation, the coolant transfers heat to a heat dissipation device for cooling, and then returns to the cable harness for further circulation, thus achieving continuous heat dissipation and temperature control. This rapidly reduces the conductor's temperature, preventing high temperatures from affecting the conductor and the entire system. Furthermore, the liquid-cooled cable harness is suitable for heat dissipation during high-power operation and fast charging, increasing the current the conductor can carry, thereby enhancing system reliability and lifespan. Since a shorter liquid-cooled cable harness requires less power for heat dissipation, this application reduces the power requirement for the liquid-cooling unit in the charging module 100 by reducing the length of the charging cable 200. The shorter the liquid-cooled cable harness, the lower the power requirement for heat dissipation, and the less energy loss during charging, thus improving energy utilization.

[0032] In some embodiments, the cable take-up assembly includes: a mounting base 410 fixed to the main housing 600; a drive motor 420 mounted on the mounting base 410; and a roller unit 430 connected to the power output end of the drive motor 420, with the charging cable 200 passing through the roller unit 430. Specifically, the mounting base 410 is fixed to the side wall of the inner frame 620.

[0033] Please refer to Figure 2, which is a simplified structural diagram of the roller unit 430 of an automatic charging device according to an embodiment of this application.

[0034] In some embodiments, the roller unit 430 includes: a mounting plate 431 connected to the mounting base 410; a drive wheel 432 rotatably mounted on the mounting plate 431, the power output end of the drive motor 420 connected to the drive wheel 432; and a driven wheel 433 rotatably mounted on the mounting plate 431. The charging cable 200 passes between the drive wheel 432 and the driven wheel 433, and the drive motor 420 drives the drive wheel 432 to rotate, thereby moving the charging cable 200. Specifically, the mounting plate 431 has multiple mounting holes 4311. By fixing the driven wheel 433 to different mounting holes 4311, the pressure of the drive wheel 432 and the driven wheel 433 on the charging cable 200 can be adjusted. The rims of the drive wheel 432 and the driven wheel 433 are made of nylon, providing sufficient friction while ensuring that the cable harness is not damaged. The drive motor 420 is a servo motor, which can provide stable and high-precision power output.

[0035] In other embodiments, the roller unit 430 includes: a mounting plate 431 connected to the mounting base 410; a drive wheel 432 rotatably mounted on the mounting plate 431, the power output end of the drive motor 420 being connected to the drive wheel 432; and a drive cylinder fixed to the mounting plate 431, the power output end of the drive cylinder being equipped with a driven wheel 433, the distance between the drive wheel 432 and the driven wheel 433 being adjusted by extending and retracting the drive cylinder.

[0036] In some embodiments, the length of the charging cable 200 is set such that, when the robotic arm 700 is reset, the lowest point of the charging cable 200 is spaced from the bottom plate of the main housing 600, which can prevent the charging cable 200 from rubbing against the bottom of the main housing 600. The space is 10cm to 20cm.

[0037] In some embodiments, the automatic charging device further includes a protective component for preventing damage to the charging cable 200. The protective component includes: a first protective unit rotatably disposed within the cable inlet 311 and in contact with the charging cable 200; and / or a second protective unit disposed within the main housing 600 and in contact with a section of the charging cable 200 near the charging module.

[0038] In some embodiments, the first protective unit includes a plurality of omnidirectional balls 510, which are arranged in a ring along the inner wall of the inlet 311. As the charging cable 200 passes through the charging port, it slides in any direction and directly contacts the omnidirectional balls 510. The omnidirectional balls 510 rotate with almost no friction, ensuring that the cable harness is not subject to frictional resistance or damage during entry and exit.

[0039] In some embodiments, the second protective unit includes a plurality of anti-friction balls 520, which are disposed at the lowest point of the charging cable 200. The anti-friction balls 520 are attached to the charging cable 200. Although the charging cable 200 is at a safe distance from the ground when it is retracted, it may still droop and touch the ground after long-term use or after being left idle. Adding anti-friction balls 520 can prevent the charging cable 200 from directly contacting the ground, reduce friction with the ground, and protect the cable harness.

[0040] In some embodiments, the main housing 600 includes an outer shell 610 and an inner frame 620. The inner frame 620 is disposed within the outer shell 610, and the charging module is fixed to the outside of the inner frame 620. The robotic arm 700, the positioning bracket 310, and the drive assembly are all disposed within the inner frame 620. The inner frame separates the charging module 100 from the robotic arm 700 to prevent safety accidents. Specifically, the robotic arm 700 is suspended on the upper wall of the inner frame, which maximizes space utilization and reduces contact and collision with the wiring harness, thus protecting the wiring harness.

[0041] In some embodiments, the sensing element 320 is a laser sensor or a sensing camera.

[0042] Please refer to Figure 3, which is a logic block diagram of a control method applied to an automatic charging device in an embodiment of this application.

[0043] A second aspect of this application provides a control method for an automatic charging device, comprising the following steps:

[0044] After the car moves to the charging location, the charging control system issues a charging request command.

[0045] After responding to a charging demand command, the controller determines whether the sensing mark 210 is in its initial position by detecting the signal through the sensor 320; if the sensing mark 210 is not in its initial position, the controller issues a maintenance prompt signal.

[0046] If the sensor marker 210 is in the initial position, the controller controls the robotic arm 700 to extend and move to the vehicle's charging port for charging;

[0047] Specifically, during the process of the robotic arm 700 moving the charging cable 200, the drive motor 420 keeps idling, and the roller unit 430 rotates in the opposite direction to the line speed to ensure that the cable is not affected by the drive motor 420 when pulling the cable.

[0048] In response to the charging completion signal, the controller controls the robotic arm 700 to reset and controls the cable retraction assembly to retract the charging cable 200.

[0049] Specifically, the take-up assembly can take up the wire simultaneously with the reset, or it can take up the wire after the reset.

[0050] When the controller determines that the sensing mark 210 is in the initial position based on the signal detected by the sensor, it controls the take-up assembly to stop taking up the wire; if the sensing element 320 has not detected the sensing mark 210 30 seconds after the start of take-up, the controller reports a wire harness retrieval fault and prompts maintenance personnel to handle it.

[0051] The controller drives the robotic arm 700, the cable retraction assembly, and the sensing assembly to work together to ensure that the charging cable 200 returns to the designated position after charging is completed. It can effectively control the length of the charging cable 200, minimize contact between the charging cable 200 and other components, fully protect the charging cable 200, and reduce manufacturing and maintenance costs. The original positioning device can effectively ensure that the cable harness is retracted to the set position each time, and prevent the problem of excessive exposure of the cable harness due to slippage after long-term use.

[0052] As can be seen from the above technical solution, this application has at least the following advantages and positive effects:

[0053] An automatic charging device disclosed in this application minimizes the charging cable length and reduces its cost by arranging the charging module inside the main housing and sharing the main housing with other components for protection. This further reduces the power requirement of the liquid cooling module in the charging module and minimizes energy loss during charging, thereby improving energy utilization. By setting up a cable retraction component and a positioning component working together, the device ensures that the charging cable returns to the designated position after charging is completed. This effectively controls the length of the charging cable, minimizes contact between the charging cable and other components, fully protects the charging cable, and reduces manufacturing and maintenance costs. The inclusion of an origin positioning device effectively ensures that the cable harness retracts to the set position each time, preventing excessive exposure of the cable harness due to slippage over time.

[0054] This application discloses a control method for an automatic charging device. By using a controller to drive a robotic arm, a cable retraction assembly, and a sensing assembly to work together, the method ensures that the charging cable returns to a designated position after charging is completed. It effectively controls the length of the charging cable, minimizes contact between the charging cable and other components, fully protects the charging cable, and has lower manufacturing and maintenance costs. Furthermore, the method includes an origin positioning device, which effectively ensures that the cable harness retracts to the set position each time, preventing excessive exposure of the cable harness due to slippage after prolonged use.

[0055] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0056] In the description of this application, 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", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0057] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean 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 application according to the specific circumstances.

[0058] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0059] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic charging device, characterized by comprising: include: main box; A charging module is installed inside the main housing and is connected to the power grid to output direct current. A robotic arm is fixed inside the main housing, and a charging gun is fixed on the robotic arm; A charging cable, one end of which is connected to the charging module, and the other end of which is connected to the charging gun; the charging cable is equipped with a sensing mark; A cable retraction assembly, fixed to the main housing, is used to retract the charging cable after the robotic arm resets. The positioning component includes a positioning bracket and a sensor fixed to the positioning bracket. The positioning bracket is provided with a cable inlet, and the other end of the charging cable passes through the cable inlet and is connected to the charging gun. The sensor is electrically connected to the cable take-up component. The controller, which is electrically connected to the robotic arm, the take-up assembly, and the sensing assembly, is used to control the take-up assembly to stop working when the sensing element detects the sensing mark.

2. The automatic charging device according to claim 1, characterized in that, The take-up assembly includes: Mounting base, fixed to the main housing; A drive motor is mounted on the mounting base; The roller unit is connected to the power output terminal of the drive motor, and the charging cable passes through the roller unit.

3. The automatic charging device according to claim 2, characterized in that The roller unit includes: The mounting plate is connected to the mounting base; A drive wheel, which is rotatable, is mounted on the mounting plate, and the power output end of the drive motor is connected to the drive wheel; The driven wheel is rotatably mounted on the mounting plate. The charging cable passes between the driving wheel and the driven wheel. The driving wheel is driven to rotate by the drive motor, which in turn drives the charging cable.

4. The automatic charging device according to claim 3, characterized in that The mounting plate is provided with multiple mounting holes. By fixing the driven wheel to different mounting holes, the pressure of the driving wheel and the driven wheel on the charging cable can be adjusted.

5. The automatic charging device according to claim 1, wherein The length of the charging cable is set such that, when the robotic arm is reset, the lowest point of the charging cable is spaced apart from the bottom plate of the main housing.

6. The automatic charging device according to any one of claims 1 to 4, characterized by The automatic charging device further includes a protective component for preventing damage to the charging cable, the protective component comprising: The first protective unit is rotatably disposed inside the inlet and is in contact with the charging cable; And / or a second protective unit, disposed within the main housing and in contact with a section of the charging cable near the charging module.

7. The automatic charging device according to claim 6, characterized in that The first protection unit includes multiple omnidirectional balls, which are arranged in a ring along the inner wall of the inlet.

8. The automatic charging device according to claim 6, characterized in that The second protective unit includes multiple anti-friction balls, which are disposed at the lowest point of the charging cable segment.

9. The automatic charging device according to claim 1, characterized in that, The main housing includes an outer shell and an inner frame. The inner frame is disposed inside the outer shell, the charging module is fixed to the outside of the inner frame, and the robotic arm, positioning bracket, and drive assembly are all disposed inside the inner frame.

10. The automatic charging device according to claim 1, characterized in that, The charging cable is a liquid-cooled cable harness; The liquid-cooled wire harness includes a conductor and an integrally formed wire harness base. During the forming process, the wire harness base forms a liquid-cooling channel, which is filled with coolant. Through the action of a pump, the coolant circulates within the liquid-cooling channel, carrying away the heat generated by the conductor during the conduction process.

11. The automatic charging device according to claim 9, characterized in that, The mounting base is fixed to the side wall of the inner frame.

12. The automatic charging device according to claim 2, wherein The roller unit includes: The mounting plate is connected to the mounting base; A drive wheel, which is rotatable, is mounted on the mounting plate, and the power output end of the drive motor is connected to the drive wheel; A drive cylinder is fixed to the mounting plate. A driven wheel is installed at the power output end of the drive cylinder, and the distance between the drive wheel and the driven wheel is adjusted by extending and retracting the drive cylinder.

13. The automatic charging device according to claim 5, wherein The interval is 10cm to 20cm.

14. A control method of an automatic charging device, characterized by, Includes the following steps: After responding to the charging demand command, the controller controls the robotic arm to extend and move to the vehicle's charging port for charging. In response to the charging completion signal, the controller controls the robotic arm to reset and controls the cable retraction assembly to retract the charging cable. When the controller determines that the sensing mark on the charging cable is in the initial position based on the signal detected by the sensor, it controls the cable take-up assembly to stop taking up the cable.

15. The control method of the automatic charging device according to claim 14, wherein After responding to the charging demand command, and before the controller extends the robotic arm, the controller determines whether the sensing mark on the charging cable is in the initial position by the signal detected by the sensors. If the sensor marker is not in its initial position, the controller will issue a maintenance prompt signal. If the sensor is in the initial position, the controller will control the robotic arm to extend and move to the vehicle's charging port for charging.

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