CN113119769B - Automatic electric vehicle charging robot based on two-machine cooperation and charging method - Google Patents
Automatic electric vehicle charging robot based on two-machine cooperation and charging method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/18—Cables specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
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- Combustion & Propulsion (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The automatic charging robot for the electric automobile and the charging method based on two-machine cooperation solve the problem that the existing movable charging robot needs to charge and discharge to cause resource waste, and belong to the technical field of automatic charging of new energy electric automobiles. The invention comprises an auxiliary on-line robot, a magnetic attraction type charging line frame and a charger robot main body; magnetism is inhaled formula and is filled line frame and pass through magnetic adsorption and fix on supplementary line robot, be provided with the screens device in the robot main part that charges, receive electric automobile's the instruction of waiting to charge when charging robot main part, the robot main part that charges utilizes the screens device to take out a magnetism from supplementary line robot and inhales formula charging wire frame transportation to car charging port department to make magnetism inhale formula charging wire frame and connect car charging port and electric automobile, charge electric automobile. The method can simultaneously access more vehicles, and can regulate and control the charging strategy of the whole parking lot.
Description
Technical Field
The invention relates to an automatic electric vehicle charging robot based on two-machine cooperation, and belongs to the technical field of automatic charging of new energy electric vehicles.
Background
With the decrease of petroleum energy, new energy electric vehicles are rapidly developed, and with the maturity of automatic driving and automatic parking technologies, automatic charging of electric vehicles is a problem to be solved urgently at present.
At present, some researches on automatic charging robots are available, the most common is a fixed charging robot, the fixed automatic charging robot can only meet the charging requirement of one automobile, and the limitation is large; and the movable charger robot is also divided into two types, the guide rail type and the mode of utilizing the battery to store energy and carrying an AGV trolley are adopted, the guide rail type and the mode of utilizing the battery to store energy can only meet single-row charging, the size is large, the mode of utilizing the battery to store energy and discharging is adopted for the latter, the time cost is increased, the energy waste is caused due to the secondary conversion of electric energy, moreover, the number of vehicles which can be accommodated is small, the charging strategy adjustment can not be carried out on the whole parking lot, and therefore the impact on the whole power grid after the access of a large number of vehicles can not be solved.
Disclosure of Invention
The invention provides an automatic charging robot for an electric automobile based on two-machine cooperation and a charging method, aiming at the problem of resource waste caused by the fact that the existing mobile charging robot needs to be charged and discharged.
The invention discloses an automatic charging robot for an electric automobile based on two-machine cooperation, which comprises an auxiliary online robot, a magnetic type charging line frame and a charging robot main body;
magnetism is inhaled formula charging wire frame and is fixed on supplementary robot that reaches standard grade through magnet adsorption, be provided with the screens device in the charging robot main part, receive electric automobile's the instruction of waiting to charge when charging robot main part, the charging robot main part utilizes the screens device to inhale formula charging wire frame transportation to car charging port department from supplementary robot that reaches standard grade to make magnetism inhale formula charging wire frame and connect car charging port and electric automobile, charge electric automobile.
Preferably, the magnetic-type charging line rack comprises a plurality of magnetic-type charging line racks, and the magnetic-type charging line racks are fixed on the auxiliary online robot through magnet adsorption;
after the formula charging wire frame is connected the car mouth and electric automobile that charges through magnetism, the screens device in the charging robot main part is inhaled formula charging wire frame separation with magnetism, waits for next electric automobile's the instruction of waiting to charge.
Preferably, after the auxiliary online robot receives a to-be-charged instruction of the electric automobile, a vehicle type signal of the electric automobile is determined, the magnetic type charging line with the corresponding model is erected to a to-be-taken station, and the main body of the charging robot is waited to be taken out.
Preferably, when the charger robot main body receives a charging completion instruction of the electric vehicle, the clamping device of the charger robot main body takes down the magnetic type charging wire frame on the electric vehicle, transports the magnetic type charging wire frame to the auxiliary on-line robot, and enables the magnetic type charging wire frame to be separated from the clamping device of the charger robot main body through the absorption of the magnet on the auxiliary on-line robot.
Preferably, the auxiliary line-feeding robot comprises a horizontal lower framework 5, a lower clamping magnet 6, a vertical framework 7, an upper clamping magnet 8 and a horizontal upper framework 9;
the horizontal upper framework 9 is positioned above the horizontal lower framework 5, the vertical framework 7 is positioned between the horizontal upper framework 9 and the horizontal lower framework 5 and is fixedly connected with the horizontal upper framework 9, the horizontal upper framework 9 is fixedly provided with a plurality of upper clamping magnets 8, and all the upper clamping magnets 8 are distributed on the outer surface of the horizontal upper framework 9;
the horizontal lower framework 5 is fixed with lower clamping magnets 6 with the same number as the upper clamping magnets 8, all the lower clamping magnets 6 are distributed on the outer surface of the horizontal lower framework 5, each lower clamping magnet 6 corresponds to the position of one upper clamping magnet 8 on the horizontal upper framework 9,
the magnetic type charging wire frame comprises a charging plug 10, a No. 1 lower clamping magnetic head 11, a No. 2 lower clamping magnetic head 12, a charging wire 13, a charging gun head 14 and an upper clamping magnetic head 15;
the two ends of the charging wire 13 are respectively connected with a charging plug 10 and a charging gun head 14 and are fixed as an integrated piece, an upper clamping magnetic head 15 and a No. 1 lower clamping magnetic head 11 are positioned at the upper part and the lower part of one side of the integrated piece, and the positions of the upper clamping magnetic head and the lower clamping magnetic head correspond to the upper clamping magnet 8 and the lower clamping magnet 6 of the auxiliary line feeding robot;
no. 2 lower clamping magnetic head 12 is located on the lower portion of the other side of the integrated piece, and a magnetic attraction is arranged on the clamping device of the charger robot main body and corresponds to the No. 2 lower clamping magnetic head 12 in position.
Preferably, the auxiliary online robot further comprises a controller 3 and a driving motor 4;
the output shaft of the driving motor 4 is connected with the integrated piece, and the steering control signal output end of the controller 3 is connected with the steering control signal input end of the driving motor 4, so that the control of the rotating angle of the integrated piece is realized.
Preferably, the charger robot main body comprises an AGV trolley 16, a clamping device and a mechanical arm main body 19; the clamping device comprises a clamping groove 18 and a charger upper clamping head 21;
the clamping groove 18 is positioned at the lower part of the AGV trolley 16, the magnetic attraction is arranged in the clamping groove 18, and the position and the shape of the clamping groove 18 are matched with the No. 2 lower clamping magnetic head 12 of the magnetic attraction type charging wire rack;
the bottom end of the mechanical arm main body 19 is fixed on the AGV trolley 16, the charger upper clamp 21 is arranged at the top end of the mechanical arm main body 19, and the charger upper clamp 21 is used for fixing the charging gun head 14.
Preferably, the clamping device further comprises a charging head flexible mechanism 20;
the charging head flexible mechanism 20 is disposed in the charger upper chuck 21 and is configured to provide elasticity to the charger upper chuck 21 so as to adapt to the size and shape of the charging gun head 14.
As preferred, be provided with infrared receiving device 2 No. 1 on the supplementary robot that reaches the standard for the position of formula charging line frame is inhaled to the sign magnetism, AGV dolly 16 is equipped with visual positioning system and infrared detection system, AGV dolly 16 utilizes visual positioning system to confirm the supplementary position of robot that reaches the standard, utilizes infrared detection system to survey infrared receiving device 2 No. 1 position, confirms AGV dolly 16 and magnetism to inhale the relative position of formula charging line frame.
Preferably, a plurality of charging sockets are arranged at the automobile charging port, a 2 # infrared receiving device 26 is arranged at each charging socket, the AGV car 16 performs path planning by using a visual positioning system to realize rough positioning of the charging socket, the infrared detection system is used for detecting the position of the 2 # infrared receiving device 26 to perform fine positioning on the charging socket, and then the visual positioning system is used for performing fine position and pose positioning on the charging port of the electric car.
The invention also provides a charging method of the automatic charging robot of the electric automobile, which comprises the following steps:
s1, determining to-be-charged electric automobile a in the parking lotnN is 1,2, …, N represents the number of electric vehicles to be charged;
s2, according to the power p of the electric automobile to be chargednAnd time t required for completion of chargingnAcquiring the current total electric quantity Q to be charged and the current average total charging power pa:
Q＝t1*p1+t2*p2+…+tN*pN；
pa＝Q/(t1+t2+…+tN)；
s3, according to the time tm used by the electric automobile to be chargednObtaining the current time urgency degree tu of each to-be-charged electric vehiclenWill tu1,tu2,…tuNSequencing according to the sequence from big to small, wherein the sequencing is the current charging access sequence;
tun＝tn/tmn；
s4, comparing the current average total charging power pa with the maximum power pw of the yard, and when pw is greater than pa, turning to S5, and when pw is less than pa, turning to S6;
s5, taking the minimum difference between the maximum charging total power and the minimum maximum total power as an optimization target, simultaneously charging a plurality of electric vehicles to be charged according to the current charging access sequence, and if a new electric vehicle to be charged enters a parking lot while charging, turning to S1;
and S6, charging the electric vehicles to be charged simultaneously according to the current charging access sequence by taking the minimum difference between the maximum charging total power and the minimum charging total power and taking the maximum total power as an optimization target, and turning to S1 when the charging time reaches a set value i minutes.
The invention has the beneficial effects that: the invention configures the charging wire for the electric automobile in a cooperative mode, directly adopts the charging port to charge the electric automobile, does not need the robot to charge and discharge, and saves energy. According to the invention, the automatic charging robot of the electric automobile based on two-machine cooperation is used, so that the wire feeding robot and the plugging robot are separated, one robot meets the charging requirement of the whole parking lot, and the cost is reduced. When the robot moves to the position of the charging socket, the robot can utilize visual navigation to perform coarse positioning, the infrared scanning fine positioning is utilized to realize the plugging of the charging head, the identification of the charging port utilizes the visual positioning to perform fine positioning, and the optimal matching mode of positioning is realized. The charging wire can be selected, and the electric automobile charging of the joint that can satisfy arbitrary charging can be realized. The invention can access more vehicles simultaneously and can regulate and control the charging strategy of the whole parking lot.
Drawings
FIG. 1 is a schematic structural diagram of an auxiliary on-line robot according to the present invention;
FIG. 2 is a schematic view of a magnetic-type charging rack according to the present invention;
FIG. 3 is a schematic structural diagram of a main body of the charging robot of the present invention;
fig. 4 is a schematic plan view of the yard layout strategy of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The automatic charging robot for the electric automobile based on the two-machine cooperation type comprises an auxiliary online robot, a magnetic type charging line frame and a charging robot main body;
before no electric automobile charges, magnetism is inhaled formula and is filled the line frame and pass through magnet adsorption and fix on supplementary line robot, when the instruction of waiting to charge that charges machine robot main part received electric automobile, charges machine robot main part and utilizes its screens device from the area to inhale formula charging wire frame transportation to car charging port department from supplementary line robot of taking out one to make magnetism inhale formula charging wire frame and connect car charging port and electric automobile, charge electric automobile.
In the embodiment, the auxiliary online robot and the charging robot main body are cooperated, so that a charging wire is selected for the electric automobile to be charged.
In a preferred embodiment, the device can comprise a plurality of magnetic-type charging racks, and the magnetic-type charging racks are fixed on the auxiliary online robot through magnet adsorption;
when inhaling formula charging wire frame through magnetism and connecting the car mouth and electric automobile back that charges, fill the screens device in the ware people main part and inhale the separation of formula charging wire frame with magnetism, wait for next electric automobile's the instruction of waiting to charge, fill the ware people main part and get the magnetism that electric automobile matches and inhale the formula charging wire frame for electric automobile charges. One robot of this embodiment can be served for many electric automobile that wait to charge, selects the charging wire for it in proper order, satisfies the charging in whole parking area, has reduced relative cost.
In the preferred embodiment, each magnetic-type charging wire rack is correspondingly matched with a charging port of one vehicle model; after supplementary line robot that reaches standard grade receives electric automobile's the instruction of waiting to charge, confirm electric automobile's motorcycle type signal, inhale the formula charging wire frame with the magnetism of corresponding model and turn to and wait to get the station, wait for charging the robot main part and take out magnetism and inhale the formula charging wire frame, transport to charging port department, can adapt to the electric automobile of different motorcycle types and the different interface that charges and charge.
In a preferred embodiment, when the charger robot main body receives a charging completion instruction of an electric vehicle, the magnetic type charging line frame on the electric vehicle is taken down by the position clamping device of the charger robot main body of the embodiment and is transported to the auxiliary on-line robot, and the magnetic type charging line frame is separated from the position clamping device of the charger robot main body by the magnetic absorption of the auxiliary on-line robot. So the automatic charging robot of electric automobile of this embodiment not only can realize transporting the charging wire to car charging port department, can also realize that the magnetism that will charge the electricity is inhaled formula charging wire frame and is sent back to supplementary robot that reaches standard grade, conveniently charges for other electric automobile and uses.
In a preferred embodiment, as shown in fig. 1, the auxiliary line-feeding robot of the present embodiment includes a horizontal lower frame 5, a lower clipping magnet 6, a vertical frame 7, an upper clipping magnet 8, and a horizontal upper frame 9;
the horizontal upper framework 9 is positioned above the horizontal lower framework 5, the vertical framework 7 is positioned between the horizontal upper framework 9 and the horizontal lower framework 5 and is fixedly connected with the horizontal upper framework 9, the horizontal upper framework 9 is fixedly provided with a plurality of upper clamping magnets 8, and all the upper clamping magnets 8 are distributed on the outer surface of the horizontal upper framework 9;
the horizontal lower framework 5 is fixed with lower clamping magnets 6 with the same number as the upper clamping magnets 8, all the lower clamping magnets 6 are distributed on the outer surface of the horizontal lower framework 5, each lower clamping magnet 6 corresponds to the position of one upper clamping magnet 8 on the horizontal upper framework 9,
as shown in fig. 2, the magnetic-type charging rack of the present embodiment includes a charging plug 10, a number 1 lower position-clamping magnetic head 11, a number 2 lower position-clamping magnetic head 12, a charging wire 13, a charging gun head 14, and an upper position-clamping magnetic head 15;
the two ends of the charging wire 13 are respectively connected with a charging plug 10 and a charging gun head 14 and are fixed as an integrated piece, an upper clamping magnetic head 15 and a No. 1 lower clamping magnetic head 11 are positioned at the upper part and the lower part of one side of the integrated piece, and the positions of the upper clamping magnetic head and the lower clamping magnetic head correspond to the upper clamping magnet 8 and the lower clamping magnet 6 of the auxiliary line feeding robot;
no. 2 lower clamping magnetic head 12 is located at the lower part of the other side of the integrated piece, and a magnetic attraction is arranged on the clamping device of the charger robot main body and corresponds to the No. 2 lower clamping magnetic head 12 in position.
This embodiment's magnetism is inhaled formula and is charged wire frame comprises upper and lower positioner and charging wire, and upper and lower positioner relies on the toper magnetism to inhale fixedly to reduce the requirement to positioning accuracy, magnetism is inhaled formula and is charged wire frame and independently for the car that adapts to different models, also is the dependence of charging process to the robot in order to can relieve simultaneously.
The embodiment also comprises a base 1, wherein the integrated piece is arranged on the base 1;
the auxiliary online robot of the embodiment further comprises a controller 3 and a driving motor 4; the controller 3 and the driving motor 4 are also fixed on the base 1 at the same time;
the output shaft of the driving motor 4 is fixedly connected with the integrated piece, and the steering control signal output end of the controller 3 is connected with the steering control signal input end of the driving motor 4, so that the control of the rotating angle of the integrated piece is realized. Receive electric automobile's the instruction of waiting to charge as supplementary online robot, inhale formula charging wire frame for it matches according to electric automobile's model to inhale the rotation of formula charging wire frame to waiting to fetch a position.
As shown in fig. 3, the charger robot main body of the present embodiment includes an AGV cart 16 position locking device and a mechanical arm main body 19; the clamping device comprises a clamping groove 18 and a charger upper clamping head 21;
the clamping groove 18 is positioned at the lower part of the AGV trolley 16, the magnetic attraction is arranged in the clamping groove 18, and the position and the shape of the clamping groove 18 are matched with the No. 2 lower clamping magnetic head 12 of the magnetic attraction type charging wire rack;
the bottom end of the mechanical arm main body 19 is fixed on the AGV trolley 16, the charger upper clamp 21 is arranged at the top end of the mechanical arm main body 19, and the charger upper clamp 21 is used for fixing the charging gun head 14.
The robot arm main body of the present embodiment may have any type of structure in this manner.
The clamping device of the present embodiment further includes a charging head flexible mechanism 20;
the charging head flexible mechanism 20 is disposed in the charger upper chuck 21 and is configured to provide elasticity to the charger upper chuck 21 so as to adapt to the size and shape of the charging gun head 14.
The flexible mechanism 20 of the charging head of the present embodiment is an elastic device, and is mainly used to prevent the robot from being inserted too much when there is a positioning error in the camera.
This embodiment's supplementary last line robot is provided with infrared receiving device No. 12 for the position of formula charging line frame is inhaled to the sign magnetism, AGV dolly 16 is equipped with visual positioning system and infrared detection system, AGV dolly 16 utilizes visual positioning system to confirm supplementary position of line robot, utilizes infrared detection system to survey the position of infrared receiving device No. 1, confirms AGV dolly 16 and magnetism and inhale the relative position of formula charging line frame. .
The electric wire layout of the charging parking factory of the embodiment is shown in fig. 4, the control signal of the charging control terminal 23 is transmitted to the charging branch line 25 through the charging main line 24, the charging sockets 27 are distributed at the charging branch line 25, the AGV car 16 utilizes the visual positioning system to perform path planning to realize rough positioning of the position of the charging socket, the infrared detection system is utilized to detect the position of the infrared receiving device 26 No. 2 to perform precise positioning on the position of the charging socket, and then the visual positioning system is utilized to perform precise position and pose positioning on the charging port of the electric car.
The visual positioning system of the embodiment adopts a monocular vision mode, and is used for rough positioning when path planning is realized. The visual positioning adopts a monocular visual mode, and the positioning is accurate in pose positioning when the charging port of the electric car is positioned. When the infrared detection system is used for positioning, the infrared detection system is used for identifying and positioning in a scanning mode based on the same horizontal position of a target, and is mainly responsible for accurate positioning of the charging socket. The embodiment performs charging strategy setting, including a yard layout strategy and a charging strategy.
The working process of the embodiment is as follows:
when the main body of the charger robot receives a command that the electric automobile is to be charged, the auxiliary line-feeding robot can obtain the type of the electric automobile and further determine the type of a charging port, and the auxiliary line-feeding robot drives the magnetic type line-feeding frame with a corresponding charging head to rotate through the driving motor 4 according to the type of the charging port and drive the magnetic type line-feeding frame to rotate to a position to be taken. The charging robot main body is navigated to the auxiliary on-line robot through the visual positioning system, then infrared scanning is carried out through the infrared detection system, the relative positions of the charging robot main body and the magnetic type charging line frame are accurately positioned, the charging robot main body reaches the position of the magnetic type charging line frame, the auxiliary on-line robot is waited for releasing the absorbed magnetic type charging line frame, then the charging robot main body absorbs the magnetic type charging line frame, the matching process is completed, the magnetic type charging line frame is carried by the charging robot main body, path planning is carried out by the visual positioning system, the charging robot main body reaches the position in front of a charging port of an automobile needing charging, then infrared scanning is carried out through the infrared detection system, the relative positions of the charging robot main body and the magnetic type charging line frame are accurately positioned, a charging plug at the lower part of the magnetic type charging line is inserted into a charging socket of a corresponding charging station, the electric automobile side carries out accurate positioning through the vision positioning system, realizes the grafting of electric automobile vehicle mouth that charges, confirms to peg graft correct back, and the total control terminal that charges opens corresponding port that charges, when having a large amount of cars to insert, the user sets up the latest time of using the car, uses the longest time of charging and electric wire netting minimum peak value as the decision-making target, adjusts the charging strategy in whole parking area to, under the condition that satisfies user's demand, reduce the peak power of electric wire netting. Therefore, the charging requirement of automobiles of different models and different charging ports can be met, one device can cover the whole parking lot, the cost is greatly reduced, the charging terminal controls the charging of the whole parking lot, the charging strategy is optimized, and the impact on a power grid is reduced. The charging method of the automatic charging robot for the electric automobile of the embodiment specifically includes:
step one, determining to-be-charged electric automobile a in a parking lotnN is 1,2, …, N represents the number of electric vehicles to be charged;
step two, according to the power p of the electric automobile to be chargednAnd time t required for completion of chargingnAcquiring the current total electric quantity Q to be charged and the current average total charging power pa:
Q＝t1*p1+t2*p2+…+tN*pN；
pa＝Q/(t1+t2+…+tN)；
step three, according to the time tm used by the electric automobile to be chargednObtaining the current time urgency degree tu of each to-be-charged electric vehiclenWill tu1,tu2,…tuNSequencing according to the sequence from big to small, wherein the sequencing is the current charging access sequence;
tun＝tn/tmn；
step four, comparing the current average total charging power pa with the maximum power pw of the parking lot, and when pw is greater than pa, switching to step five, and when pw is less than pa, switching to step six;
step five, taking the minimum difference between the maximum charging total power and the minimum maximum total power as an optimization target, simultaneously charging a plurality of electric vehicles to be charged according to the current charging access sequence, and if a new electric vehicle to be charged enters a parking lot while charging, turning to the step one;
and step five, when pw is larger than pa, charging the calculation charging vehicle every time a new vehicle to be charged enters.
Setting an optimization target in the step five to reduce the interference of the electric car access to the power grid;
and step six, taking the minimum difference between the maximum charging total power and the minimum maximum total power as an optimization target, simultaneously charging the electric vehicles to be charged according to the current charging access sequence, and turning to the step one when the charging time reaches a set value i minutes.
In the sixth step, when pw<pa, charging time urgency degree tu no matter whether a new vehicle is connected or notnThe calculation is carried out once every i minutes, and the vehicles which are required to be charged are recalculated, so that the basic power consumption requirement of each user can be guaranteed when the vehicles are charged to saturation.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (6)
1. The charging method of the automatic charging robot of the electric automobile based on the two-machine cooperation type is characterized by comprising an auxiliary online robot, a magnetic type charging line frame and a charger robot main body;
the magnetic type charging line frame is fixed on the auxiliary on-line robot through magnet adsorption, a clamping device is arranged on the charging robot main body, when the charging robot main body receives a to-be-charged instruction of the electric automobile, the charging robot main body takes out a magnetic type charging line frame from the auxiliary on-line robot through the clamping device and transports the magnetic type charging line frame to an automobile charging port, the magnetic type charging line frame is connected with the automobile charging port and the electric automobile, and then a charging master switch is controlled according to the power of the to-be-charged electric automobile in a parking lot and the required charging time to charge the electric automobile;
the magnetic attraction type charging wire racks are fixed on the auxiliary online robot through magnet adsorption;
after the automobile charging port and the electric automobile are connected through the magnetic type charging line frame, the clamping device on the charging robot main body is separated from the magnetic type charging line frame, and a charging instruction to be charged of the next electric automobile is waited;
after the auxiliary online robot receives a to-be-charged instruction of the electric automobile, a model signal of the electric automobile is determined, the magnetic type charging line with the corresponding model is erected to a to-be-taken station, and the main body of the charging robot is waited to be taken out;
the auxiliary line-feeding robot comprises a horizontal lower framework (5), a lower clamping magnet (6), a vertical framework (7), an upper clamping magnet (8) and a horizontal upper framework (9);
the horizontal upper framework (9) is positioned above the horizontal lower framework (5), the vertical framework (7) is positioned between the horizontal upper framework (9) and the horizontal lower framework (5) and is fixedly connected with the horizontal upper framework (9), the horizontal upper framework (9) is fixedly provided with a plurality of upper clamping magnets (8), and all the upper clamping magnets (8) are distributed on the outer surface of the horizontal upper framework (9);
lower clamping magnets (6) with the same number as the upper clamping magnets (8) are fixed on the horizontal lower framework (5), all the lower clamping magnets (6) are distributed on the outer surface of the horizontal lower framework (5), each lower clamping magnet (6) corresponds to the position of one upper clamping magnet (8) on the horizontal upper framework (9),
the magnetic type charging wire rack comprises a charging plug (10), a No. 1 lower clamping magnetic head (11), a No. 2 lower clamping magnetic head (12), a charging wire (13), a charging gun head (14) and an upper clamping magnetic head (15);
the two ends of the charging wire (13) are respectively connected with a charging plug (10) and a charging gun head (14), the charging plug (10), the charging wire (13) and the charging gun head (14) are fixed to be an integrated piece, an upper clamping magnetic head (15) and a No. 1 lower clamping magnetic head (11) are located on the upper portion and the lower portion of one side of the integrated piece, and the positions of the upper clamping magnetic head and a lower clamping magnet (6) of the auxiliary line feeding robot correspond to those of an upper clamping magnet (8);
the No. 2 lower clamping magnetic head (12) is positioned at the lower part of the other side of the integrated piece, and a magnetic attraction is arranged on the clamping device of the charger robot main body and corresponds to the No. 2 lower clamping magnetic head (12);
the charging method comprises the following steps:
s1, determining to-be-charged electric automobile a in the parking lotnN is 1,2, …, N represents the number of electric vehicles to be charged;
s2, according to the power p of the electric automobile to be chargednAnd time t required for completion of chargingnAcquiring the total electric quantity Q to be charged currently and the average total charging power pa required by the current theory:
Q＝t1*p1+t2*p2+…+tN*pN；
pa＝Q/(t1+t2+…+tN)；
s3, according to the time tm used by the electric automobile to be chargednObtaining the current time urgency degree tu of each to-be-charged electric vehiclenWill tu1，tu2，…tuNSequencing according to the sequence from big to small, wherein the sequencing is the current charging access sequence;
tun＝tn/tmn；
s4, comparing the average total charging power pa required by the current theory with the maximum average power pw of the yard, and when pw is greater than pa, switching to S5, and when pw is less than pa, switching to S6;
s5, taking the minimum difference between the maximum charging total power and the minimum maximum charging total power as an optimization target, simultaneously charging a plurality of electric vehicles to be charged according to the current charging access sequence, and if a new electric vehicle to be charged enters the parking lot while charging, switching to S1;
and S6, charging the electric vehicles to be charged simultaneously according to the current charging access sequence by taking the minimum difference between the maximum charging total power and the minimum maximum charging total power as an optimization target, and switching to S1 when the charging time reaches a set value i minutes.
2. The charging method of the automatic charging robot for the electric vehicle based on the two-machine cooperation type as claimed in claim 1, wherein when the main body of the charging robot receives a charging completion command of the electric vehicle, the position clamping device of the main body of the charging robot takes off the magnetic type charging wire rack on the electric vehicle, transports the magnetic type charging wire rack to the auxiliary on-line robot, and separates the magnetic type charging wire rack from the position clamping device of the main body of the charging robot by the absorption of the magnet on the auxiliary on-line robot.
3. The charging method of the automatic charging robot for the electric automobile based on the two-machine cooperation type according to claim 1, wherein the auxiliary on-line robot further comprises a controller (3) and a driving motor (4);
the output shaft of the driving motor (4) is connected with the integrated piece, and the steering control signal output end of the controller (3) is connected with the steering control signal input end of the driving motor (4) and used for controlling the rotating angle of the integrated piece.
4. The charging method of the automatic charging robot for the electric automobile based on the two-machine cooperation type according to claim 3, wherein the charger robot main body comprises an AGV trolley (16), a clamping device and a mechanical arm main body (19); the clamping device comprises a clamping groove (18) and a charger upper clamping head (21);
the clamping groove (18) is positioned at the lower part of the AGV trolley (16), the magnetic attraction is arranged in the clamping groove (18), and the position and the shape of the clamping groove (18) are matched with a No. 2 lower clamping magnetic head (12) of the magnetic attraction type charging wire rack;
the bottom end of the mechanical arm main body (19) is fixed on an AGV trolley (16), an upper charger chuck (21) is arranged at the top end of the mechanical arm main body (19), and the upper charger chuck (21) is used for fixing a charging gun head (14).
5. The charging method based on the two-machine cooperation type automatic charging robot for the electric automobile according to claim 4, characterized in that the blocking device further comprises a charging head flexible mechanism (20);
the charging head flexible mechanism (20) is arranged in the charger upper clamping head (21) and used for providing elasticity for the charger upper clamping head (21) so as to adapt to the size and the shape of the charging gun head (14).
6. The charging method of the two-machine cooperation type automatic charging robot for the electric automobile is characterized in that a No. 1 infrared receiving device (2) is arranged on the auxiliary line-feeding robot and used for identifying the position of the magnetic type charging line frame, the AGV trolley (16) is provided with a visual positioning system and an infrared detection system, the AGV trolley (16) determines the position of the auxiliary line-feeding robot by using the visual positioning system, detects the position of the No. 1 infrared receiving device (2) by using the infrared detection system, and determines the relative position of the AGV trolley (16) and the magnetic type charging line frame.
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| CN111674276B (en) * | 2020-06-11 | 2021-10-26 | 国网重庆市电力公司营销服务中心 | Electric automobile ordered charging control method and system |
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