The invention relates to the field of computer motion control, in particular to a charging method of a mobile charging robot, comprising the following steps: S100, acquiring an image of a to-be-charged vehicle, and uploading the image to a cloud, so that the cloud obtains a first position coordinate; s200, according to the first position coordinates, the tail end of a mechanical arm is controlled to drive a charging gun to move to the position of a charging hole of the vehicle to be charged; s300, acquiring a multi-angle charging hole image, and uploading the multi-angle charging hole image to a cloud end, so that the cloud end acquires coordinates of an insertion angle and an insertion position; s400, controlling the tail end of the mechanical arm to drive the charging gun to move to the insertion position and controlling the tail end of the mechanical arm to drive the charging gun to perform insertion operation according to the insertion angle; and S500, if the torque of the tail end of the mechanical arm at a certain moment exceeds the preset torque range in the insertion process, the operation of driving the charging gun to be inserted is stopped. According to the invention, the charging gun can be accurately driven to be inserted into the charging hole.

    本申请涉及计算机运动控制领域,特别是涉及一种移动充电机器人的充电方法,所述包括以下步骤:S100,获取待充电车辆图像,并上传至云端,以便于所述云端得到第一位置坐标;S200,根据所述第一位置坐标控制机械臂末端带动充电枪移动至待充电车辆的充电孔位置;S300,获取多角度充电孔图像,并上传至云端,以便于云端获取插入角度和插入位置的坐标;S400,控制机械臂末端带动充电枪移动至所述插入位置以及控制机械臂末端带动充电枪按照所述插入角度进行插入操作;S500,如果插入过程中机械臂末端的某一时刻的扭矩超出预设扭矩范围,则停止带动充电枪插入的操作。本发明能够精确地带动充电枪进行插入充电孔的动作。


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    Titel :

    Charging method of mobile charging robot


    Weitere Titelangaben:

    一种移动充电机器人的充电方法


    Beteiligte:
    JIA LEI (Autor:in) / DENG XIAOGUANG (Autor:in) / LIANG YUANBO (Autor:in) / WU TIAN (Autor:in) / CHO YUN HEE (Autor:in) / OU LONGHUI (Autor:in)

    Erscheinungsdatum :

    2023-03-21


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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