CHARGING DEVICE, AND METHOD FOR CONTROLLING MECHANICAL ARM TO CHARGE

WIPO Patent Application WO/2023/116667

A1

Disclosed in the embodiments of the present application is a charging device. The charging device comprises: a control structure, and a mechanical arm main body, which is provided with a force sensor and a charging plug, wherein the force sensor is used for collecting acting force information between a side face of a charging head and a charging port after the charging plug makes contact with the charging port; and the control structure can control the pose of the mechanical arm main body according to the acting force information, so as to insert the charging plug into the charging port. In the present application, the pose of a mechanical arm is controlled by means of acquiring acting force information collected by a force sensor, and when a charging plug has been partially inserted and an error cannot be acquired by means of visual information, a position and a pose can be adjusted according to a force sense, such that the charging plug can adapt to the insertion direction of a charging port, thereby improving the accuracy and reliability of a plugging and unplugging task.

CHEN CHEN (CN)
CHU YAKUI (CN)
XUE JINGTAO (CN)
HE YANONG (CN)
CHEN XIAOPENG (CN)
HUANG YUANCAN (CN)
ZHANG WEIMIN (CN)

PCT/CN2022/140276

June 29, 2023

December 20, 2022

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HUAWEI TECH CO LTD (CN)
BEIJING INSTITUTE TECH (CN)

B60L53/16; B60L53/35

WO2020237642A1

2020-12-03

CN104520134A	2015-04-15
CN112070835A	2020-12-11
CN107618396A	2018-01-23
CN108146264A	2018-06-12
CN110920450A	2020-03-27
CN215070651U	2021-12-07

SHENPAT INTELLECTUAL PROPERTY AGENCY (CN)

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