电动汽车充电机器人发展现状和标准需求

doi:10.11930/j.issn.1004-9649.202306108

中国电力 ›› 2024, Vol. 57 ›› Issue (4): 89-99.DOI: 10.11930/j.issn.1004-9649.202306108

电动汽车充电机器人发展现状和标准需求

杨磊¹(), 浑连明²^,⁵(), 祖国强¹(), 李树军³(), 李心达⁴(), 郭俊龙², 张玉涛²

1. 国网天津市电力公司电力科学研究院，天津　300384
2. 国网电力科学研究院有限公司，江苏南京　211106
3. 清华四川能源互联网研究院，四川成都　610042
4. 国网能源研究院有限公司，北京　102209
5. 吉林大学机械与航空航天工程学院吉林长春　130022

收稿日期:2023-06-29 出版日期:2024-04-28 发布日期:2024-04-26
作者简介:杨磊（1987—），男，硕士，高级工程师，从事配用电侧电力机器人及其标准化、配电技术研究，E-mail：hhhheee1@163.com
浑连明（1992—），男，通信作者，博士研究生，从事智能电力作业机器人、数控装备可靠性技术研究，E-mail：hunlm22@mails.jlu.edu.cn
祖国强（1989—），男，博士，高级工程师，从事配电网规划运行、电动汽车-电网互动研究，E-mail：zuguoqiang_tju@163.com
李树军（1981—），男，学士，从事电动汽车充电基础设施、车网互动研究，E-mail：lshu@vip.163.com
李心达（1993—），男，硕士，工程师，从事能源电力领域大数据、人工智能技术应用研究，E-mail：lixinda@sgeri.sgcc.com.cn
基金资助:
国家电网有限公司科技项目（居民社区电动汽车低压直流充放电系统关键技术研究与示范，5400-202312239A-1-1-ZN）。

Development Status and Standardization of Electric Vehicle Charging Robots

Lei YANG¹(), Lianming HUN²^,⁵(), Guoqiang ZU¹(), Shujun LI³(), Xinda LI⁴(), Junlong GUO², Yutao ZHANG²

1. State Grid Tianjin Electric Power Research Institute, Tianjin 300384, China
2. State Grid Electric Power Research Institute Co., Ltd., Nanjing 211106, China
3. Sichuan Energy Internet Research Institute, Tsinghua University, Chengdu 610042, China
4. State Grid Energy Research Institute Co., Ltd., Beijing 102209, China
5. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China

Received:2023-06-29 Online:2024-04-28 Published:2024-04-26
Supported by:
This work is supported by Science and Technology Project of SGCC (Research and Demonstration of Key Technologies of Low-voltage DC Charging and Discharging System for Electric Vehicles in Residential Communities, No.5400-202312239A-1-1-ZN)

摘要/Abstract

摘要：

在全球碳减排的背景下，电动汽车数量迅速增加，电动汽车充电机器人作为一种智能充电装备受到国内外广泛关注，但目前充电机器人相关技术的梳理、归纳、总结和标准化等工作仍未开展系统性研究。首先，全面梳理了国内外电动汽车充电机器人的发展现状和技术路线，从结构设计、识别定位、柔顺控制和控制系统4个方面进行了综述。其次，提出了涵盖现有主流机器人的分类方法，提炼了机器人的特点和适用场景。进而，分析电动汽车充电机器人标准现状，提出了充电机器人术语、分类和通用技术等标准需求，构建了机器人标准体系。最后，探索了电动汽车充电机器人在自动化、智能化、规模化、多功能化和互联互通5个维度的应用与发展趋势，并对其在自动驾驶、自动泊车和车网友好互动等方面的应用潜力进行展望。

关键词: 电动汽车, 充电机器人, 发展现状, 标准需求

Abstract:

With the global push for carbon emission reduction, the rapid proliferation of electric vehicles (EVs) has brought significant attention to intelligent charging equipment such as EV charging robots in China and abroad. However, there remains a notable absence of systematic investigation encompassing the categorization, synthesis, summarization, and standardization of technologies associated with charging robots. An all-encompassing exploration of the development status and technological trajectories of EV charging robots worldwide is embarked upon, covering facets such as structural design, recognition and localization, compliant control, and control systems. Moreover, a taxonomy is proposed that encapsulates prevailing robots, distilling their features and applicable contexts. Subsequently, an analysis of existing standards in the realm of EV charging robots is presented. This analysis gives rise to requisites for standards including terminologies, classifications, and general technologies, thus culminating in the formulation of a robotic standard framework. Finally, insights into the application and prospects of EV charging robots are unveiled across five dimensions: automation, intelligence, scalability, multi-functionality, and interconnectivity. This exploration extends to the potential utility of EV charging robots in realms such as autonomous driving, automated parking, and harmonious vehicle-grid interactions.

Key words: electric vehicle, charging robot, development status, standard demand

杨磊, 浑连明, 祖国强, 李树军, 李心达, 郭俊龙, 张玉涛. 电动汽车充电机器人发展现状和标准需求[J]. 中国电力, 2024, 57(4): 89-99.

Lei YANG, Lianming HUN, Guoqiang ZU, Shujun LI, Xinda LI, Junlong GUO, Yutao ZHANG. Development Status and Standardization of Electric Vehicle Charging Robots[J]. Electric Power, 2024, 57(4): 89-99.

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图/表 7

参考文献 59

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主要分类		细分类型
固定式	桩式	—
	轨道式	空中轨道式
		壁挂轨道式
		地面轨道式
移动式	不带储能单元	—
	带储能单元	储能单元一体式设计
	带储能单元	储能单元分体式设计

主要分类		细分类型
固定式	桩式	—
	轨道式	空中轨道式
		壁挂轨道式
		地面轨道式
移动式	不带储能单元	—
	带储能单元	储能单元一体式设计
	带储能单元	储能单元分体式设计

类型	现状
国际标准	ISO	TC 299 (Robotics)制定了大部分机器人相关标准，但未见电动汽车充电机器人专门标准^[50]
	IEC	机器人标准主要由TC 59（Performance of household and similar electrical appliances）、TC 61（Safety of household and similar electrical appliances）、TC 62（Medical equipment, software, and systems）、TC 116（Safety of motor-operated electric tools）、TC 129（Robotics for electricity generation, transmission and distribution systems）制定，未见电动汽车充电机器人专门标准^[51]，但TC 69正在制定的《EV supply equipment with automated connection of a vehicle coupler according to IEC 62196-2 or IEC 62196-3》（IEC 61851-27，未发布）涉及车辆接口自动连接，具有相关性
	IEEE	主要由RAS/SC制定，有《Guide for Terminology and Classification of Electric Vehicle Charging Robots》（P3345）《Guide for General Requirements of Electric Vehicle Charging Robots》（P3346）2项，正在开发^[52-53]
国家标准	由国家机器人标准化总体组来组织各相关技术委员会制定，已发布机器人相关标准超80项，以工业机器人、服务机器人、特种机器人为主，未见电动汽车充电机器人专门标准
行业标准	未见电动汽车充电机器人专门标准
团体标准	《电动汽车充电机器人第一部分通用技术要求》（CSEE团体标准）1项，正在开发^[54]

类型	现状
国际标准	ISO	TC 299 (Robotics)制定了大部分机器人相关标准，但未见电动汽车充电机器人专门标准^[50]
	IEC	机器人标准主要由TC 59（Performance of household and similar electrical appliances）、TC 61（Safety of household and similar electrical appliances）、TC 62（Medical equipment, software, and systems）、TC 116（Safety of motor-operated electric tools）、TC 129（Robotics for electricity generation, transmission and distribution systems）制定，未见电动汽车充电机器人专门标准^[51]，但TC 69正在制定的《EV supply equipment with automated connection of a vehicle coupler according to IEC 62196-2 or IEC 62196-3》（IEC 61851-27，未发布）涉及车辆接口自动连接，具有相关性
	IEEE	主要由RAS/SC制定，有《Guide for Terminology and Classification of Electric Vehicle Charging Robots》（P3345）《Guide for General Requirements of Electric Vehicle Charging Robots》（P3346）2项，正在开发^[52-53]
国家标准	由国家机器人标准化总体组来组织各相关技术委员会制定，已发布机器人相关标准超80项，以工业机器人、服务机器人、特种机器人为主，未见电动汽车充电机器人专门标准
行业标准	未见电动汽车充电机器人专门标准
团体标准	《电动汽车充电机器人第一部分通用技术要求》（CSEE团体标准）1项，正在开发^[54]

项目	框架建议	标准研究内容建议
术语	基本概念	● 充电机器人及其关键组成部件，包括通用术语、机械结构、感知、控制等 ● 区分易混淆概念（如储能单元） ● 统一相同对象不同的习惯称谓
分类	分类方式及其具体类型	● 按移动性：固定式、移动式 ● 按机械结构：关节机器人等 ● 按服务模式：一对一、一对多
通用技术要求	基本信息和参数	● 外观和结构 ● 适用车型和车辆接口类型 ● 充电功率 ● 安装要求（场地、容量等） ● 环境适应性
	基本功能和主要性能	● 导航功能 ● 车辆插头自动抓放、插拔功能 ● 车辆插座识别定位功能 ● 人机交互功能 ● 自检功能 ● 充电过程管理功能 ● 热管理功能 ● 离线运行功能 ● 电磁兼容性能 ● 续航能力 ● 移动定位精度和速度 ● 车辆接口连接精度、时间和成功率 ● 插拔力和柔顺性 ● 振动和冲击 ● 噪声 ● 安全 ● 机器人、充电站、车辆、用户之间的通信，包括通信方式、通信接口、数据格式等 ● 越障、避障性能
	测试环境和试验方法	● 重要功能和性能指标的标准化测试环境 ● 重要功能和性能指标的标准化试验方法和评价

电动汽车充电机器人发展现状和标准需求

Development Status and Standardization of Electric Vehicle Charging Robots

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模态框（Modal）标题

电动汽车充电机器人发展现状和标准需求

Development Status and Standardization of Electric Vehicle Charging Robots

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摘要/Abstract

引用本文

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图/表 7

参考文献 59

相关文章 15

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