CN106218427A - The charging method of unmanned vehicle and device - Google Patents
The charging method of unmanned vehicle and device Download PDFInfo
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- CN106218427A CN106218427A CN201610609436.XA CN201610609436A CN106218427A CN 106218427 A CN106218427 A CN 106218427A CN 201610609436 A CN201610609436 A CN 201610609436A CN 106218427 A CN106218427 A CN 106218427A
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- charging
- charging station
- unmanned vehicle
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- battery
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Classifications
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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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
- B60L53/665—Methods related to measuring, billing or payment
-
- 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
-
- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M2220/00—Batteries for particular applications
- H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- 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
-
- 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
-
- 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
-
- 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
Abstract
The invention discloses charging method and the device of a kind of unmanned vehicle, including: determine that described battery is the need of being charged according to the current electric quantity value of battery in unmanned vehicle；If described battery needs to be charged, it is determined that the target charging station of described unmanned vehicle；Drive to described target charging station, and by described target charging station, described battery is charged；If detecting, in described unmanned vehicle, the charge value of battery is more than target charge value, then stop charging and pay charging expense.The embodiment of the present invention can there is unmanned vehicle judge whether charging automatically according to battery electric quantity, and determine need charging time by unmanned vehicle automatically determine target charging station and drive to charging station charging and pay charging expense, improve charging monitoring efficiency and charging reimbursement of expense efficiency.Additionally, due to without manually the electricity of unmanned vehicle being timed inspection, therefore, it is possible to reduce human cost.
Description
Technical field
The present embodiments relate to unmanned vehicle technology, particularly relate to charging method and the device of a kind of unmanned vehicle.
Background technology
Pilotless automobile, also known as unmanned vehicle, is that a kind of intelligent driving system relied primarily in car is unmanned to realize
Intelligent automobile.Along with the development of unmanned vehicle technology, unmanned vehicle can according to by navigation system automatic running to user
The destination that selection or system distribute.
Generally, by manually the electricity of unmanned vehicle being monitored.Staff checks before unmanned vehicle returns or sets out
Whether unmanned vehicle electricity is full of, in order to unmanned vehicle electricity is sufficient.If electricity is not enough, then staff uses charger to nothing
People's car is charged.
But, along with the increase of unmanned vehicle quantity, use manual monitoring to need to spend substantial amounts of human resources, charging monitoring
Efficiency is low.
Summary of the invention
The embodiment of the present invention provides charging method and the device of a kind of unmanned vehicle, to realize unmanned vehicle automatic charging, significantly
Reduce human cost, improve charging monitoring efficiency.
First aspect, embodiments provides the charging method of a kind of unmanned vehicle, including:
Determine that described battery is the need of being charged according to the current electric quantity value of battery in unmanned vehicle；
If described battery needs to be charged, it is determined that the target charging station of described unmanned vehicle；
Drive to described target charging station, and by described target charging station, described battery is charged；
If detecting, in described unmanned vehicle, the charge value of battery is more than target charge value, then stop charging and pay charging expense
With.
Second aspect, the embodiment of the present invention additionally provides the charging device of a kind of unmanned vehicle, including:
Charge requirement judging unit, for according to the current electric quantity value of battery in unmanned vehicle determine described battery the need of
It is charged；
Target charging station determines unit, if determining that described battery needs to fill for described charge requirement judging unit
Electricity, it is determined that the target charging station of described unmanned vehicle；
Navigation elements, for driving to the described target charging station that described target charging station determines that unit determines；
By described target charging station, charhing unit, for determining that described target charging station that unit determines is to described battery
It is charged；
Payment unit, if for detecting that in described unmanned vehicle, the charge value of battery is more than target charge value, then stopping filling
Electricity also pays charging expense.
The embodiment of the present invention can according to when in unmanned vehicle, the current electric quantity value of battery determines that battery needs to be charged,
Determine and drive to target charging station and be charged, be automatically stopped charging when charging is complete and pay charging expense.Existing skill
In art, unmanned vehicle cannot determine whether to be charged according to battery electric quantity, also cannot navigate to suitable charging station and be charged
And automatic payment, it is therefore desirable to being manually monitored unmanned vehicle electricity, charging monitoring efficiency is low.Energy in the embodiment of the present invention
Enough there is unmanned vehicle to judge whether charging automatically according to battery electric quantity, and automatically determined target when determining and needing charging by unmanned vehicle
Charging station also drives to charging station charging and pays charging expense, improves charging monitoring efficiency and charging reimbursement of expense efficiency.
Additionally, due to without manually the electricity of unmanned vehicle being timed inspection, therefore, it is possible to human cost is greatly reduced.
Accompanying drawing explanation
Fig. 1 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention one；
Fig. 2 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention two；
Fig. 3 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention three；
Fig. 4 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention four；
Fig. 5 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention five；
Fig. 6 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention six；
Fig. 7 is the structural representation of the charging device of the unmanned vehicle in the embodiment of the present invention seven.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention is illustrate only rather than entire infrastructure in description, accompanying drawing.
Embodiment one
The flow chart of the charging method of the unmanned vehicle that Fig. 1 provides for the embodiment of the present invention one, described method is applied to unmanned
Car electronic control unit (Electronic Control Unit, ECU), the method includes:
S110, determine that battery is the need of being charged according to the current electric quantity value of battery in unmanned vehicle.
Unmanned vehicle obtains the electricity of battery as current electric quantity value according to prefixed time interval.Prefixed time interval can be
One clock cycle of processor.Prefixed time interval can also be the time more than processor clock cycle, such as 30 seconds, 1 point
Clock or 5 minutes etc..
Exemplary, after the current electric quantity value obtaining battery, it is judged that whether current electric quantity value is less than (or being less than
In) preset charged charge value.If less than (or being less than or equal to) preset charged charge value, it is determined that need to be charged；If
More than or equal to (or being more than) preset charged charge value, it is determined that be made without charging.Preset charged charge value is total less than battery
The 100% of electricity is more than 50% or electricity of the 20% of the total electricity of battery, the preferably total electricity of 60% or battery of the total electricity of battery
The 40% of the total electricity of Chi.
If S120 battery needs to be charged, it is determined that the target charging station of unmanned vehicle.
Accordingly, if being made without charging, then continue to travel, until performing S120 when needing charging.
Exemplary, with unmanned vehicle current location as the center of circle, determine charging station hunting zone according to the first pre-set radius, will
Whole charging stations in this charging station hunting zone are all as optional charging station.A conduct is randomly choosed from optional charging station
Target charging station, or using optional charging station nearest for distance unmanned vehicle current location as target charging station.Wherein, first is pre-
If radius is less than 20 kilometers more than 0 kilometer, preferably 10 kilometers.
S130, drive to target charging station, and by target charging station, battery is charged.
After determining target charging station, obtain the address of target charging station.Concrete, can be by the address of whole charging stations
It is maintained in unmanned vehicle, when it needs to be determined that during the address of target charging station, read target charging station from local memory device
Corresponding address.After getting the address of target charging station, drive to target charging station by navigation system.Battery charging can be adopted
Mode with artificial charging: after arriving target charging station, the staff of charging station uses charging gun filling target charging station
Electricity equipment is connected with the battery of unmanned vehicle and is charged.
If S140 detects that in unmanned vehicle, the charge value of battery is more than target charge value, then stop charging and pay charging
Expense.
When the charge value of battery arrives or exceedes target charge value, stop charging, as cut off the connection with charging gun.
Target charge value is more than preset charged charge value, and target charge value can be the 90% or 100% of the total electricity of battery, if
Work as the charge value of battery in unmanned vehicle for 100% and equal to target charge value, then stop charging.
Optionally, during paying, the staff of target charging station or charger can determine phase according to charged electrical value
The amount of money answered, and by the amount of money and charged electrical value and unmanned vehicle information (as unmanned vehicle take pictures, car owner's title, unmanned vehicle style
Deng) it being sent to payer, payer pays the bill through network after confirming.
Optionally, charging expense is paid by recognizable mark during paying.Recognizable mark can be bar code, Quick Response Code
Or three-dimension code.Preferably, recognizable mark is Quick Response Code.During paying, pay charging expense by Quick Response Code mode.When having charged
Bi Shi, unmanned vehicle automatically generates the Quick Response Code that a user pays, shows this Quick Response Code the most in the display device.The work of charging station
Make personnel to scan this Quick Response Code by scanning device and settle accounts, be first to pay the bill.Optionally, the staff of charging station is filling
A consumption Quick Response Code corresponding with the charging amount of money is generated, by the barcode scanning equipment on unmanned vehicle by this consumption two dimension on electric terminals
Code is sent to unmanned vehicle, and unmanned vehicle is paid according to this consumption Quick Response Code.Carrying out payment by the Quick Response Code means of payment can
Simplify payment process, improve and pay efficiency.
The embodiment of the present invention can according to when in unmanned vehicle, the current electric quantity value of battery determines that battery needs to be charged,
Determine and drive to target charging station and be charged, be automatically stopped charging when charging is complete and pay charging expense.Existing skill
In art, unmanned vehicle cannot determine whether to be charged according to battery electric quantity, also cannot navigate to suitable charging station and be charged
And automatic payment, it is therefore desirable to being manually monitored unmanned vehicle electricity, charging monitoring efficiency is low.Energy in the embodiment of the present invention
Enough there is unmanned vehicle to judge whether charging automatically according to battery electric quantity, and automatically determined target when determining and needing charging by unmanned vehicle
Charging station also drives to charging station charging and pays charging expense, improves charging monitoring efficiency and charging reimbursement of expense efficiency.
Additionally, due to without manually the electricity of unmanned vehicle being timed inspection, therefore, it is possible to human cost is greatly reduced.
Embodiment two
The charging method of the unmanned vehicle that Fig. 2 provides for the embodiment of the present invention two, the embodiment of the present invention is at above-described embodiment
On the basis of, further, S110, determine that battery, can the need of being charged according to the current electric quantity value of battery in unmanned vehicle
It is embodied as:
S111, estimation drive to the first charge value of destination from current location.
According to current location and destination in unmanned vehicle driving process, determine travel route dynamically.Block up according to road conditions
The difference of situation, arrives at the first required charge value the most different.
Optionally, when estimation, first the first electricity reference value is determined according to the distance of route.Then, according to current road
The jam situation estimation one prolongation time on line, calculate prolongation charge value corresponding to this prolongation time.By the first electricity reference value
The first final charge value is determined with extending charge value.
If the current electric quantity value of battery is less than or equal to the first charge value in S112 unmanned vehicle, it is determined that battery needs
It is charged.
First charge value is compared with current electric quantity value, if current electric quantity value is less than or equal to the first electricity
Value, then in explanation unmanned vehicle, the dump energy of battery cannot drive to destination, it is therefore desirable to is charged.
Further, if destination distance current location too far, if that is, the battery of unmanned vehicle be full power state also
Destination cannot be driven to, then can select at least one middle destination node, the centre that will currently drive towards before the destination
Destination's node is as interim destination.And determine whether to be charged according to interim destination.So can be prevented effectively from nothing
People's car persistently charges according to the remotest destination, improves the reliability of unmanned vehicle remote way form.
The technical scheme that the embodiment of the present invention provides, it is possible to determine that current electric quantity value is according to current electric quantity value and destination
No can drive to destination, if destination can not be driven to, be charged the most in time, can drive to after ensureing charging
Destination, improves the reliability of unmanned vehicle automatic running.
Embodiment three
The charging method of the unmanned vehicle that Fig. 3 provides for the embodiment of the present invention three, the embodiment of the present invention is at above-described embodiment
On the basis of, further, after S111, estimation drive to the first charge value of destination from current location, also include:
S113, determine the first charging station near destination according to destination.
Optionally, the chargeable range of each charging station association is pre-set, if destination is in the charging of certain charging station A
In the range of, then charging station A is defined as the first charging station near destination.
Optionally, with destination as the center of circle, search for the charging station B closest with destination A, this charging station B is determined
It it is the first charging station.
S114, estimation drive to the second charge value of the first charging station from destination.
The estimation mode of the second charge value can refer to estimate the mode of the first charge value.Optionally, collect that N number of other are unmanned
Car drives to the N number of charge value used by the first charging station from destination, using ask for N number of charge value meansigma methods as the second electricity
Value.
If S115 current electric quantity value is more than the first charge value and less than the first charge value and the second charge value sum, then
Determine that battery needs to be charged.
If current electric quantity value is more than the first charge value and less than the first charge value and the second charge value sum, then explanation is worked as
Front electricity can drive to destination, but cannot drive to the first charging station near destination.In other words, do not charging
In the case of, i.e. allow to be carried to current passenger its destination, but reliable unmanned vehicle cannot be provided for next bit passenger
Service.Therefore, if current electric quantity value is more than the first charge value and less than the first charge value and the second charge value sum, it is determined that
Battery needs to be charged.
The technical scheme that the embodiment of the present invention provides, it is possible to ensure that unmanned vehicle closes according to the first charging station near destination
Reason arranges charging reality, it is to avoid draws and cannot drive to charging station after arriving at and cause the problem of unmanned vehicle service disruption, real
After existing unmanned vehicle reasonable assurance charging opportunity, it is possible to persistently ensure unmanned vehicle service, improve unmanned vehicle service persistence and can
By property.
Embodiment four
The charging method of the unmanned vehicle that Fig. 4 provides for the embodiment of the present invention four, the embodiment of the present invention is at above-described embodiment
On the basis of, further, S120 determines the target charging station of described unmanned vehicle, can be embodied as:
S121, estimate the charging distance charge value driven to from current location needed at least two preset charged station respectively.
The mode of estimation charging distance charge value can refer to estimate the second charge value or the mode of the first charge value.The most not
Repeat.Preset charged station can whole any one charging stations in charging station, it is also possible to for true according to the first pre-set radius
Whole charging stations in fixed hunting zone.
Such as, the brush neck at preset charged station is M, by estimation charging distance charge value, obtains each preset charged station
Corresponding charging distance charge value, obtains M charging distance charge value.
S122, charging distance charge value is defined as less than the preset charged station of current electric quantity value the alternative charging of unmanned vehicle
Stand.
If charging distance electricity is less than (or being less than or equal to) current electric quantity value, then explanation current electric quantity can drive to pre-
If charging power station.If charging distance electricity is more than or equal to (or being more than) current electric quantity value, then explanation current electric quantity cannot travel
To preset charged power station.
In upper example, in M charging distance charge value, by N number of charging distance charge value less than current electric quantity value, then should
The preset charged station of N number of charging distance charge value association is defined as alternative charging station.
S123, wait the distance between information and/or alternative charging station and current location according to the vehicle of alternative charging station,
Target charging station is determined from alternative charging station.
Alternative charging station can add up the vehicle being currently charged, and the vehicle fleet size to be charged such as.According to row
The quantity of team's vehicle obtains vehicle waiting information.The reality driving to alternative charging station from current location is determined according to navigation system
Distance, rather than the air line distance on map.Optionally, the alternative charging station choosing charging negligible amounts, actual range nearer is made
For target charging station.
Optionally, alternative charging station nearest for distance distance current location is defined as target charging station.Or, will wait
The minimum alternative charging station of vehicle fleet size is defined as target charging.
Further, essentially identical (if range difference is less than 200 when the distance of two alternative charging station distance current locations
Rice) then, will wait that the less alternative charging station of vehicle fleet size is defined as target charging station according to vehicle outstanding message.
The technical scheme that the embodiment of the present invention provides, it is possible to according to the distance of charging station and unmanned vehicle current location and fill
The vehicle in power station waits that situation determines target charging station, and then unmanned vehicle can be quickly charged after arriving charging station,
Reduce and be used for the required time (include driving towards the time of target charging station or wait the charging interval etc.) that charges, improve charge efficiency.
Embodiment five
The charging method of the unmanned vehicle that Fig. 5 provides for the embodiment of the present invention five, the embodiment of the present invention is at above-described embodiment
On the basis of, further, described target charging station is mobile target charging station, is carried out battery by target charging station in S130
Charging, can be embodied as:
Step 131, motion track according to current location and mobile target charging station determine target charge position.
Target charging station is in addition to can being fixing charging station, it is also possible to for mobile target charging station.Such as moving charging
Electric car.Movable charging vehicle can use gasoline or diesel oil as power, it is possible to use electric energy, as power, moves for unmanned vehicle
Dynamic formula charges.The running orbit of mobile target charging station can be by server United Dispatching and control.Unmanned vehicle can by server
Know mobile target charging station nearest around current location, or the idle mobile target that distance unmanned vehicle position is nearest
Charging station.Unmanned vehicle can move charging to server application, the mobile charging request that server sends according to unmanned vehicle
The corresponding mobile target charging station of scheduling drives towards unmanned vehicle and is charged.
Optionally, charging place can be the optional position that unmanned vehicle current location is driven towards on the guidance path of destination.
Can be according to the position of mobile target charging station and unmanned vehicle current location target charge position so that unmanned vehicle drives to this position
The time that the distance put drives to this position with mobile target charging station is identical.
Optionally, if unmanned vehicle current electric quantity is more than the first charge value, less than the first charge value and the second charge value
With, then target charge position is destination.
Step 132, drive to target charge position, and by mobile target charging station, battery is entered at target charge position
Row charging.
After driving to target charge position, if mobile target charging station is manned, then driver is carried out for unmanned vehicle
Artificial charging.If mobile target charging station is also vehicle, then, after unmanned vehicle docks with mobile target charging station, carry out certainly
Dynamic charging.
The technical scheme that the embodiment of the present invention provides, unmanned vehicle can be charged by mobile target charging station so that
Cannot be according to the charge value of estimation (such as the first charge value or the second electricity even if causing because of emergency case (as excessively blocked up)
Value) when driving to the target charging station fixed, remain able to be charged by mobile target charging station, improve unmanned vehicle charging
Reliability.
Embodiment six
The charging method of the unmanned vehicle that Fig. 6 provides for the embodiment of the present invention six, the embodiment of the present invention is at above-described embodiment
On the basis of, further, battery is charged by S130 by target charging station, including:
S133, detect whether arrive target charging station wireless charging area.
Wireless charging area can transmitting calibration signal so that unmanned vehicle can sail correct charge position into.Exemplary,
Calibration signal can be the pulse signal of preset format, as persistently exported peak pulse signal so that unmanned vehicle can this signal
Determine that front is charge position.
If S134 arrives described wireless charging area, then by described wireless charging area, described battery is carried out nothing
Line charges.
Wireless charging area can provide wireless charging service by the wireless signal sent for wireless charging electric car.
In the embodiment of the present invention, wireless charging area can be identified by unmanned vehicle, after sailing wireless charging area into,
Carry out wireless charging.Owing to wireless charging operates, therefore, it is possible to do not having operated by personnel without the plug being charged rifle
In the case of unmanned vehicle is charged, and then reduce charging station human cost.
Embodiment seven
The structural representation of the charging device of a kind of unmanned vehicle that Fig. 7 provides for the embodiment of the present invention seven, described unmanned vehicle
Charging device be positioned at the electronic control unit of unmanned vehicle, the charging device of unmanned vehicle includes:
Charge requirement judging unit 11, for determining described battery whether need according to the current electric quantity value of battery in unmanned vehicle
It is charged；
Target charging station determines unit 12, if for described charge requirement judging unit 11 determine described battery need into
Row charging, it is determined that the target charging station of described unmanned vehicle；
Navigation elements 13, for driving to the described target charging station that described target charging station determines that unit 12 determines；
By described target charging station, charhing unit 14, for determining that described target charging station that unit 12 determines is to described
Battery is charged；
Payment unit 15, if for detecting that in described unmanned vehicle, the charge value of battery more than target charge value, then stops
Charge and pay charging expense.
Further, described charge requirement judging unit 11 specifically for:
Estimation drives to the first charge value of destination from current location；
If the current electric quantity value of battery is less than or equal to described first charge value in unmanned vehicle, it is determined that described battery needs
It is charged.
Further, charge requirement judging unit 11 specifically for:
The first charging station near described destination is determined according to described destination；
Estimation drives to the second charge value of described first charging station from described destination；
If described current electric quantity value is more than described first charge value and less than described first charge value and described second electricity
Value sum, it is determined that described battery needs to be charged.
Further, described target charging station determine unit 12 specifically for:
Estimate the charging distance charge value driven to from current location needed at least two preset charged station respectively；
Charging distance charge value is defined as described unmanned vehicle less than the described preset charged station of described current electric quantity value
Alternative charging station；
Between vehicle waiting information and/or described alternative charging station and described current location according to described alternative charging station
Distance, from described alternative charging station, determine target charging station.
Further, described target charging station is mobile target charging station；Described charhing unit 14 specifically for:
Motion track according to current location and described mobile target charging station determines target charge position；
Drive to described target charge position, and at described target charge position by described mobile target charging station to institute
State battery to be charged.
Further, described charhing unit 14 specifically for:
Detect whether to arrive the wireless charging area of described target charging station；
If arriving described wireless charging area, then by described wireless charging area, described battery is carried out wireless charging
Electricity.
Further, described payment unit 15 specifically for, pay charging expense by Quick Response Code mode.
Said apparatus can perform the method that the embodiment of the present invention one to embodiment six is provided, and possesses execution said method phase
The functional module answered and beneficial effect.The ins and outs of the most detailed description, can be found in the present invention and implement
The method that example one to embodiment six is provided.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (14)
1. the charging method of a unmanned vehicle, it is characterised in that including:
Determine that described battery is the need of being charged according to the current electric quantity value of battery in unmanned vehicle；
If described battery needs to be charged, it is determined that the target charging station of described unmanned vehicle；
Drive to described target charging station, and by described target charging station, described battery is charged；
If detecting, in described unmanned vehicle, the charge value of battery is more than target charge value, then stop charging and pay charging expense.
The charging method of unmanned vehicle the most according to claim 1, it is characterised in that described according in unmanned vehicle battery work as
Front charge value determine described battery the need of being charged, including:
Estimation drives to the first charge value of destination from current location；
If the current electric quantity value of battery is less than or equal to described first charge value in unmanned vehicle, it is determined that described battery need into
Row charging.
The charging method of unmanned vehicle the most according to claim 2, it is characterised in that drive to mesh from current location in estimation
Ground the first charge value after, also include:
The first charging station near described destination is determined according to described destination；
Estimation drives to the second charge value of described first charging station from described destination；
If described current electric quantity value is more than described first charge value and less than described first charge value and described second charge value
Sum, it is determined that described battery needs to be charged.
The charging method of unmanned vehicle the most according to claim 1, it is characterised in that the described target determining described unmanned vehicle
Charging station, including:
Estimate the charging distance charge value driven to from current location needed at least two preset charged station respectively；
Charging distance charge value is defined as the alternative of described unmanned vehicle less than the described preset charged station of described current electric quantity value
Charging station；
According to described alternative charging station vehicle waiting information and/or described alternative charging station and described current location between away from
From, from described alternative charging station, determine target charging station.
The charging method of unmanned vehicle the most according to claim 1, it is characterised in that described target charging station is mobile target
Charging station；Described by described target charging station, described battery is charged, including:
Motion track according to current location and described mobile target charging station determines target charge position；
Drive to described target charge position, and at described target charge position by described mobile target charging station to described electricity
Pond is charged.
The charging method of unmanned vehicle the most according to claim 1, it is characterised in that described by described target charging station pair
Described battery is charged, including:
Detect whether to arrive the wireless charging area of described target charging station；
If arriving described wireless charging area, then by described wireless charging area, described battery is carried out wireless charging.
7. according to the charging method of the unmanned vehicle according to any one of claim 1-6, it is characterised in that described payment charging takes
With, including:
Charging expense is paid by Quick Response Code mode.
8. the charging device of a unmanned vehicle, it is characterised in that including:
According to the current electric quantity value of battery in unmanned vehicle, charge requirement judging unit, for determining that described battery is the need of carrying out
Charging；
Target charging station determines unit, if determining that described battery needs to be charged for described charge requirement judging unit,
Then determine the target charging station of described unmanned vehicle；
Navigation elements, for driving to the described target charging station that described target charging station determines that unit determines；
By described target charging station, charhing unit, for determining that described battery is carried out by the described target charging station that unit determines
Charging；
Payment unit, if for detecting that in described unmanned vehicle, the charge value of battery is more than target charge value, then stopping charging also
Pay charging expense.
The charging device of unmanned vehicle the most according to claim 8, it is characterised in that described charge requirement judging unit is concrete
For:
Estimation drives to the first charge value of destination from current location；
If the current electric quantity value of battery is less than or equal to described first charge value in unmanned vehicle, it is determined that described battery need into
Row charging.
The charging device of unmanned vehicle the most according to claim 9, it is characterised in that described charge requirement judging unit has
Body is used for:
The first charging station near described destination is determined according to described destination；
Estimation drives to the second charge value of described first charging station from described destination；
If described current electric quantity value is more than described first charge value and less than described first charge value and described second charge value
Sum, it is determined that described battery needs to be charged.
The charging device of 11. unmanned vehicles according to claim 8, it is characterised in that described target charging station determines unit
Specifically for:
Estimate the charging distance charge value driven to from current location needed at least two preset charged station respectively；
Charging distance charge value is defined as the alternative of described unmanned vehicle less than the described preset charged station of described current electric quantity value
Charging station；
According to described alternative charging station vehicle waiting information and/or described alternative charging station and described current location between away from
From, from described alternative charging station, determine target charging station.
The charging device of 12. unmanned vehicles according to claim 8, it is characterised in that described target charging station is mobile mesh
Mark charging station；Described charhing unit specifically for:
Motion track according to current location and described mobile target charging station determines target charge position；
Drive to described target charge position, and at described target charge position by described mobile target charging station to described electricity
Pond is charged.
The charging device of 13. unmanned vehicles according to claim 8, it is characterised in that described charhing unit specifically for:
Detect whether to arrive the wireless charging area of described target charging station；
If arriving described wireless charging area, then by described wireless charging area, described battery is carried out wireless charging.
The charging device of 14. unmanned vehicles according to any one of-13 according to Claim 8, it is characterised in that described payment unit
Specifically for:
Charging expense is paid by Quick Response Code mode.
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