CN108656995B - Method, system, equipment and storage medium for charging and discharging mobile charging device - Google Patents

Method, system, equipment and storage medium for charging and discharging mobile charging device Download PDF

Info

Publication number
CN108656995B
CN108656995B CN201810509058.7A CN201810509058A CN108656995B CN 108656995 B CN108656995 B CN 108656995B CN 201810509058 A CN201810509058 A CN 201810509058A CN 108656995 B CN108656995 B CN 108656995B
Authority
CN
China
Prior art keywords
charging
mobile
charging port
electric vehicle
charging device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810509058.7A
Other languages
Chinese (zh)
Other versions
CN108656995A (en
Inventor
张科伟
宋奋韬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aiways Automobile Shanghai Co Ltd
Original Assignee
Aiways Automobile Shanghai Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aiways Automobile Shanghai Co Ltd filed Critical Aiways Automobile Shanghai Co Ltd
Priority to CN201810509058.7A priority Critical patent/CN108656995B/en
Publication of CN108656995A publication Critical patent/CN108656995A/en
Application granted granted Critical
Publication of CN108656995B publication Critical patent/CN108656995B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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
    • B60L53/31—Charging columns specially adapted for electric vehicles
    • 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 provides a method, a system, equipment and a storage medium for charging and discharging a mobile charging device, wherein the method comprises the following steps: a visual identification system carried by the mobile charging device collects images; identifying a charging port area according to an image acquired by a visual identification system; identifying whether the charging port area is positioned in the electric vehicle or in the charging pile according to an adjacent area of the charging port area surrounding the acquired image; according to the identified electric vehicle or the charging pile, the space coordinate of the charging port is identified according to the charging port area of the collected image, and according to the space coordinate, a charging gun carried on a mechanical arm is inserted into the charging port through the mechanical arm carried by the mobile charging device, so that the charging to the charging port of the electric vehicle is started or the charging to the mobile charging device is started through the charging port by the charging pile. The invention can provide a solution for conveniently supplementing the electric quantity for the electric automobile in a parking lot without a charging pile for directly charging the electric automobile.

Description

Method, system, equipment and storage medium for charging and discharging mobile charging device
Technical Field
The invention relates to the field of electric vehicle charging, in particular to a method, a system, equipment and a storage medium for charging and discharging a mobile charging device in a parking lot without a charging pile for directly charging an electric vehicle.
Background
At present, charging solutions of electric vehicles always depend on charging piles, the construction of the charging piles needs to occupy precious land resources and needs to be approved in advance, procedures are very complicated, the charging piles can not be arranged well due to the defects of early planning, and the development of the electric vehicles is greatly hindered. There are also mobile charging robots, which only propose some crude concepts, but also a great distance to the ground.
Because present fixed electric pile that fills can't remove, when building motor vehicle parking area, must be equipped with some according to the electric automobile's that probably parks certain proportion and fill electric pile, occupied very large tracts of land. Moreover, each charging requires manual plugging and unplugging of the charging gun and payment after charging is completed. If the car owner does not in time extract the rifle that charges after the completion of charging, vacates the parking stall that charges, will influence other electric motor car owners again and charge, reduces the utilization ratio of filling electric pile, and user experience is very poor, also has to burn the oil truck and occupies the phenomenon that has the parking stall that fills electric pile for charging of electric motor car becomes impossible, and these are all unfavorable for the popularization of electric motor car.
The scheme aims to solve the problem that perfect combination of robots, automatic driving, navigation, Internet of vehicles, vehicle inner networks, visual recognition, mechanical arms, energy storage, automatic charging technologies and the like is utilized in a parking lot (such as a public parking lot and the like) without charging piles for directly charging the electric vehicle, and the scheme for conveniently supplementing electric quantity for the electric vehicle is provided for the scene without charging piles.
Disclosure of Invention
In view of the problems in the prior art, an object of the present invention is to provide a charging and discharging method, system, device and storage medium for a mobile charging device, which can provide a solution for conveniently supplementing electric quantity to an electric vehicle in a charging pile parking lot without directly charging the electric vehicle.
The embodiment of the invention provides a charging and discharging method of a mobile charging device, which comprises the following steps: s101, a visual identification system carried by the mobile charging device collects images; s102, identifying a charging port area according to an image acquired by a visual identification system; s103, identifying that the charging port area is positioned in the electric vehicle or in the charging pile according to an adjacent area surrounding the charging port area of the acquired image; s104, if the charging port area is identified to be located in the electric vehicle, identifying the space coordinate of the charging port of the electric vehicle according to the charging port area of the collected image, and inserting a charging gun carried on a mechanical arm into the charging port of the electric vehicle by moving the mechanical arm carried on the charging device according to the space coordinate to start charging the charging port of the electric vehicle; and S105, if the charging port area is identified to be located in the charging pile, identifying the space coordinate of the charging port of the charging pile according to the charging port area of the acquired image, inserting a charging gun carried on a mechanical arm into the charging port of the charging pile through the mechanical arm carried on the mobile charging device according to the space coordinate, and starting charging the mobile charging device through the charging port by the charging pile.
Optionally, the vision recognition system is mounted on the mechanical arm, and an image acquisition direction of the vision recognition system corresponds to a charging gun of the mechanical arm.
Optionally, the step S101 includes: the vision recognition system collects a panoramic image; the step S102 includes: identifying at least one quasi charging port region from the panoramic image; when a plurality of quasi charging port areas are identified in the panoramic image, calculating the proportion of each quasi charging port area in the panoramic image; taking a quasi charging port area with the largest proportion in the panoramic image as the charging port area; determining the relative position of a charging port corresponding to the charging port area relative to a charging gun of the mechanical arm according to the position of the charging port area in the panoramic image and the starting position horizontally surrounded by the mechanical arm; pre-adjusting the robotic arm according to a relative position of the charging port with respect to a charging gun of the robotic arm such that the charging gun faces the charging port.
Optionally, the acquiring the panoramic image by the vision recognition system comprises: the mechanical arm horizontally surrounds the mobile charging device, so that the acquired image is a panoramic image horizontally surrounding the mobile charging device or a panoramic image formed by splicing a plurality of images acquired at intervals in the horizontal surrounding process of the mechanical arm; or the mechanical arm is in universal surrounding, so that the collected image is a panoramic image which is formed by spherical surrounding of the mobile charging device or splicing a plurality of images collected at intervals in the universal surrounding process of the mechanical arm.
Optionally, the taking, as the charging port region, a quasi charging port region having a largest proportion in the panoramic image includes: when the proportion of the two quasi charging port areas in the panoramic image is the largest and the same or when the proportion of the two quasi charging port areas in the panoramic image is the largest and the proportion difference is smaller than a preset threshold value, taking the two quasi charging port areas as the charging port areas; the step S103 includes: identifying that the two charging port areas are positioned in the electric vehicle or in the charging pile according to the adjacent area of the charging port area surrounding the acquired image; if the two charging port areas are located in the electric vehicle, the mobile charging device is respectively communicated with terminals associated with the two electric vehicles so as to determine the electric vehicle to be charged; if one of the two charging port areas is located in the electric vehicle, and the other charging port area is located in the charging pile, the mobile charging device detects electric quantities of a first battery and a second battery of the mobile charging device, and if the electric quantity of any one of the first battery and the second battery is smaller than a preset threshold, the step S105 is performed, where the first battery is used for supplying power to the mobile charging device to drive the mobile charging device and the movement of the robot arm, and the second battery is used for supplying power to the electric vehicle (where the second battery is used for supplying power to the electric vehicle, which only means that the second battery is an energy storage battery of the mobile charging device, and does not mean that the second battery is used for supplying power to the electric vehicle in step S105).
Optionally, before the step S101, the method further includes: s106, an electric vehicle is parked in a parking space of a parking lot, and a mobile terminal sends charging request information containing position coordinates of the parking space to a server; s107, the server sends the charging request information to a mobile charging device in the parking lot; s108, the mobile charging device drives to the parking space according to the charging request information; s109, after the mobile charging device and the electric vehicle are interactively confirmed, a charging cover of the electric vehicle is opened, and a charging port of the electric vehicle is exposed;
optionally, after the step S104, the method further includes: and S110, after the charging is finished, the mobile charging device obtains a charging settlement amount according to the actual electric quantity of the charging, and sends charging settlement information containing the charging settlement amount to the mobile terminal for settlement.
Optionally, in step S106, the charging request information at least includes a number of a parking space, the server and the mobile charging device prestore the number of the parking space in the parking lot and a position coordinate of the parking space corresponding to each number, and the mobile terminal sends the number including the parking space to a server; in step S107, the server parses the position coordinate information of the destination parking space and issues the information to the mobile charging device; in step S108, the mobile charging device plans a driving route according to the position information of the mobile charging device and the position coordinate information of the destination parking space, where the driving route passes through the passage of the parking lot and does not pass through the parking space.
Optionally, in step S109, after the mobile charging device arrives at the destination parking space, the mobile charging device sends information of the arrival at the designated location to the server, and after receiving the information, the server interacts with the communication control unit of the vehicle to be charged through the communication protocol, and the communication control unit of the vehicle opens the charging cover of the electric vehicle through the in-vehicle communication network to expose the charging port; or after the mobile charging device is interactively confirmed with the electric vehicle through a near field communication protocol, the charging cover of the electric vehicle is opened to expose the charging port.
The embodiment of the present invention further provides a system for charging and discharging a mobile charging device, which is used for implementing the method for charging and discharging the mobile charging device, and the method includes: remove charging device, electric motor car and fill electric pile, wherein, remove charging device carries out following step: a visual identification system carried by the mobile charging device collects images; identifying a charging port area according to an image acquired by a visual identification system; identifying whether the charging port area is positioned in the electric vehicle or in the charging pile according to an adjacent area of the charging port area surrounding the acquired image; if the charging port area is identified to be positioned in the electric vehicle, identifying the space coordinate of the charging port of the electric vehicle according to the charging port area of the collected image, and inserting a charging gun carried on a mechanical arm into the charging port of the electric vehicle by moving the mechanical arm carried on the charging device according to the space coordinate to start charging the charging port of the electric vehicle; and if the charging port area is identified to be located in the charging pile, identifying the space coordinate of the charging port of the charging pile according to the charging port area of the collected image, inserting a charging gun carried on a mechanical arm into the charging port of the charging pile by moving the mechanical arm carried on the charging device according to the space coordinate, and starting charging the mobile charging device through the charging port by the charging pile.
Optionally, the mobile charging device is a charging robot with wheels, the charging robot includes a navigation system, an optical alignment assembly, an electric motor, a mechanical arm, a charging gun, a first battery, and a second battery, the first battery supplies power to the electric motor, the electric motor drives the wheels to travel, the second battery is electrically connected to the charging gun, the voltage of the first battery is 24 volts or 48 volts, and the voltage of the second battery is 115 volts to 410 volts.
The embodiment of the present invention further provides a charging and discharging apparatus for a mobile charging device, including: a processor; a memory having stored therein executable instructions of the processor; wherein the processor is configured to perform the steps of the method of charging and discharging a mobile charging apparatus as described above via execution of the executable instructions.
Embodiments of the present invention also provide a computer readable storage medium for storing a program that, when executed, performs the steps of the method for charging and discharging a mobile charging device as described above.
The invention aims to provide a solution for conveniently supplementing electric quantity for an electric vehicle in a parking lot without a charging pile for directly charging the electric vehicle by using a charging device, a charging system, a charging equipment and a storage medium of a mobile charging device.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for charging and discharging a mobile charging device according to the present invention.
Fig. 2 to 18 are schematic diagrams illustrating an embodiment of a method for charging and discharging a mobile charging device according to the present invention.
Fig. 19 is a block diagram of a system for charging and discharging a mobile charging device according to the present invention.
Fig. 20 is a schematic structural diagram of a device for charging and discharging the mobile charging apparatus according to the present invention. And
fig. 21 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
Fig. 1 is a flowchart of a method for charging and discharging a mobile charging device according to the present invention. As shown in fig. 1, an embodiment of the present invention provides a method for charging and discharging a mobile charging device, including the following steps:
s101, a visual identification system carried by the mobile charging device collects images;
s102, identifying a charging port area according to an image acquired by a visual identification system;
s103, identifying that the charging port area is positioned in the electric vehicle or in the charging pile according to an adjacent area surrounding the charging port area of the acquired image;
s104, if the charging port area is identified to be located in the electric vehicle, identifying the space coordinate of the charging port of the electric vehicle according to the charging port area of the collected image, and inserting a charging gun carried on a mechanical arm into the charging port of the electric vehicle by moving the mechanical arm carried on the charging device according to the space coordinate to start charging the charging port of the electric vehicle;
and S105, if the charging port area is identified to be located in the charging pile, identifying the space coordinate of the charging port of the charging pile according to the charging port area of the acquired image, inserting a charging gun carried on a mechanical arm into the charging port of the charging pile through the mechanical arm carried on the mobile charging device according to the space coordinate, and starting charging the mobile charging device through the charging port by the charging pile.
According to the visual identification system carried by the charger robot, the charging port in the acquired image is identified to be positioned in the electric vehicle or in the charging pile, so that the charging robot is further configured to charge or discharge, and therefore, the full-automatic electric vehicle charging is realized in the place where the charging pile for directly charging the electric vehicle cannot be arranged.
Fig. 2 to 9 are schematic diagrams of several embodiments of the charging and discharging method of the mobile charging device of the present invention. Referring first to fig. 2 to 5, the mobile charging device 2 is mounted with a rotatable robot 23, the rotatable robot 23 is mounted with a vision recognition system 24, and the vision recognition system 24 changes the direction of the captured image according to the rotation of the robot 23. The direction in which the image is acquired by the vision recognition system 24 coincides with the direction in which the movable end of the robot arm 23 is directed. The mobile charging device 2 includes therein a first battery 21 for supplying power to the mobile charging device 2 for movement and rotation of the robot arm 23, and a second battery 22 for charging the electric vehicle 12.
The images of the mobile charging device 2 acquired by the vision recognition system 24 are shown in fig. 4 and 5. The vision recognition system 24 may identify charging port areas (e.g., charging port 123, charging port 31) in the captured image 17. Since the charging port 123 on the electric vehicle 12 and the charging port 31 on the charging pile 3 may generally have the same specification, the characteristics of the charging port may be prestored to identify the charging port area in the image 17. Meanwhile, since the charging ports generally have the same specification, it is possible to recognize that the charging port region is located in the electric vehicle 12 or in the charging pile 3 by an adjacent region surrounding the charging port region of the collected image 17. In some embodiments, tire identification may be provided on the vision recognition system 24, i.e., if the vision recognition system 24 recognizes a tire in an adjacent area surrounding the charging port area, it may recognize that the charging port corresponding to the charging port area is located on the electric vehicle 12. In still other embodiments, a mark 32 may be provided on a portion of the charging post 3 adjacent to the charging port 31, and the mark 32 allows the visual recognition system 24 to recognize that the charging port 31 is located on the charging post 3. The foregoing is merely an example of the present invention and is not intended to limit the invention thereto.
Further, when the image 17 captured by the mobile charging device 2 through the visual recognition system 24 is as shown in fig. 4, the mobile charging device 2 recognizes that the charging port area is located in the electric vehicle 12, recognizes the spatial coordinates of the charging port 123 of the electric vehicle based on the charging port area 123 of the captured image 17, and inserts a charging gun mounted on the arm 23 into the charging port 123 of the electric vehicle 12 by moving the arm 23 mounted on the charging device 2 based on the spatial coordinates, thereby starting charging the charging port 123 of the electric vehicle 12, as shown in fig. 2.
When the image 17 acquired by the mobile charging device 2 through the visual recognition system 24 is as shown in fig. 5, the mobile charging device 2 recognizes that the charging port area is located in the charging post 3, recognizes the spatial coordinate of the charging port 31 of the charging post 3 according to the charging port area 123 of the acquired image 17, inserts the charging gun mounted on the robot arm 23 into the charging port 31 of the charging post 3 through the robot arm 23 mounted on the mobile charging device 2 according to the spatial coordinate, and starts charging the second battery 22 of the mobile charging device 2 or charges the first battery 21 and the second battery 22 together through the charging port 31 by the charging post 3, as shown in fig. 3.
Referring now to fig. 6 and 7, due to the positional arrangement of the electric vehicles in the parking lot, the different arrangement of the charging positions, and the possibility of not following the standard parking direction, the current orientation of the mechanical arm 23 of the mobile charging device 2 may not be aligned with the electric vehicle 12 to be charged after reaching the designated charging and discharging position. In such a case, even if the image is captured by the visual recognition system 24, the charging port area included in the image is not the charging port of the electric vehicle 12 (even if only the charging electric vehicle to be charged is provided and the charging port cover is opened, there is a possibility that the charging port cover is opened by the similar vehicles at the same time), and thus there is a possibility that the electric vehicle to be charged cannot be determined after the mobile charging device 2 reaches the specified charging position, and thus the charging error occurs, or the two mobile charging devices 2 collide with each other.
As shown in fig. 6, the electric vehicles 11, 12, 14, 15, 18, 19 are parked in the positions shown, and the electric vehicles 11, 14, 18 are opposite to the positions of the heads of the electric vehicles 12, 15, 19, that is, the charging ports of the electric vehicles are all directed to the mobile charging device 2. The vision recognition system 24 may capture a panoramic image with the movement of the robot arm 23. Specifically, the robot arm 23 of the mobile charging device 2 may horizontally surround in the above step S101, so that the image captured by the vision recognition system 24 is a panoramic image 20 (shown in fig. 7) horizontally surrounding the mobile charging device 1. In some variations, the acquired image may be a panoramic image formed by stitching a plurality of images acquired at intervals during the horizontal circling process of the mechanical arm 23. In other variations, the mechanical arm 23 of the mobile charging apparatus 2 may be universally encircled in step S101, so that the image collected by the vision recognition system 24 is a panoramic image that spherically encircles the mobile charging apparatus 1. In some variations, the acquired image may be a panoramic image formed by stitching a plurality of images acquired at intervals in the process of universally encircling the mechanical arm 23. The invention is not limited thereto.
The following takes a horizontally surrounding panoramic image as an example: after obtaining the panoramic image 20, at least one quasi charging port region may be identified from the panoramic image 20 in step S102 described above. When a plurality of quasi charging port regions are identified in the panoramic image 20 (in the present embodiment, 6 quasi charging port regions 123, 153, 143, 113, 183, 193 are identified), the proportion of each quasi charging port region in the panoramic image 20 is calculated. Then, the quasi charging port region having the largest proportion in the panoramic image 20 is used as the charging port region. In the present embodiment, since the electric vehicle 12 is closest to the mobile charging device 2, the charging port of the electric vehicle 12 occupies the largest proportion of the panoramic image 20, and therefore, the corresponding quasi-charging port area 123 is used as the charging port area, and the electric vehicle 12 is identified as the vehicle to be charged. Then, the relative position of the charging port corresponding to the charging port area 123 with respect to the charging gun of the robot arm 23 may be determined according to the determined position of the charging port area 123 in the panoramic image 20 and the starting position of the horizontal surrounding of the robot arm 23, and the robot arm 23 may be pre-adjusted according to the relative position of the charging port with respect to the charging gun of the robot arm 23 so that the charging gun faces the charging port. After the mechanical arm 23 is pre-adjusted to rotate so that the charging gun faces the charging port, the alignment of the charging port can be further performed through the vertical lifting of the mechanical arm 23. Specifically, for example, the angle a (L) by which the robot arm 23 is horizontally rotated from the start position of the horizontal circling may be determined as follows3-L2/2)*360/L1Wherein L is3Is the distance, L, from the starting position of the panoramic image 20 to the center of the charging port area 1232Width (L) of image captured for non-rotation of vision recognition system 242＝B*L1B is the viewing angle of vision recognition system 24), L1The units of a and B are degrees, which is the total width of the panoramic image 20. The above description is only an exemplary embodiment of the present invention, and the present invention is not limited thereto.
In some variations of the above-described embodiments, due to uncertainty of the parking position and deviation of moving the charging device 2 to the designated charging/discharging position, the two quasi charging port regions in the panoramic image 20 may have the largest and the same proportion in the panoramic image 20, or may be used as the charging port region when the proportion of the two quasi charging port regions in the panoramic image 20 is the largest and the difference in the proportions is smaller than a preset threshold (e.g., the difference is smaller than 0.5%). In such a case, in order to prevent the erroneous charging, the following steps may be further performed in the above step S103: identifying that the two charging port areas (such as the charging port areas 123 and 111) are positioned in the electric vehicle or in the charging pile according to the adjacent area of the charging port area surrounding the acquired image; if the two charging port areas (e.g., the charging port areas 123 and 111) are located in the electric vehicles, the mobile charging device 2 communicates with terminals (e.g., vehicle-mounted terminals or mobile terminals) associated with the two electric vehicles 11 and 12 (e.g., via a short-range communication method such as a local area network or bluetooth) respectively, so as to determine the electric vehicle to be charged.
If one charging port area 121 of the two charging port areas (such as the charging port areas 121 and 31 shown in fig. 8 and 9) is located in the electric vehicle 12, and the other charging port area 31 is located in the charging post 3, the mobile charging device 2 detects the electric quantities of the first battery 21 and the second battery 22 of the mobile charging device 2, and if the electric quantity of any one of the first battery 21 and the second battery 22 is less than a preset threshold (i.e. the electric quantity of the first battery 21 in the mobile charging device 2 is not enough to provide the movement or the rotation of the robot arm of the mobile charging device 2, or the second battery 22 in the mobile charging device 2 is not enough to provide the charging for the electric vehicle), it is determined that the mobile charging device 2 needs to be charged, and the above step S105 is performed.
In the above embodiments of the present invention, it is not necessary to limit the standard parking mode of the electric vehicle, and it is also not necessary to limit the arrangement of the parking spaces and the charging piles according to the standard mode, and the visual recognition system 24 of the mobile charging device 2 can be used to realize the automatic recognition of the charging port, so as to realize the charging and discharging of the mobile charging device 2, and further realize the full-automatic charging of the electric vehicle.
In still other embodiments of the present invention, the step S101 may further include:
s106, an electric vehicle is parked in a parking space of a parking lot, and a mobile terminal sends charging request information containing position coordinates of the parking space to a server;
s107, the server sends the charging request information to a mobile charging device in the parking lot;
s108, the mobile charging device drives to the parking space according to the charging request information;
s109, after the mobile charging device and the electric vehicle are interactively confirmed, a charging cover of the electric vehicle is opened, and a charging port of the electric vehicle is exposed;
and S105, inserting a charging gun of the mobile charging device into the charging port, and charging the battery in the electric vehicle by the charging gun.
After the step S104, the method may further include:
and S110, after the charging is finished, the mobile charging device obtains a charging settlement amount according to the actual electric quantity of the charging, and sends charging settlement information containing the charging settlement amount to the mobile terminal for settlement.
In a preferred embodiment, in step S106, the charging request information at least includes the number of the parking space, the number of the parking space in the parking lot and the position coordinate of the parking space corresponding to each number, which are pre-stored in the server and the mobile charging device, and the mobile terminal sends the number including the parking space to a server; in step S107, the server parses the position coordinate information of the destination parking space and issues the information to the mobile charging device; in step S108, the mobile charging device plans a driving route according to the position information of the mobile charging device and the position coordinate information of the destination parking space, where the driving route passes through the passage of the parking lot and does not pass through the parking space. The invention can know the specific parking space of the electric vehicle requiring charging by simply acquiring the number of the parking space, thereby greatly reducing the operation of users and improving the positioning accuracy.
In a preferred embodiment, in step S109, after the mobile charging device arrives at the destination parking space, the mobile charging device sends information that the destination parking space has been reached to the server. After receiving the information, the server interacts with a communication control unit of the vehicle to be charged through a communication protocol, the communication control unit of the vehicle opens a charging cover of the electric vehicle through an in-vehicle communication network to expose a charging port, or after a mobile charging device interacts and confirms with the electric vehicle through a near field communication means, the charging cover of the electric vehicle is opened to expose the charging port.
After step S109 and before step S110, the method further includes: after charging, the mobile charging device pulls out the charging gun from the charging port, and the charging cover of the electric vehicle is closed to seal the charging port. Meanwhile, the mobile charging device obtains a charging settlement amount according to the actual electric quantity of the charging, and sends charging settlement information containing the charging settlement amount to the mobile terminal through the server for settlement.
In a preferred scheme, the charging port of the charging pile charges the battery in the mobile charging device in a peak-valley power consumption time period, so that the charging cost is greatly reduced, the power consumption is saved, and the optimization of a power grid is realized. The charging pile can utilize a policy of peak-to-valley electricity price difference, a charging port of the charging pile can charge a battery in the mobile charging device in the valley electricity period and charge an electric automobile in the peak electricity period, so that the charging cost is greatly reduced, the electricity consumption is saved, and the optimization of a power grid is realized.
Fig. 10 to 18 are schematic diagrams illustrating an embodiment of a method for charging and discharging a mobile charging device according to the present invention. As shown in fig. 10 to 18, one implementation of the present invention is as follows: the vehicle owner has the mobile phone 1 and the electric vehicle 12, and performs charging operation (such as 2) in cooperation with the server 4 and the mobile charging device 2.
As shown in fig. 11 and 12, when the owner of the electric vehicle 12 parks in a parking lot without a charging post, the electric vehicle 12 parks in a parking space 120 of the parking lot. The parking lot has a plurality of parking spaces for parking electric vehicles (other electric vehicles 11, 13, 14, 15, 16 are parked in other parking spaces around the parking space 120), a plurality of mobile charging devices 2, and a charging port 3 for charging the mobile charging devices 2. When the owner needs to charge his vehicle, he can go by inputting the parking space number into the specially developed app in a convenient manner, including but not limited to parking space two-dimensional code scanning, etc., and sending the charging request information (for example, "hush a123456 stopped in 120 th parking space, requesting to refuel") to the server 4. The mobile charging device 2 has a route a to each parking space in the parking lot stored therein, and in a preferred embodiment, the route a is set to avoid the range of all parking spaces only through a passage between the parking spaces, so that the mobile charging device 2 is ensured not to collide with the vehicle (other electric vehicles 11, 13, 14, 15, 16) in the parking space during traveling.
As shown in fig. 13 and 14, the server 4 evaluates which mobile charging device 2 in the parking lot has enough power to charge the electric vehicle 12 according to the charging request information, and the selected mobile charging device 2 receives the charging request information transmitted by the server 4 and the parking space number information, and analyzes the specific location where the vehicle is located. The mobile charging device 2 can automatically calculate the optimal path by combining self positioning, automatically avoid obstacles according to the situation and automatically drive to the destination parking space.
As shown in fig. 15, when the mobile charging device 2 arrives at the destination slot, the information that the designated location has been reached is transmitted to the server. After receiving the information, the server interacts with a communication control unit of the vehicle to be charged through a communication protocol, the communication control unit of the vehicle opens a charging cover of the electric vehicle through an in-vehicle communication network to expose a charging port, or after a mobile charging device interacts and confirms with the electric vehicle through a near field communication means, the charging cover of the electric vehicle is opened to expose the charging port.
The mobile charging device 2 shown in fig. 16 recognizes the information related to the charging port by the video recognition technology, and inserts the charging gun into the charging port according to the information. The energy storage system will communicate with the Battery Management System (BMS) of the electric vehicle 12 and start charging after establishing a reliable connection. In a preferred embodiment, the mobile charging device is a charger robot with wheels, the charger robot includes a navigation system, an optical alignment assembly 24, an electric motor, a mechanical arm, a charging gun 23, a first battery 21 and a second battery 22, the first battery 21 supplies power to the electric motor, the electric motor drives the wheels to move, the second battery 22 is electrically connected to the charging gun 23, the voltage of the first battery 21 is 24 volts or 48 volts, and the voltage of the second battery 22 is in a range of 115 volts to 410 volts. The optical alignment assembly 24 recognizes the spatial coordinates of the charging port of the electric vehicle 12 by shooting the contour information of the charging port in the video image in real time, guides the mechanical arm carrying the charging gun to align and approach the charging port of the electric vehicle 12, inserts the charging gun, and starts charging.
As shown in fig. 17, after the charging is finished, the electric vehicle BMS system feeds back the relevant information to the mobile charging device 2 through the server, and the electric vehicle 12 automatically closes the charging port cover after the gun is reset. After the mobile charging device 2 finishes charging, the vehicle automatically runs to an automatic electricity supplementing position to supplement the electric quantity. The mobile charging device 2 can make full use of the peak-valley price difference and realize the optimized operation of the power grid by utilizing the full charge during the valley electricity period.
As shown in fig. 18, the mobile charging device 2 feeds back information such as charging amount and charging amount to the car owner APP through the server, so as to complete charging, and the car owner can pay according to charging settlement information including charging settlement amount, thereby completing the whole process. In this process, the car owner need not wait at the parking area completely, can be in keeping away from the other places in parking area, has improved the humanized experience that the electric motor car charges greatly.
Fig. 19 is a block diagram of a system for charging and discharging a mobile charging device according to the present invention. As shown in fig. 19, an embodiment of the present invention further provides a system 5 for charging and discharging a mobile charging device, for implementing the above method for charging and discharging a mobile charging device, where the system for charging and discharging a mobile charging device includes: electric vehicle 51, charging pile 52, and mobile terminal device 53. The mobile charging device 53 performs the following steps: a visual identification system carried by the mobile charging device collects images; identifying a charging port area according to an image acquired by a visual identification system; identifying whether the charging port area is positioned in the electric vehicle or in the charging pile according to an adjacent area of the charging port area surrounding the acquired image; if the charging port area is identified to be positioned in the electric vehicle, identifying the space coordinate of the charging port of the electric vehicle according to the charging port area of the collected image, and inserting a charging gun carried on a mechanical arm into the charging port of the electric vehicle by moving the mechanical arm carried on the charging device according to the space coordinate to start charging the charging port of the electric vehicle; and if the charging port area is identified to be located in the charging pile, identifying the space coordinate of the charging port of the charging pile according to the charging port area of the collected image, inserting a charging gun carried on a mechanical arm into the charging port of the charging pile by moving the mechanical arm carried on the charging device according to the space coordinate, and starting charging the mobile charging device through the charging port by the charging pile.
The system for charging and discharging the mobile charging device can provide a solution for conveniently supplementing electric quantity for the electric automobile in a parking lot without a charging pile for directly charging the electric automobile.
The embodiment of the invention also provides charging and discharging equipment of the mobile charging device, which comprises a processor. A memory having stored therein executable instructions of the processor. Wherein the processor is configured to perform the steps of the method of charging and discharging a mobile charging apparatus via execution of the executable instructions.
As shown above, the embodiment can provide a solution for conveniently supplementing the electric quantity for the electric vehicle in a parking lot without a charging pile for directly charging the electric vehicle, the full-automatic intelligent charging robot technology is adopted, and a visual identification system carried by the charging robot can be utilized to identify that a charging port in an acquired image is positioned in the electric vehicle or in the charging pile, so that the charging robot is further configured to charge or discharge, the full-automatic charging of the electric vehicle is realized in a place where the charging pile for directly charging the electric vehicle cannot be arranged, the charging efficiency can be greatly improved, the energy supplement of the electric vehicle is facilitated, the popularization and the development of the electric vehicle are facilitated, and the optimized operation of a power grid is facilitated.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" platform.
Fig. 20 is a schematic structural diagram of a device for charging and discharging the mobile charging apparatus according to the present invention. An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 20. The electronic device 600 shown in fig. 20 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 20, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, processing unit 610 may perform the steps as shown in fig. 1.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
Bus 630 may be one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
Embodiments of the present invention further provide a computer-readable storage medium for storing a program, where the program is executed to implement the steps of the method for charging and discharging the mobile charging device. In some possible embodiments, the aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.
As shown above, the embodiment can provide a solution for conveniently supplementing the electric quantity for the electric vehicle in a parking lot without a charging pile for directly charging the electric vehicle, the full-automatic intelligent charging robot technology is adopted, and a visual identification system carried by the charging robot can be utilized to identify that a charging port in an acquired image is positioned in the electric vehicle or in the charging pile, so that the charging robot is further configured to charge or discharge, the full-automatic charging of the electric vehicle is realized in a place where the charging pile for directly charging the electric vehicle cannot be arranged, the charging efficiency can be greatly improved, the energy supplement of the electric vehicle is facilitated, the popularization and the development of the electric vehicle are facilitated, and the optimized operation of a power grid is facilitated.
Fig. 21 is a schematic structural diagram of a computer-readable storage medium of the present invention. Referring to fig. 21, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In summary, the present invention provides a solution for conveniently supplementing electric quantity to an electric vehicle in a parking lot without a charging pile for directly charging the electric vehicle, and the method, system, device and storage medium for charging and discharging a mobile charging device are provided.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (13)

1. A method for charging and discharging a mobile charging device is characterized by comprising the following steps:
s101, a visual identification system carried by the mobile charging device collects images;
s102, identifying a charging port area according to an image acquired by a visual identification system;
s103, identifying that the charging port area is positioned in the electric vehicle or in the charging pile according to an adjacent area surrounding the charging port area of the acquired image;
s104, if the charging port area is identified to be located in the electric vehicle, identifying the space coordinate of the charging port of the electric vehicle according to the charging port area of the collected image, and inserting a charging gun carried on a mechanical arm into the charging port of the electric vehicle by moving the mechanical arm carried on the charging device according to the space coordinate to start charging the charging port of the electric vehicle;
and S105, if the charging port area is identified to be located in the charging pile, identifying the space coordinate of the charging port of the charging pile according to the charging port area of the acquired image, inserting a charging gun carried on a mechanical arm into the charging port of the charging pile through the mechanical arm carried on the mobile charging device according to the space coordinate, and starting charging the mobile charging device through the charging port by the charging pile.
2. The method for charging and discharging the mobile charging device according to claim 1, wherein the vision recognition system is mounted on the mechanical arm, and an image acquisition direction of the vision recognition system corresponds to a charging gun of the mechanical arm.
3. The method for charging and discharging the mobile charging device according to claim 2, wherein the step S101 comprises:
the vision recognition system collects a panoramic image; the step S102 includes:
identifying at least one quasi charging port region from the panoramic image;
when a plurality of quasi charging port areas are identified in the panoramic image, calculating the proportion of each quasi charging port area in the panoramic image;
taking a quasi charging port area with the largest proportion in the panoramic image as the charging port area;
determining the relative position of a charging port corresponding to the charging port area relative to a charging gun of the mechanical arm according to the position of the charging port area in the panoramic image and the starting position horizontally surrounded by the mechanical arm;
pre-adjusting the robotic arm according to a relative position of the charging port with respect to a charging gun of the robotic arm such that the charging gun faces the charging port.
4. The method of charging and discharging a mobile charging device according to claim 3, wherein the capturing a panoramic image by the vision recognition system comprises:
the mechanical arm horizontally surrounds the mobile charging device, so that the acquired image is a panoramic image horizontally surrounding the mobile charging device or a panoramic image formed by splicing a plurality of images acquired at intervals in the horizontal surrounding process of the mechanical arm; or
The mechanical arm is in universal surrounding, so that the collected images are panoramic images which are formed by spherical surrounding of the mobile charging device or splicing a plurality of images collected at intervals in the universal surrounding process of the mechanical arm.
5. The method for charging and discharging the mobile charging device according to claim 3, wherein the step of taking the quasi charging port region with the largest proportion in the panoramic image as the charging port region comprises:
when the proportion of the two quasi charging port areas in the panoramic image is the largest and the same or when the proportion of the two quasi charging port areas in the panoramic image is the largest and the proportion difference is smaller than a preset threshold value, taking the two quasi charging port areas as the charging port areas;
the step S103 includes:
identifying that the two charging port areas are positioned in the electric vehicle or in the charging pile according to the adjacent area of the charging port area surrounding the acquired image;
if the two charging port areas are located in the electric vehicle, the mobile charging device is respectively communicated with terminals associated with the two electric vehicles so as to determine the electric vehicle to be charged;
if one charging port area is located in the electric vehicle and the other charging port area is located in the charging pile, the mobile charging device detects the electric quantity of a first battery and an electric quantity of a second battery of the mobile charging device, and if the electric quantity of any battery of the first battery and the second battery is smaller than a preset threshold value, the step S105 is executed, wherein the first battery is used for supplying power to the mobile charging device to drive the mobile charging device and the mechanical arm to move, and the second battery is used for supplying power to the electric vehicle.
6. The method for charging and discharging a mobile charging device according to claim 1, wherein step S101 is preceded by the step of:
s106, an electric vehicle is parked in a parking space of a parking lot, and a mobile terminal sends charging request information containing position coordinates of the parking space to a server;
s107, the server sends the charging request information to a mobile charging device in the parking lot;
s108, the mobile charging device drives to the parking space according to the charging request information;
s109, after the mobile charging device and the electric vehicle are interactively confirmed, a charging cover of the electric vehicle is opened, and a charging port of the electric vehicle is exposed.
7. The method for charging and discharging a mobile charging device according to claim 6, further comprising, after step S104:
and S110, after the charging is finished, the mobile charging device obtains a charging settlement amount according to the actual electric quantity of the charging, and sends charging settlement information containing the charging settlement amount to the mobile terminal for settlement.
8. The method according to claim 6, wherein in step S106, the charging request message at least includes a number of a parking space, the server and the mobile charging device pre-store the number of the parking space in the parking lot and a position coordinate of the parking space corresponding to each number, and the mobile terminal sends the number including the parking space to a server;
in step S107, the server parses the position coordinate information of the destination parking space and issues the information to the mobile charging device;
in step S108, the mobile charging device plans a driving route according to the position information of the mobile charging device and the position coordinate information of the destination parking space, where the driving route passes through the passage of the parking lot and does not pass through the parking space.
9. The method of charging and discharging a mobile charging device according to claim 8,
in step S109, after the mobile charging device reaches the destination parking space, the mobile charging device sends information of the destination parking space to the server, and after receiving the information, the server interacts with the communication control unit of the vehicle to be charged through the communication protocol, and the communication control unit of the vehicle opens the charging cover of the electric vehicle through the in-vehicle communication network to expose the charging port; or after the mobile charging device is interactively confirmed with the electric vehicle through a near field communication protocol, the charging cover of the electric vehicle is opened to expose the charging port.
10. A system for charging and discharging a mobile charging device, for implementing the method for charging and discharging the mobile charging device according to any one of claims 1 to 9, comprising: remove charging device, electric motor car and fill electric pile, wherein, remove charging device carries out following step:
a visual identification system carried by the mobile charging device collects images;
identifying a charging port area according to an image acquired by a visual identification system;
identifying whether the charging port area is positioned in the electric vehicle or in the charging pile according to an adjacent area of the charging port area surrounding the acquired image;
if the charging port area is identified to be positioned in the electric vehicle, identifying the space coordinate of the charging port of the electric vehicle according to the charging port area of the collected image, and inserting a charging gun carried on a mechanical arm into the charging port of the electric vehicle by moving the mechanical arm carried on the charging device according to the space coordinate to start charging the charging port of the electric vehicle;
and if the charging port area is identified to be located in the charging pile, identifying the space coordinate of the charging port of the charging pile according to the charging port area of the collected image, inserting a charging gun carried on a mechanical arm into the charging port of the charging pile by moving the mechanical arm carried on the charging device according to the space coordinate, and starting charging the mobile charging device through the charging port by the charging pile.
11. The system for charging and discharging a mobile charging device according to claim 10, wherein: the mobile charging device is a charging robot with wheels, the charging robot comprises a navigation system, an optical alignment assembly, an electric motor, a mechanical arm, a charging gun, a first battery and a second battery, the first battery supplies power to the electric motor, the electric motor drives the wheels to move, the second battery is electrically connected with the charging gun, the voltage of the first battery is 24 volts or 48 volts, and the voltage range of the second battery is 115 volts to 410 volts.
12. An apparatus for charging and discharging a mobile charging device, comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the method of charging and discharging the mobile charging device of any one of claims 1 to 9 via execution of the executable instructions.
13. A computer-readable storage medium storing a program which, when executed, performs the steps of the method of charging and discharging a mobile charging apparatus according to any one of claims 1 to 9.
CN201810509058.7A 2018-05-24 2018-05-24 Method, system, equipment and storage medium for charging and discharging mobile charging device Active CN108656995B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810509058.7A CN108656995B (en) 2018-05-24 2018-05-24 Method, system, equipment and storage medium for charging and discharging mobile charging device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810509058.7A CN108656995B (en) 2018-05-24 2018-05-24 Method, system, equipment and storage medium for charging and discharging mobile charging device

Publications (2)

Publication Number Publication Date
CN108656995A CN108656995A (en) 2018-10-16
CN108656995B true CN108656995B (en) 2020-06-30

Family

ID=63776533

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810509058.7A Active CN108656995B (en) 2018-05-24 2018-05-24 Method, system, equipment and storage medium for charging and discharging mobile charging device

Country Status (1)

Country Link
CN (1) CN108656995B (en)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109435730A (en) * 2018-11-09 2019-03-08 同济大学 A kind of automatic charging system and method based on imitative Snakelike mechanical arm
CN109398128A (en) * 2018-11-09 2019-03-01 宁波途思机电有限公司 Parking device, robot and its charging method with charge function
CN109435755A (en) * 2019-01-09 2019-03-08 福晟生活服务有限公司 Electric bicycle intelligent charging method, system and computer readable storage medium
CN110040031A (en) * 2019-05-21 2019-07-23 和瑞众联科技(北京)有限公司 One kind can dispense electric car charging method and system
CN110264020A (en) * 2019-07-22 2019-09-20 山东莱宝智能技术有限公司 A kind of charging control system of electric automobile and method
CN110723001A (en) * 2019-10-25 2020-01-24 北京华商三优新能源科技有限公司 Full-automatic charging robot plugging gun control method and device
CN111071088B (en) * 2019-12-30 2023-08-15 无锡道驰光电科技有限公司 Automatic charging method and device for electric vehicle
CN111038324B (en) * 2019-12-30 2023-09-22 无锡道驰光电科技有限公司 Intelligent identification method and device for charging gun of charging port of charging door of electric vehicle
CN113752892A (en) * 2020-06-02 2021-12-07 车主邦（北京）科技有限公司 Intelligent charging system and method
CN112248834A (en) * 2020-10-21 2021-01-22 北京理工大学 Charging device and method for electric automobile
CN113276701B (en) * 2021-06-30 2022-09-09 东风汽车集团股份有限公司 Extended charging connection robot, charging pile and charging method
CN113459846A (en) * 2021-08-20 2021-10-01 贵州翰凯斯智能技术有限公司 Parking lot charging system and charging method
CN114013314A (en) * 2021-10-25 2022-02-08 精电(河源)显示技术有限公司 Charging system and charging method
CN114475312A (en) * 2022-02-09 2022-05-13 奇瑞汽车股份有限公司 Charging device and charging method for vehicle
CN114670690B (en) * 2022-03-11 2023-04-18 常州信息职业技术学院 Vehicle automatic charging method and system based on OpenMV
CN114312418B (en) * 2022-03-16 2022-06-21 始途科技(杭州)有限公司 Mobile charging system and method
CN114932825B (en) * 2022-06-22 2023-11-07 阿维塔科技(重庆)有限公司 Charging device and electric vehicle charging method

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10427304B2 (en) * 2016-09-01 2019-10-01 Powerhydrant Llc Robotic charger alignment
CN107650705A (en) * 2017-08-30 2018-02-02 深圳天珑无线科技有限公司 It is a kind of can automatic running mobile charging stake and its shared charging method, system
CN107738588A (en) * 2017-10-16 2018-02-27 陈熙和 The Intelligent charging management system and method for intelligent charge machine people and electric automobile based on auto-mechanism
CN107745648A (en) * 2017-10-19 2018-03-02 环球车享汽车租赁有限公司 Charging inlet identifies and localization method and system
CN107640055A (en) * 2017-10-19 2018-01-30 环球车享汽车租赁有限公司 Automatic charging system and method
CN107719181A (en) * 2017-11-28 2018-02-23 长安大学 A kind of intelligent charging spot and charging method based on multi-storied garage

Also Published As

Publication number Publication date
CN108656995A (en) 2018-10-16

Similar Documents

Publication Publication Date Title
CN108656995B (en) Method, system, equipment and storage medium for charging and discharging mobile charging device
CN110435456B (en) Electric vehicle charging method, system, equipment and storage medium capable of replacing battery pack
WO2019210744A1 (en) Method, system and apparatus for charging electric vehicle in parking lot, and storage medium
KR102618527B1 (en) Apparatus for charging electric vehicle and controlling method thereof
US20200361329A1 (en) Mobile charging station and method for charging an electric transportation vehicle
KR101973389B1 (en) Charging system for electric vehicle
KR102181154B1 (en) Mobile charging system for electric vehicle and method thereof
KR102069541B1 (en) Charging system for electric vehicle
CN109080488A (en) Charging system of electric powercar, method, equipment and storage medium based on fuel cell
EP3597475A1 (en) Electric vehicle charging parking structure
CN110675649A (en) Intelligent reserved parking system and method
JP2019140879A (en) External charger and vehicle management system
CN109228912A (en) Charging system of electric powercar, method, equipment and storage medium based on parking lot
JP2019165544A (en) External replenishment device and vehicle management system
CN113535743B (en) Unmanned map real-time updating method and device, electronic equipment and storage medium
CN112406855A (en) Automatic parking method and device, vehicle and storage medium
US20130193921A1 (en) Electric vehicle charge point management system
US10513175B2 (en) Method for operating a covering apparatus for covering a connection element of a motor vehicle, release device, and motor vehicle
CN110971653A (en) Data exchange and resupply infrastructure for vehicles
CN113327372A (en) Charging equipment sharing method and device and information processing equipment
CN116409180A (en) Mobile charging pile and charging method
CN113788027B (en) Method, device, equipment and storage medium for autonomous parking
US20230076816A1 (en) Systems And Methods For Assisting A Battery Electric Vehicle Execute A Charging Operation At A Battery Charging Lot
CN113135179A (en) Parking detection method, device, equipment, system and storage medium
JP2021023044A (en) Power supply system, power supply management device, power supply management method, and computer program

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
CB03 Change of inventor or designer information
CB03 Change of inventor or designer information

Inventor after: Zhang Kewei

Inventor after: Song Fentao

Inventor before: Zhang Kewei

SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
PP01 Preservation of patent right
PP01 Preservation of patent right

Effective date of registration: 20230131

Granted publication date: 20200630

PD01 Discharge of preservation of patent
PD01 Discharge of preservation of patent

Date of cancellation: 20240108

Granted publication date: 20200630

PP01 Preservation of patent right
PP01 Preservation of patent right

Effective date of registration: 20240227

Granted publication date: 20200630