CN108790872A - Electric vehicle charging method, mobile robot and backstage based on mobile robot - Google Patents
Electric vehicle charging method, mobile robot and backstage based on mobile robot Download PDFInfo
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- CN108790872A CN108790872A CN201810546545.0A CN201810546545A CN108790872A CN 108790872 A CN108790872 A CN 108790872A CN 201810546545 A CN201810546545 A CN 201810546545A CN 108790872 A CN108790872 A CN 108790872A
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- 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
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- 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
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- 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
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- 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
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of electric vehicle charging method, mobile robot and backstage based on mobile robot, it is related to electric vehicle charging technique field, main purpose is that the construction number of charging pile can be reduced, so as to save vast resources, and can promote the charge efficiency of electric vehicle.The method includes：When receiving electric vehicle charging instruction, mobile robot can search the vehicle location of electric vehicle to be charged in the electric vehicle charging instruction using automated guided vehicle；After detection reaches the vehicle location, mobile robot can utilize camera to identify the charge port of the electric vehicle to be charged, and charging pipette tips are inserted into the charge port using charging mechanical arm and are charged to the electric vehicle to be charged；After the electric vehicle charging to be charged, charging mechanical arm can be utilized to extract charging pipette tips from the charge port.The present invention is suitable for the electric vehicle charging based on mobile robot.
Description
Technical field
The present invention relates to electric vehicle charging technique fields, more particularly to a kind of electric vehicle based on mobile robot
Charging method, mobile robot and backstage.
Background technology
Continuous development with information technology and increasingly prominent, green, low-carbon, the environmental protection with Environmental and resource issue
Cry increasingly increase, New-energy electric vehicle develops into the main trend of automobile future development in city.Wherein, new energy
Electric vehicle mainly provides the power of operation by electric energy for it.
Currently, mainly being charged for electric vehicle by charging station or charging pile.However, charging station or charging pile number in city
Amount is much insufficient compared to vehicle occupancy rate per capita, and charging pile problem keeps New-energy electric vehicle development in check.Especially it is being completed
A large amount of charging piles are built in residential quarters and shopping centre, need to rectify and improve transmission line of electricity consuming substantial contribution energetically.In addition, passing through
When charging station or charging pile charge to electric vehicle, plug charging of manually taking arms is needed；And the increasing with people to fast charge demand
Add, the weight of fast charge pipette tips is consequently increased, and causing manually to take arms to plug to charge needs to consume more manpower, so as to cause electricity
Electrical automobile charges less efficient.Therefore, it in order to meet people to electric vehicle charging facility, efficient demand, proposes a kind of
New electric vehicle charging method has become electric vehicle charging field technical problem urgently to be resolved hurrily.
Invention content
In view of this, the present invention provide a kind of electric vehicle charging method based on mobile robot, mobile robot and
From the background, main purpose is to realize and be charged to electric vehicle based on mobile robot, can reduce building for charging pile
If number, so as to save the substantial contribution spent by rectification transmission line of electricity；Furthermore it is possible to save manpower, promote electronic vapour
The charging rate of vehicle, so as to promote the charge efficiency of electric vehicle.
According to the present invention in a first aspect, providing a kind of electric vehicle charging method based on mobile robot, it is applied to
Mobile robot, the mobile robot include：Automated guided vehicle, charging mechanical arm and setting are in the charging mechanical arm
The charging pipette tips and camera of end；
When receiving electric vehicle charging instruction, searches the electric vehicle using the automated guided vehicle and charge
The vehicle location of electric vehicle to be charged in instruction；
After detection reaches the vehicle location, the charging of the electric vehicle to be charged is identified using the camera
Mouthful, and the charging pipette tips are inserted into the charge port using the charging mechanical arm, the electric vehicle to be charged is carried out
Charging；
After the electric vehicle to be charged charging, using the charging mechanical arm by the charging pipette tips from described
It is extracted in charge port.
Second aspect according to the present invention provides another electric vehicle charging method based on mobile robot, application
In backstage, including：
Detection rests in the remaining capacity of each electric vehicle in default parking lot；
It is less than the vehicle location of the electric vehicle of predetermined threshold value according to remaining capacity, it is concurrent generates electric vehicle charging instruction
The mobile robot being arranged in the default parking lot is given, the mobile robot using automated guided vehicle for looking into
The remaining capacity is looked for be less than the vehicle location of the electric vehicle of predetermined threshold value；After detection reaches the vehicle location, utilize
Camera identifies that the remaining capacity is less than the charge port of the electric vehicle of predetermined threshold value, and utilizes charging mechanical arm by charging gun
Head is inserted into electric vehicle of the charge port to the remaining capacity less than predetermined threshold value and charges.
The third aspect according to the present invention provides a kind of mobile robot, including：Automated guided vehicle, charging machinery
Arm and the charging pipette tips and camera in the charging mechanical arm end are set；
The automated guided vehicle is filled for when receiving electric vehicle charging instruction, searching the electric vehicle
The vehicle location of electric vehicle to be charged in electricity instruction；
The camera, for after detection reaches the vehicle location, being identified using the camera described to be charged
The charge port of electric vehicle；
The charging mechanical arm, for the charging pipette tips to be inserted into the charge port to the electric vehicle to be charged
It charges；And after the electric vehicle charging to be charged, the charging pipette tips are extracted from the charge port.
Fourth aspect according to the present invention provides a kind of backstage, including：
Detection unit, the remaining capacity for detecting each electric vehicle for resting in default parking lot；
Generation unit, the vehicle location of the electric vehicle for being less than predetermined threshold value according to remaining capacity, generates electronic vapour
Vehicle charging instruction is simultaneously sent to the mobile robot being arranged in the default parking lot, and the mobile robot is used for using certainly
Dynamic guiding transport vehicle searches vehicle location of the remaining capacity less than the electric vehicle of predetermined threshold value；The vehicle is reached in detection
Behind position, identify that the remaining capacity is less than the charge port of the electric vehicle of predetermined threshold value using camera, and utilize charging
Charging pipette tips are inserted into electric vehicle of the charge port to the remaining capacity less than predetermined threshold value and charged by mechanical arm.
5th aspect according to the present invention, provides a kind of computer readable storage medium, is stored thereon with computer program,
The program realizes following steps when being executed by processor：
Detection rests in the remaining capacity of each electric vehicle in default parking lot；
It is less than the vehicle location of the electric vehicle of predetermined threshold value according to remaining capacity, it is concurrent generates electric vehicle charging instruction
The mobile robot being arranged in the default parking lot is given, the mobile robot using automated guided vehicle for looking into
The remaining capacity is looked for be less than the vehicle location of the electric vehicle of predetermined threshold value；After detection reaches the vehicle location, utilize
Camera identifies that the remaining capacity is less than the charge port of the electric vehicle of predetermined threshold value, and utilizes charging mechanical arm by charging gun
Head is inserted into electric vehicle of the charge port to the remaining capacity less than predetermined threshold value and charges.
7th aspect according to the present invention provides a kind of unmanned plane, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor realize following steps when executing described program：
Detection rests in the remaining capacity of each electric vehicle in default parking lot；
It is less than the vehicle location of the electric vehicle of predetermined threshold value according to remaining capacity, it is concurrent generates electric vehicle charging instruction
The mobile robot being arranged in the default parking lot is given, the mobile robot using automated guided vehicle for looking into
The remaining capacity is looked for be less than the vehicle location of the electric vehicle of predetermined threshold value；After detection reaches the vehicle location, utilize
Camera identifies that the remaining capacity is less than the charge port of the electric vehicle of predetermined threshold value, and utilizes charging mechanical arm by charging gun
Head is inserted into electric vehicle of the charge port to the remaining capacity less than predetermined threshold value and charges.
The present invention provides a kind of electric vehicle charging method, mobile robot and backstage based on mobile robot, with mesh
Preceding to be charged for electric vehicle by charging station or charging pile, mobile robot of the present invention includes：Automated guided vehicle fills
Electromechanical arm and the charging pipette tips and camera in the charging mechanical arm end are set；When receiving electric vehicle charging instruction
When, the automated guided vehicle can be utilized to search the vehicle position of electric vehicle to be charged in the electric vehicle charging instruction
It sets；After detection reaches the vehicle location, the camera can be utilized to identify the charge port of the electric vehicle to be charged,
And the charging pipette tips is inserted into the charge port using the charging mechanical arm, the electric vehicle to be charged is filled
Electricity；After the electric vehicle to be charged charging, the charging mechanical arm can be utilized the charging pipette tips from described
It extracts in charge port, is charged to electric vehicle based on mobile robot so as to realize, building for charging pile can be reduced
If number, so as to save the substantial contribution spent by rectification transmission line of electricity；Furthermore it is possible to save manpower, promote electronic vapour
The charging rate of vehicle, so as to promote the charge efficiency of electric vehicle.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, below the special specific implementation mode for lifting the present invention.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows a kind of electric vehicle charging method flow based on mobile robot provided in an embodiment of the present invention
Figure；
Fig. 2 shows a kind of scene signals charged to electric vehicle based on mobile robot provided in an embodiment of the present invention
Figure；
Fig. 3 shows another electric vehicle charging method flow based on mobile robot provided in an embodiment of the present invention
Figure；
Fig. 4 shows another electric vehicle charging method flow based on mobile robot provided in an embodiment of the present invention
Figure；
Fig. 5 shows a kind of structural schematic diagram based on mobile robot provided in an embodiment of the present invention；
Fig. 6 shows another structural schematic diagram based on mobile robot provided in an embodiment of the present invention；
Fig. 7 shows a kind of structural schematic diagram on backstage provided in an embodiment of the present invention；
Fig. 8 shows a kind of entity structure schematic diagram on backstage provided in an embodiment of the present invention.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Such as background technology, currently, being mainly that electric vehicle charges by charging station or charging pile.However, charging in city
It stands or charging pile quantity is much insufficient compared to vehicle occupancy rate per capita, charging pile problem keeps New-energy electric vehicle development in check.Especially
It is to build a large amount of charging piles in built residential quarters and shopping centre, needs to rectify and improve a large amount of moneys of transmission line of electricity consuming energetically
Gold.In addition, when charging to electric vehicle by charging station or charging pile, plug charging of manually taking arms is needed；And with people couple
The weight of the increase of fast charge demand, fast charge pipette tips is consequently increased, and causing manually to take arms to plug to charge needs to consume more people
Power, so as to cause the less efficient of electric vehicle charging.Therefore, convenient to electric vehicle charging, efficient in order to meet people
Demand proposes that a kind of new electric vehicle charging method has become electric vehicle charging field technical problem urgently to be resolved hurrily.
In order to solve the above-mentioned technical problem, an embodiment of the present invention provides a kind of electric vehicles based on mobile robot to fill
Method for electrically, can be applied to mobile robot, and the mobile robot includes：Automated guided vehicle, charging and are set mechanical arm
The charging pipette tips and camera in the charging mechanical arm end are set, as shown in Figure 1, including：
101, it when receiving electric vehicle charging instruction, searches the electric vehicle using automated guided vehicle and charges
The vehicle location of electric vehicle to be charged in instruction.
Wherein, the mobile robot can be intelligent mobile robot, and the electric vehicle charging instruction can include
The vehicle location of electric vehicle to be charged, the electric vehicle to be charged can according to car owner's demand determine, can also root
It is determined according to the remaining capacity of electric vehicle, the embodiment of the present invention does not limit.The automated guided vehicle can be configured with
Therefore navigation system can pass through vehicle location described in the navigation system positioning searching.The vehicle location can be business
Parking stall on the parking lot of area or residential quarter, the embodiment of the present invention do not limit herein.
102, after detection reaches the vehicle location, the charging of the electric vehicle to be charged is identified using camera
Mouthful, and charging pipette tips are inserted into the charge port using charging mechanical arm and are charged to the electric vehicle to be charged.
It should be noted that the camera can be the camera configured with visual sensor, specifically, the camera shooting
Head can be identified the electric automobile image of shooting according to preset charge port feature, and the charge port is found out with identification.
In embodiments of the present invention, the charge port of the electric vehicle to be charged can be in off state in normal state, in determination
When needing charging, it can be opened according to the open instructions that corresponding client or backstage are sent, or fast machine people
It is opened by the manipulator for mechanical arm control of charging.The energy storage mould of super capacity can be provided with inside the mobile robot
Block, the energy-storage module can be the capacitance or battery of super capacity, in the state that mobile robot does not have charge request,
Itself can be set and be in standby charged state, you can to carry out the quick charge of itself in charging repository.
In order to ensure that charging pipette tips are inserted into the accuracy of the charge port, the positioning that the embodiment of the present invention can first accurately
The position of the charge port, and position and the angle of the charging plug are obtained, then according to the charge port
The position and angle of position and the charging plug control shift length and the direction of the charging plug, with reality
Now the charging pipette tips are inserted into the charge port.
103, after the electric vehicle to be charged charging, pipette tips will be charged from the charging using charging mechanical arm
It is extracted in mouthful.
For the embodiment of the present invention, the mobile robot is also provided with detection module, you can to utilize detection mould
Whether whether absolutely block detects the remaining capacity of the electric vehicle to be charged, or received using the detection module
The prompt message that the charging that the electric vehicle is sent finishes, finishes to determine whether the electric vehicle to be charged charges.
Embodiment in order to better understand the present invention provides following application scenarios, as shown in Fig. 2, including but not limited to
This：Mobile robot (1~7), charging repository (23,24) are set near the parking stall of shopping centre or in the parking lot of residential quarter,
Wherein (17~22) are mobile robot charging pile.After car owner stops electric vehicle 18 to parking stall (8~17) of Fig. 2, institute
It states the fast charge machine 7 that charging client that electric vehicle is installed can be on the parking lot and sends electric vehicle charging instruction,
The charging instruction includes the vehicle location of electric vehicle, such as 9 corresponding vehicle location of parking stall.The fast charge machine 7 can profit
It searches the vehicle location of the electric vehicle 18 automatically with the navigation system of automated guided vehicle, and is arriving at the electronic vapour
After the vehicle location of vehicle 18, the charge port of the electric vehicle 18 is identified using camera, after accurate positioning, using filling
Charging head is inserted into the charge port and charged by electromechanical arm, and charging pipette tips are extracted after charging.
A kind of electric vehicle charging method based on mobile robot provided in an embodiment of the present invention, and passes through charging at present
It stands or charging pile charges for electric vehicle, mobile robot includes described in the embodiment of the present invention：Automated guided vehicle, charger
Tool arm and the charging pipette tips and camera in the charging mechanical arm end are set；When receiving electric vehicle charging instruction,
The automated guided vehicle can be utilized to search the vehicle location of electric vehicle to be charged in the electric vehicle charging instruction；
After detection reaches the vehicle location, the camera can be utilized to identify the charge port of the electric vehicle to be charged, and
The charging pipette tips charge port is inserted into using the charging mechanical arm to charge to the electric vehicle to be charged；
After the electric vehicle to be charged charging, the charging mechanical arm can be utilized the charging pipette tips from the charging
It is extracted in mouthful, is charged to electric vehicle based on mobile robot so as to realize, the construction number of charging pile can be reduced
Mesh, so as to save the substantial contribution spent by rectification transmission line of electricity；Furthermore it is possible to save manpower, promote electric vehicle
Charging rate, so as to promote the charge efficiency of electric vehicle.
Further, in order to better illustrate the process of the above-mentioned route guiding based on unmanned plane, as to above-mentioned implementation
The refinement and extension of example, the electric vehicle charging method based on mobile robot that an embodiment of the present invention provides another kinds can be with
Applied to mobile robot, the mobile robot includes：Automated guided vehicle, is arranged in the charging charging mechanical arm
The charging pipette tips and camera of mechanical arm end, mechanical arm control cabinet, mechanical arm erecting bed and communication module, the charging machinery
Arm is connect by the mechanical arm erecting bed with the mechanical arm control cabinet, as shown in figure 3, but not limited to this, institute specific as follows
Show：
201, it when receiving electric vehicle charging instruction, searches the electric vehicle using automated guided vehicle and charges
The vehicle location of electric vehicle to be charged in instruction.
For the embodiment of the present invention, the electric vehicle charging instruction can be that client or backstage are sent, i.e. institute
Step 201 is stated to can specifically include：When receiving client electricity for sending when detecting electric vehicle and resting against default parking stall
When electrical automobile charging instruction；Or when receiving the electric vehicle charging instruction that client is sent according to car owner's charge requirement；
Or when receive the backstage in corresponding parking lot detect electric vehicle remaining capacity be less than predetermined threshold value when send it is electronic
When automobile charging instruction, electric vehicle to be charged in the electric vehicle charging instruction is searched using the automated guided vehicle
Vehicle location.
Wherein, the client can be the client on electric vehicle, can also be mounted on parking stall, institute
Stating client can detect whether the electric vehicle rests against default parking by the position of the positioning electric vehicle
On position, when the detection electric vehicle rests against on default parking stall, client, which can search, to be arranged in the default parking
Then mobile robot in parking lot corresponding to position will send electric vehicle charging instruction to the mobile robot found,
In order to enable electric vehicle is completed to charge as early as possible, the client can be with the nearest mobile machine of electric vehicle described in chosen distance
Human hair power transmission electrical automobile charging instruction.Secondly, client can also be in car owner according to itself charge requirement point to electric vehicle
When hitting or trigger the charge button in client, electric vehicle charging instruction is sent to mobile robot.In addition, described default
Threshold value can be configured in user demand according to, can also be configured according to default mode, the embodiment of the present invention to this not
It is construed as limiting.For example, the remaining capacity can be 10A, 20A, electricity when predetermined threshold value can also account for fully charged with remaining capacity
Percentage indicate, for example, when the remaining capacity of backstage detection electric vehicle less than 10% or 20% when, to mobile machine
Human hair send the charging instruction for the electric vehicle.
Further, in order to promote the efficiency for finding the electric vehicle to be charged, the step 201 can specifically wrap
It includes：According to the vehicle position of electric vehicle to be charged in the current location of the mobile robot and the electric vehicle charging instruction
It sets, plans empty barrier and the nearest route of distance, and institute is searched according to the route using the automated guided vehicle
State vehicle location.The mobile robot can prestore the type of barrier, then according to pre-stored barrier spy
Sign, determination do not have the route of barrier from the mobile robot to the electric vehicle, and to the road of each not barrier
The distance of line is compared, and the nearest route determination of distance is finally reached to the vehicle of the electric vehicle for the mobile robot
The route of position.
For example, the route that the mobile robot reaches the vehicle location of the electric vehicle has 3, wherein route 1 has
Barrier, route 2, route 3 do not have barrier, but the distance of route 2 is closer than the distance of route 3, therefore mobile robot can
To select route 2 to arrive at the vehicle location of the electric vehicle.
202, after detection reaches the vehicle location, the charging of the electric vehicle to be charged is identified using camera
Mouthful, and control charging mechanical arm using mechanical arm control cabinet and charging pipette tips are inserted into the charge port to described to be charged electronic
Automobile charges.
Wherein, the mechanical arm control cabinet can realize control by way of sending inserting instruction to the charging mechanical arm
Charging pipette tips are inserted into the charge port and charged to the electric vehicle to be charged by system charging mechanical arm, and the insertion refers to
Order may include the shift length and direction of displacement of charging mechanical arm.
203, after the electric vehicle charging to be charged, the charging mechanical arm is controlled using mechanical arm control cabinet
The charging pipette tips are extracted from the charge port.
204, the prompt of charging complete is sent to the client corresponding to the electric vehicle to be charged using communication module
Information.
Wherein, the client can be used for the prompt message being shown to the car owner of the electric vehicle to be charged,
And close the charge port.The client can realize the electricity by way of sending out code to the electric vehicle
The charge port is automatically closed in electrical automobile.It should be noted that communication module described in the embodiment of the present invention can be also used for connecing
Receive electric vehicle charging instruction.
205, after detecting to there are other electric vehicles that needs charge from the background, it is searched using automated guided vehicle
The vehicle location of his electric vehicle, to charge to other described electric vehicles；Or it is returned using automated guided vehicle
The charging repository of corresponding parking lot setting, to carry out itself charging.
For the embodiment of the present invention, the mobile robot further includes：Energy-storage module and the charging for being provided with control cabinet are inserted
The control cabinet on automated guided vehicle can be arranged in head, the control cabinet, or be arranged on charging mechanical arm
Control cabinet, the embodiment of the present invention do not limit control cabinet.It is described to return to corresponding parking lot setting using automated guided vehicle
Charging repository, with carry out itself charging the step of can specifically include：It is returned and is corresponded to using the automated guided vehicle
The charging repository of parking lot setting, and control the charging plug using the control cabinet and be inserted into the charging repository
It charges to the energy-storage module on vacant socket, to realize itself charging to the mobile robot.Specifically, described
Charging plug can be arranged on the control cabinet of the automated guided vehicle, and the charging is controlled especially by the control cabinet
Plug is inserted on the vacant socket of the charging repository and charges to the energy-storage module.
Embodiment in order to better understand the present invention additionally provides following application scenarios, including but not limited to this：It examines on backstage
The remaining capacity for surveying residential quarter parking lot or each electric vehicle in Commerce Parking Lot, when the residue of detection electric vehicle 1
When electricity is less than preset 10%, electric vehicle charging instruction generated according to the vehicle location of electric vehicle 1 from the background and to movement
Robot is sent, receive above-mentioned charging instruction mobile robot will be moved to according to the navigation of automated guided vehicle it is described
It on the vehicle location of electric vehicle 1, and charges to the electric vehicle 1, after charging complete, mobile robot can be after
It is continuous to find charge target according to other charging instructions and charge, or parking lot setting where returning charging repository into
Row itself charging.In addition, the mobile robot can be with the remaining capacity of each electric vehicle of automatic decision, in electric vehicle
Remaining capacity when being less than predetermined threshold value, charging instruction described in automatic trigger, to be less than the electronic of predetermined threshold value to remaining capacity
Automobile charges.
Electric vehicle charging method of the another kind based on mobile robot provided in an embodiment of the present invention, and at present by filling
Power station or charging pile charge for electric vehicle, and mobile robot includes described in the embodiment of the present invention：Automated guided vehicle, charging
Mechanical arm and the charging pipette tips and camera in the charging mechanical arm end are set；When receiving electric vehicle charging instruction
When, the automated guided vehicle can be utilized to search the vehicle position of electric vehicle to be charged in the electric vehicle charging instruction
It sets；After detection reaches the vehicle location, the camera can be utilized to identify the charge port of the electric vehicle to be charged,
And the charging pipette tips is inserted into the charge port using the charging mechanical arm, the electric vehicle to be charged is filled
Electricity；After the electric vehicle to be charged charging, the charging mechanical arm can be utilized the charging pipette tips from described
It extracts in charge port, is charged to electric vehicle based on mobile robot so as to realize, building for charging pile can be reduced
If number, so as to save the substantial contribution spent by rectification transmission line of electricity；Furthermore it is possible to save manpower, promote electronic vapour
The charging rate of vehicle, so as to promote the charge efficiency of electric vehicle.
Correspondingly, the electric vehicle charging method based on mobile robot that an embodiment of the present invention provides another, can be with
Applied to backstage, the backstage is specifically as follows charging backstage, as shown in figure 4, including：
301, detection rests in the remaining capacity of each electric vehicle in default parking lot.
Wherein, it can be provided with detection module on each parking stall in the default parking lot, then backstage can utilize
The detection module detection rests in the remaining capacity of each electric vehicle in default parking lot.
302, it is less than the vehicle location of the electric vehicle of predetermined threshold value according to remaining capacity, generates electric vehicle charging instruction
And send the mobile robot being arranged in the default parking lot.
Wherein, the electric vehicle charging instruction can include the vehicle location.The predetermined threshold value can be according to
User demand is configured, and can also be configured according to default mode, the embodiment of the present invention is not construed as limiting this.For example, institute
It can be 10A, 20A to state remaining capacity, and the percentage of electricity indicates when predetermined threshold value can also account for fully charged with remaining capacity, example
Such as, when the remaining capacity of backstage detection electric vehicle less than 10% or 20% when, sent to mobile robot for described
The charging instruction of electric vehicle.
It should be noted that the mobile robot can be used for searching the remaining capacity using automated guided vehicle
Less than the vehicle location of the electric vehicle of predetermined threshold value；After detection reaches the vehicle location, identified using camera described in
Remaining capacity is less than the charge port of the electric vehicle of predetermined threshold value, and charging pipette tips are inserted into described fill using charging mechanical arm
The electric vehicle that power port is less than the remaining capacity predetermined threshold value charges.About the mobile robot to electric vehicle
More specific charging modes can refer to step 101-103 or step 201-205, and this will not be repeated here for the embodiment of the present invention.
Further, as the specific implementation of Fig. 1, an embodiment of the present invention provides a kind of mobile robots, such as Fig. 5 institutes
Show, the mobile robot includes：Automated guided vehicle 41, charging mechanical arm 42 and setting are at 42 end of charging mechanical arm
The charging pipette tips 43 and camera 44 in portion.
The automated guided vehicle 41 can be used for when receiving electric vehicle charging instruction, search described electronic
The vehicle location of electric vehicle to be charged in automobile charging instruction.
The camera 44, for after detection reaches the vehicle location, identifying filling for the electric vehicle to be charged
Power port.
The charging mechanical arm 42, for the charging pipette tips 43 to be inserted into the charge port to described to be charged electronic
Automobile charges；And after the electric vehicle charging to be charged, by the charging pipette tips 43 from the charge port
It extracts.
The automated guided vehicle 41, specifically can be used for when receive client detection electric vehicle rest against it is pre-
If when the electric vehicle charging instruction sent when parking stall；Or
When receiving the electric vehicle charging instruction that client is sent according to car owner's charge requirement；Or
It is sent when receiving the backstage in corresponding parking lot when detecting electric vehicle remaining capacity and being less than predetermined threshold value
When electric vehicle charging instruction, the vehicle location of electric vehicle to be charged in the electric vehicle charging instruction is searched.
For the embodiment of the present invention, the mobile robot further includes：
Communication module can be used for sending charging complete to the charging client corresponding to the electric vehicle to be charged
Prompt message, the client are used to the prompt message being shown to the car owner of the electric vehicle to be charged, and close institute
State charge port.
The automated guided vehicle 41 is additionally operable to search the vehicle location of other electric vehicles, with to other described electricity
Electrical automobile charges；Or be additionally operable to return to the charging repository of corresponding parking lot setting, to carry out itself charging.
The mobile robot further includes：Energy-storage module 45 and the control cabinet 411 in the automated guided vehicle is set
On charging plug 46, as shown in Figure 6.
The automated guided vehicle 41 is specifically used for returning to the charging repository of corresponding parking lot setting, and utilizes institute
State control cabinet 411 control the charging plug 46 be inserted into it is described charging repository vacant socket on to the energy-storage module 45
It charges, to realize itself charging to the mobile robot.
In addition, the mobile robot further includes：Mechanical arm control cabinet 47 and mechanical arm erecting bed 48, the charging machinery
Arm 47 is connect by the mechanical arm erecting bed 48 with the mechanical arm control cabinet 47.
The mechanical arm control cabinet 47 can be used for controlling the charging mechanical arm 42 and the charging pipette tips be inserted into institute
Charge port is stated to charge to the electric vehicle to be charged.
The mechanical arm control cabinet 47 can be also used for controlling the charging mechanical arm 42 by the charging pipette tips from described
It is extracted in charge port.
The automated guided vehicle 41 specifically can be used for the current location according to the mobile robot and the electricity
The vehicle location of electric vehicle to be charged in electrical automobile charging instruction plans empty barrier and the nearest route of distance, and root
The vehicle location is searched according to the route.
It should be noted that other of each function module involved by a kind of unmanned plane provided in an embodiment of the present invention are accordingly retouched
It states, can be described with the corresponding of method shown in reference chart 1, details are not described herein.
Further, as the specific implementation of Fig. 4, an embodiment of the present invention provides a kind of backstages, as shown in fig. 7, described
Backstage includes：Detection unit 51 and generation unit 52.
The detection unit 51 can be used for detecting the remaining capacity for each electric vehicle for resting in default parking lot.
The detection unit 51 is the main work(of the remaining capacity for each electric vehicle that detection rests in default parking lot in this backstage
It can module.
The generation unit 52 can be used for being less than according to remaining capacity the vehicle location of the electric vehicle of predetermined threshold value,
It generates electric vehicle charging instruction and is sent to the mobile robot being arranged in the default parking lot.The generation unit 52
It is the vehicle location for the electric vehicle for being less than predetermined threshold value in this backstage according to remaining capacity, generates electric vehicle charging instruction simultaneously
It is sent to the main functional modules for the mobile robot being arranged in the default parking lot.The mobile robot can be used for
Vehicle location of the remaining capacity less than the electric vehicle of predetermined threshold value is searched using automated guided vehicle；It is reached in detection
After the vehicle location, identify that the remaining capacity is less than the charge port of the electric vehicle of predetermined threshold value, and profit using camera
With charging mechanical arm by charge pipette tips be inserted into the charge port to the remaining capacity be less than predetermined threshold value electric vehicle into
Row charging.
Based on above-mentioned method as shown in Figure 4, correspondingly, the embodiment of the present invention additionally provides a kind of computer-readable storage medium
Matter is stored thereon with computer program, which realizes following steps when being executed by processor：Detection rests in default parking lot
Each electric vehicle remaining capacity；It is less than the vehicle location of the electric vehicle of predetermined threshold value according to remaining capacity, generates electricity
Electrical automobile charging instruction is simultaneously sent to the mobile robot being arranged in the default parking lot, and the mobile robot is for profit
Vehicle location of the remaining capacity less than the electric vehicle of predetermined threshold value is searched with automated guided vehicle；Institute is reached in detection
After stating vehicle location, identify that the remaining capacity is less than the charge port of the electric vehicle of predetermined threshold value using camera, and utilize
The pipette tips that charge are inserted into the electric vehicle progress that the charge port is less than the remaining capacity predetermined threshold value by charging mechanical arm
Charging.
Based on the embodiment of above-mentioned method as shown in Figure 4 and backstage as shown in Figure 6, the embodiment of the present invention additionally provides one kind
The entity structure diagram on backstage, as shown in figure 8, this includes from the background：It processor 61, memory 62 and is stored on memory 62 simultaneously
The computer program that can be run on a processor, wherein memory 62 and processor 61 are arranged at the processor in bus 63
Following steps are realized when 61 execution described program：Detection rests in the remaining capacity of each electric vehicle in default parking lot；Root
According to remaining capacity be less than predetermined threshold value electric vehicle vehicle location, generate electric vehicle charging instruction and be sent to setting exist
Mobile robot in the default parking lot, the mobile robot are used to search the residue using automated guided vehicle
Electricity is less than the vehicle location of the electric vehicle of predetermined threshold value；After detection reaches the vehicle location, identified using camera
The remaining capacity is less than the charge port of the electric vehicle of predetermined threshold value, and charging pipette tips are inserted into institute using charging mechanical arm
Electric vehicle of the charge port to the remaining capacity less than predetermined threshold value is stated to charge.This further includes from the background：Bus 63, by with
It is set to coupling processor 61 and memory 62.
Technical solution through the invention, when receiving electric vehicle charging instruction, mobile robot can utilize certainly
Dynamic guiding transport vehicle searches the vehicle location of electric vehicle to be charged in the electric vehicle charging instruction；Described in being reached when detection
After vehicle location, mobile robot can utilize camera to identify the charge port of the electric vehicle to be charged, and utilize charging
Charging pipette tips are inserted into the charge port and charged to the electric vehicle to be charged by mechanical arm；Described to be charged electronic
After automobile charges, charging mechanical arm can be utilized to extract charging pipette tips from the charge port, so as to realize base
It charges to electric vehicle in mobile robot, the construction number of charging pile can be reduced, so as to save rectification transmission of electricity
Substantial contribution spent by circuit；Furthermore it is possible to the charging rate saved manpower, promote electric vehicle, so as to promote electricity
The charge efficiency of electrical automobile.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
It is understood that the correlated characteristic in the above method and device can be referred to mutually.In addition, in above-described embodiment
" first ", " second " etc. be and not represent the quality of each embodiment for distinguishing each embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
Shield the present invention claims the more features of feature than being expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific implementation mode are expressly incorporated in the specific implementation mode, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment
Change and they are arranged in the one or more equipment different from the embodiment.It can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it may be used any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, abstract and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
One of meaning mode can use in any combination.
The all parts embodiment of the present invention can be with hardware realization, or to run on one or more processors
Software module realize, or realized with combination thereof.It will be understood by those of skill in the art that can use in practice
Microprocessor either digital signal processor (DSP) come realize in mobile robot according to the ... of the embodiment of the present invention some or
The some or all functions of whole components.The present invention is also implemented as the part for executing method as described herein
Either whole equipment or program of device (for example, computer program and computer program product).Such realization present invention
Program can may be stored on the computer-readable medium, or can with one or more signal form.Such letter
It number can download and to obtain from internet website, either provide on carrier signal or provide in any other forms.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be by the same hardware branch
To embody.The use of word first, second, and third does not indicate that any sequence.These words can be explained and be run after fame
Claim.
Claims (18)
1. a kind of electric vehicle charging method based on mobile robot, which is characterized in that be applied to mobile robot, the shifting
Mobile robot includes：Automated guided vehicle, charging mechanical arm and be arranged the charging mechanical arm end charging pipette tips and
Camera；
When receiving electric vehicle charging instruction, the electric vehicle charging instruction is searched using the automated guided vehicle
In electric vehicle to be charged vehicle location；
After detection reaches the vehicle location, the charge port of the electric vehicle to be charged is identified using the camera, and
The charging pipette tips charge port is inserted into using the charging mechanical arm to charge to the electric vehicle to be charged；
After the electric vehicle to be charged charging, using the charging mechanical arm by the charging pipette tips from the charging
It is extracted in mouthful.
2. according to the method described in claim 1, it is characterized in that, described when receiving electric vehicle charging instruction, utilization
The automated guided vehicle searches the vehicle location of electric vehicle to be charged in the electric vehicle charging instruction, including：
When receiving the electric vehicle charging instruction that client is sent when detecting electric vehicle and resting against default parking stall；Or
Person
When receiving the electric vehicle charging instruction that client is sent according to car owner's charge requirement；Or
When receive the backstage in corresponding parking lot detect electric vehicle remaining capacity be less than predetermined threshold value when send it is electronic
When automobile charging instruction, electric vehicle to be charged in the electric vehicle charging instruction is searched using the automated guided vehicle
Vehicle location.
3. according to the method described in claim 1, it is characterized in that, the mobile robot further includes：Communication module, the profit
With the charging mechanical arm by the charging pipette tips from the charge port extract after, the method further includes：
The prompt message of charging complete is sent to the client corresponding to the electric vehicle to be charged using the communication module,
The client is used to the prompt message being shown to the car owner of the electric vehicle to be charged, and closes the charge port.
4. according to the method described in claim 1, it is characterized in that, described utilize the charging mechanical arm by the charging pipette tips
After being extracted in the charge port, the method further includes：
After detecting to there are other electric vehicles that needs charge from the background, other electricity are searched using the automated guided vehicle
The vehicle location of electrical automobile, to charge to other described electric vehicles；Or
The charging repository that corresponding parking lot setting is returned using the automated guided vehicle, to carry out itself charging.
5. according to the method described in claim 4, it is characterized in that, the mobile robot further includes：Energy-storage module and setting
There is the control cabinet of charging plug, it is described that the charging repository that corresponding parking lot is arranged is returned using the automated guided vehicle,
To carry out itself charging, including：
The charging repository of corresponding parking lot setting is returned to using the automated guided vehicle, and described in control cabinet control
Charging plug is inserted on the vacant socket of the charging repository and charges to the energy-storage module, to realize to the shifting
Itself charging of mobile robot.
6. according to the method described in claim 1, it is characterized in that, the mobile robot further includes mechanical arm control cabinet and machine
Tool arm erecting bed, the charging mechanical arm are connect by the mechanical arm erecting bed with the mechanical arm control cabinet, the utilization
The charging pipette tips are inserted into the charge port and charged to the electric vehicle to be charged by the charging mechanical arm, packet
It includes：
The charging mechanical arm is controlled using the mechanical arm control cabinet, and the charging pipette tips are inserted into the charge port to institute
Electric vehicle to be charged is stated to charge；
The charging mechanical arm extracts the charging pipette tips from the charge port, including：
The charging mechanical arm is controlled using the mechanical arm control cabinet to extract the charging pipette tips from the charge port.
7. according to the method described in claim 1, it is characterized in that, described when receiving electric vehicle charging instruction, utilization
The automated guided vehicle searches the vehicle location of electric vehicle to be charged in the electric vehicle charging instruction, including：
When receiving electric vehicle charging instruction, charged according to the current location of the mobile robot and the electric vehicle
The vehicle location of electric vehicle to be charged in instruction, plans empty barrier and the nearest route of distance, and using described automatic
Transport vehicle is guided to search the vehicle location according to the route.
8. a kind of electric vehicle charging method based on mobile robot, which is characterized in that it is applied to backstage, including：
Detection rests in the remaining capacity of each electric vehicle in default parking lot；
It is less than the vehicle location of the electric vehicle of predetermined threshold value according to remaining capacity, generate electric vehicle charging instruction and is sent to
Claim 1-7 any one of them and the mobile robot being arranged in the default parking lot.
9. a kind of mobile robot, which is characterized in that including：Automated guided vehicle, charging mechanical arm and setting are filled described
The charging pipette tips and camera of electromechanical arm end；
The automated guided vehicle refers to for when receiving electric vehicle charging instruction, searching the electric vehicle charging
The vehicle location of electric vehicle to be charged in order；
The camera, for after detection reaches the vehicle location, identifying the charge port of the electric vehicle to be charged；
The charging mechanical arm carries out the electric vehicle to be charged for the charging pipette tips to be inserted into the charge port
Charging；And after the electric vehicle charging to be charged, the charging pipette tips are extracted from the charge port.
10. mobile robot according to claim 9, which is characterized in that
The automated guided vehicle, specifically for when receive client detect electric vehicle rest against default parking stall when
When the electric vehicle charging instruction of transmission；Or
When receiving the electric vehicle charging instruction that client is sent according to car owner's charge requirement；Or
When receive the backstage in corresponding parking lot detect electric vehicle remaining capacity be less than predetermined threshold value when send it is electronic
When automobile charging instruction, the vehicle location of electric vehicle to be charged in the electric vehicle charging instruction is searched.
11. mobile robot according to claim 9, which is characterized in that the mobile robot further includes：
Communication module, the prompt letter for sending charging complete to the charging client corresponding to the electric vehicle to be charged
Breath, the client are used to the prompt message being shown to the car owner of the electric vehicle to be charged, and close the charging
Mouthful.
12. mobile robot according to claim 9, which is characterized in that
The automated guided vehicle is additionally operable to after detecting to there are other electric vehicles that needs charge from the background, searches it
The vehicle location of his electric vehicle, to charge to other described electric vehicles；Or
It is additionally operable to return to the charging repository of corresponding parking lot setting, to carry out itself charging.
13. mobile robot according to claim 12, which is characterized in that the mobile robot further includes：Energy storage mould
Block and the control cabinet for being provided with charging plug,
The automated guided vehicle is specifically used for returning to the charging repository of corresponding parking lot setting, and utilizes the control
Case control the charging plug be inserted into it is described charging repository vacant socket on charge to the energy-storage module, with reality
Now to itself charging of the mobile robot.
14. mobile robot according to claim 9, which is characterized in that the mobile robot further includes：Mechanical arm control
Case and mechanical arm erecting bed processed, the charging mechanical arm are connect by the mechanical arm erecting bed with the mechanical arm control cabinet；
The charging pipette tips are inserted into the charge port to institute by the mechanical arm control cabinet for controlling the charging mechanical arm
Electric vehicle to be charged is stated to charge；
The mechanical arm control cabinet is additionally operable to control the charging mechanical arm and pulls out the charging pipette tips from the charge port
Go out.
15. mobile robot according to claim 9, which is characterized in that
The automated guided vehicle, specifically for being filled according to the current location and the electric vehicle of the mobile robot
The vehicle location of electric vehicle to be charged in electricity instruction, after planning empty barrier and the nearest route of distance, according to the road
Line searches the vehicle location.
16. a kind of backstage, which is characterized in that including：
Detection unit, the remaining capacity for detecting each electric vehicle for resting in default parking lot；
Generation unit, the vehicle location of the electric vehicle for being less than predetermined threshold value according to remaining capacity generate electric vehicle and fill
The mobile robot that electricity instructs and is sent to claim 9-15 any one of them and is arranged in the default parking lot.
17. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Following steps are realized when execution：
Detection rests in the remaining capacity of each electric vehicle in default parking lot；
It is less than the vehicle location of the electric vehicle of predetermined threshold value according to remaining capacity, generate electric vehicle charging instruction and is sent to
Claim 1-7 any one of them and the mobile robot being arranged in the default parking lot.
18. a kind of backstage, including memory, processor and storage are on a memory and the computer journey that can run on a processor
Sequence, which is characterized in that the processor realizes following steps when executing described program：
Detection rests in the remaining capacity of each electric vehicle in default parking lot；
It is less than the vehicle location of the electric vehicle of predetermined threshold value according to remaining capacity, generate electric vehicle charging instruction and is sent to
Claim 1-7 any one of them and the mobile robot being arranged in the default parking lot.
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| CN201810546545.0A CN108790872B (en) | 2018-05-31 | 2018-05-31 | Electric automobile charging method based on mobile robot, mobile robot and background |
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| CN201810546545.0A CN108790872B (en) | 2018-05-31 | 2018-05-31 | Electric automobile charging method based on mobile robot, mobile robot and background |
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| CN109544979A (en) * | 2018-12-28 | 2019-03-29 | 北汽福田汽车股份有限公司 | Parking lot and its parking stall management method and device |
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| 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 |
| CN110803065A (en) * | 2019-11-18 | 2020-02-18 | 国网天津市电力公司 | Automatic charging control method based on movable charging robot |
| CN111016692A (en) * | 2019-11-26 | 2020-04-17 | 阳光学院 | Electric vehicle wireless charging system based on LoRa network and control method thereof |
| CN111482972A (en) * | 2020-03-19 | 2020-08-04 | 季华实验室 | Fire-fighting and disaster-relief robot and system |
| CN111746313A (en) * | 2020-06-02 | 2020-10-09 | 上海理工大学 | Unmanned charging method and system based on mechanical arm guidance |
| CN112046309A (en) * | 2020-09-08 | 2020-12-08 | 莱嘉智能科技(嘉兴)有限公司 | Mobile robot charging terminal based on big data |
| CN112454378A (en) * | 2020-11-09 | 2021-03-09 | 海安上海交通大学智能装备研究院 | Charger robot in multi-joint super-redundancy snakelike mechanical arm structure form |
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| CN112454378A (en) * | 2020-11-09 | 2021-03-09 | 海安上海交通大学智能装备研究院 | Charger robot in multi-joint super-redundancy snakelike mechanical arm structure form |
| CN113276702A (en) * | 2021-06-30 | 2021-08-20 | 东风汽车集团股份有限公司 | Intelligent parking charging system and method for parking lot |
| CN113479105A (en) * | 2021-07-20 | 2021-10-08 | 钟求明 | Intelligent charging method and intelligent charging station based on automatic driving vehicle |
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| CN114330886A (en) * | 2021-12-29 | 2022-04-12 | 北谷电子有限公司 | Method for charging vehicles in warehouse and warehouse management system |
| CN114425955A (en) * | 2022-03-03 | 2022-05-03 | 广州达泊智能科技有限公司 | Charging method for vehicle, computer device, charging system, and storage medium |
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