CN108973724A - Full-automatic charging system and its implementation suitable for a variety of electric cars - Google Patents
Full-automatic charging system and its implementation suitable for a variety of electric cars Download PDFInfo
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- CN108973724A CN108973724A CN201810803434.3A CN201810803434A CN108973724A CN 108973724 A CN108973724 A CN 108973724A CN 201810803434 A CN201810803434 A CN 201810803434A CN 108973724 A CN108973724 A CN 108973724A
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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
-
- 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
- Y02T90/16—Information or communication technologies improving the operation of 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
- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
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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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/14—Details associated with the interoperability, e.g. vehicle recognition, authentication, identification or billing
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Abstract
The invention discloses a kind of full-automatic charging system and its implementation suitable for a variety of electric cars, the system include server, cell phone software, control system, ceiling, sliding rail, sliding block, mechanical arm, automatically to connection module, column；Column is connected with ceiling and constitutes a charging working space；Sliding rail is connected with ceiling, sliding block is connected with sliding rail, and sliding block slides on round rectangle sliding rail under the driving that servo motor drives；Sliding block is connected with mechanical arm and mechanical arm is driven to move along the path of sliding rail；Sliding block and mechanical arm are driven by servo motor completes the movement of mechanical arm axial-rotation；The flexor that each joint of mechanical arm has servo motor driving to complete mechanical arm；Mechanical arm be automatically connected to connection module.Full-automatic charging system of the invention can realize fully automatically completion electric car charging operations, reduce manual operation, reduce the risk of personnel's electric shock.
Description
Technical field
The present invention relates to electric vehicle engineering fields, in particular to are suitable for the full-automatic charging system of a variety of electric cars
And its implementation.
Background technique
With rapid economic development, people's lives level is continuously improved, and automobile has become in people's Working Life
Requirement.But it is traditional that valuable petroleum resources are not only consumed as the automobile of the energy using fossil fuel, also create air dirt
The environmental problems such as dye.Electric car uses electrical energy drive, environmentally protective, has become the Main way of future automobile development.Absolutely
For high capacity cell built in most of electric cars to store electric energy, when electric energy deficiency, needs charging in time, and electric car charges skill
Art is come into being.
Although having had corresponding standard at present, the structure of charging interface is unified, charging voltage, electric current etc. has been made
Certain restrictions, improves the versatility of electrically-charging equipment, increases the safety of charging process.But with electric car product
Board, type increase, and traditional electric car charging technique haves the defects that certain.
In practice, it there is still a need for manual operation charging cable and plug when being charged using charging pile, is needed after charging
Plug to be extracted manually and recycle cable, convenience is not high, and misoperation can also result in Danger Electric shock risk.In national standard
Charging plug be quick charge and two kinds of plugs of charging at a slow speed, two kinds of plug constructions differ greatly, can not be general.
Although existing related patents are for solving the above problems at present, there are still certain defects in these patents:
The patent application document that notification number is CN 204068367U, patent name is " automatic charging system for electric vehicle "
In, disclose that " a kind of automatic charging system for electric vehicle, charging pile side are fixedly connected with mechanical arm, living on mechanical arm
Dynamic to be equipped with electric car plug-in end, the front end of positioning garage is fixedly installed with vehicle front locating piece, fixed in vehicle front
It is provided with position-sensing switch on the block of position, electric car plug-in is provided with charging plug on end, is disposed on charging plug
First inductive probe, the second inductive probe, third inductive probe and the 4th inductive probe are arranged on electric car charging end
Have charging jack, be provided on the outside of charging jack respectively with the first inductive probe, the second inductive probe, third inductive probe and
Corresponding 5th inductive probe of 4th inductive probe, 6th sense should pop one's head in, the 7th inductive probe and the 8th inductive probe；Realize electricity
It is the full-automatic charging of electrical automobile, convenient and efficient " technical solution
But " mechanical arm " of the device is located on the left of garage, using " the vehicle front locating piece " on garage floor come
The relative position of " mechanical arm " and electric car is limited, and the scope of activities of its " mechanical arm " is limited, is only capable of original place rotation,
The movement on length of wagon direction cannot be done, therefore the design scheme limits the application range of the device.And current electronic vapour
Vehicle different sizes, position of the charging interface on vehicle body is different, which can not be located at vehicle body side to charge port, still
Position is more than that the electric car of " mechanical arm " working range charges, and body structure or rear end can not be located to charge port
Electric car charging.And the device is not directed to solve the problems, such as a variety of charging interfaces.
Notification number is CN 106696747A, entitled " a kind of automatic charging system for electric vehicle and its control method "
" a kind of automatic charging system for electric vehicle and its control method, since vehicle parking enters position are disclosed in patent application document
Monitoring disconnects charging connection resetting apparatus after the completion to Vehicular charging and generates subscriber's account, including charging plug is docked and filled
Electric process real time monitoring, all data that software systems part complete monitoring charging process is related to control hardware mechanical part
Operation is completed to act in next step, passes new semaphore back software section after hardware components completion instruction and participates in new command operation,
Soft or hard combination improves the systematicness and intelligence of entire charging system；Use filling based on machine vision and machine learning algorithm
Electrical interface docking concept guarantees the feasibility and accuracy of docking；Using the screw rod guide rail mechanism of three dimensionality long stroke, increase is filled
The movable range of electric connection adapts to various；It is equipped with payment code reader for automatic charging system, work is paid by mobile phone terminal
The payment of correlative charges can be completed in the payment bar code barcode scanning function of tool, make pay it is more intelligent " technical solution.
Although the system uses multiple servo motors to drive different screw structures for adjusting charging plug and automobile
The relative position of charging interface, angle, but the vertical mechanism of the device constitutes a plane, charging plug is transported in the plane
It is dynamic, but when vehicle body side and the perpendicular are not parallel, perpendicular needs to drive charging plug to vehicle body movement, but works as
When vehicle body and the perpendicular angle are larger, one end of perpendicular is contacted with vehicle body, cannot continue to shorten charging plug
The distance between automobile charging interface, if at this time the relative position of charging plug and automobile charging interface farther out or angle compared with
When big, " plug-in and pull-off device " limited apart from upper, in angle adjusting range, charging plug can not be inserted into the charging of electric car
Mouthful.And it is limited to the structural design scheme of the system, when being charged using the system, need the charge port position of electric car
It sets and rests near charging unit as much as possible, and the electric car body side with charge port needs as far as possible in parallel
Before resting in device, this results in the inconvenience on using.And the device is also not directed to the problem of a variety of charging interfaces.
Notification number is public in the patent application document of CN 104795868B, entitled " automatic charging system for electric vehicle "
Opened " a kind of automatic charging system for electric vehicle, including charge controller, charging pile, automobile charging socket identification positioning device,
Charging plug automatic plug-pull device, the charge controller and charging pile, automobile charging socket identify positioning device, charging plug
Automatic plug-pull device connection；Charging pile includes pile body and the intracorporal electrical module of stake and metering module；Automobile charging socket is known
Other positioning device includes ultrasonic sensor, laser range sensor group, ccd image sensor, image alignment processor；It is described
Ultrasonic sensor, laser range sensor group are connect with charge controller；Ccd image sensor passes through image alignment processor
It is connect with charge controller, charge controller controls charging plug automatic plug-pull device, makes on charging plug automatic plug-pull device
Charging plug and electric car on charging socket realize automatic plug.The present invention can automatically insert or pull out charging plug
In the charging socket of electric car " technical solution.
But there are still certain deficiencies for the device: on the one hand, which is fixed on the ground, is charged using the device
When, electric car stand and direction are paid particular attention to, the charge port of electric car is rested near the device, electricity
The charging interface position of electrical automobile is different, and this results in operational inconvenience；And it is limited to the scope of activities of the device,
The relative position of electric car and the device needs to limit in a certain range, this improves the driving technology of driver and wants
It asks.Meanwhile the patent is still not directed to solve the problems, such as a variety of charging interfaces.
Summary of the invention
It is insufficient the purpose of the present invention is overcoming in above-mentioned background technique, provide it is a kind of suitable for a variety of electric cars it is complete from
, it can be achieved that fully automatically completing electric car charging operations, reduction manual operation is reduced for dynamic charging system and its implementation
The risk of personnel's electric shock, equipment damage caused by reducing because of artificial misoperation improve the safety, just of charging process
Victory, while also directed to electric car wide variety in the market, there are larger differences for charging interface position, structure, quickly, slowly
The problems such as fast charging interface can not be general is realized in the case where not increasing the operation difficulty of user, and electricity is automatically completed
Electrical automobile charging operations improve the convenience used.
In order to reach above-mentioned technical effect, the present invention takes following technical scheme:
Suitable for the full-automatic charging system of a variety of electric cars, including server, embedded in mobile client using soft
Part, control system and charging unit ontology, the charging unit ontology is by ceiling, sliding rail, sliding block, mechanical arm, full-automatic docking
Module, column are constituted；The column is connected with ceiling and plays the role of supporting ceiling, and column and ceiling constitute a charging and make
Industry space；The sliding rail is annularly installed on ceiling bottom surface, and sliding block, and the drive that sliding block drives in servo motor are equipped on sliding rail
It is slided on the slide rail under dynamic；Mechanical arm is installed, sliding block drives mechanical arm to move along the path of sliding rail, and sliding block on the sliding block
The spinning movement for completing mechanical arm axial direction is driven by servo motor with mechanical arm；The mechanical arm includes multiple move freely
Joint, and the flexor that each joint of mechanical arm has servo motor driving to complete mechanical arm, mechanical arm and full-automatic
It is connected to connection module；Described automatically includes the charging plug of multiple standards to connection module；The server respectively with control be
System and mobile client communication connection, server is for the information between adaptive control system and the application software of mobile client
Data；The control system for identification information of vehicles, to determine that charging scheme, control charging unit ontology complete vehicle automatic
Charging；The application software of the mobile client is used to send charging scheme and charging setting information to server, receives charging
Information completes charging payment；
The full-automatic charging system suitable for a variety of electric cars of the invention, mechanical arm includes that multiple can freely live
Dynamic joint, mechanical arm are connected with sliding block, can freely swing and axial-rotation, and sliding block is along ring-shaped guide rail fixed under ceiling
Mobile, the mechanical arm working range of the system covers entire parking area, is being suitable for a variety of electronic vapour using of the invention
When the full-automatic charging system of vehicle, the limitation in do not stop direction, parking angle, vehicle, charging interface position, as long as car owner will
Electric car is parked in the charging system working region, as long as and electric vehicle charge interface be located in parking area, the present invention
Full-automatic charging system can automatic identification information of vehicles, mechanical arm is automatically moved near electric vehicle automobile charging interface, adjusts
Whole each joint of mechanical arm, will be automatically mobile to connection module near automobile charging interface, automatically be automatically performed to connection module
Charging interface protection cap is opened and charging plug is inserted into charging interface, automatically to connection module and charging interface after charging complete
It is detached from and charge closing interface protective cover, whole process all realizes automation；
Meanwhile of the invention suitable for the full-automatic to being wrapped connection module of the full-automatic charging system of a variety of electric cars
Containing a variety of charging plugs that meet national standards, therefore full-automatic charging system of the invention not will receive charging when in use
Mouth type limitation, automatically switches different charging plugs, car owner can before charging starts to connection module by way of rotation
To select the charging modes needed, corresponding charging plug automatically is automatically switched to connection module, mechanical arm automatically moves
It moves near corresponding electric vehicle charge interface, so that realizing set of device adapts to a variety of electric car interface structures.
Further, the charging scheme includes at least charging time, charging rate, charging expense and/or the charging
Setting information includes at least information of vehicles, charging interface position, charging interface structure and/or the charge information and includes at least
Charging current data, charging voltage data.
Further, described includes automatically butt joint switching module to connection module, quick charge plug, charging is inserted at a slow speed
Head, sucker manipulator, quick charge plug, at a slow speed charging plug and sucker manipulator are connected with butt joint switching module respectively.
Further, the butt joint switching module includes central axis, rotating base, rotating servo motor, flexible servo
Motor, telescopic rod；The sucker machinery hand includes vacuum pump, rubber suction cups strut, rubber suction cups, rubber tube；
The quick charge plug, at a slow speed charging plug and sucker manipulator are connected with rotating base respectively, and quickly fill
Become homework department when plug, at a slow speed charging plug and sucker manipulator are rotated to the operating position of the top and telescopic rod passes through
Groove realization identical with rotation direction agrees with, and the homework department currently agreed with is driven to realize flexible fortune when telescopic rod does stretching motion
Dynamic, rotating servo motor drives rotating base to be rotated on center shaft to realize quick charge plug, at a slow speed charging plug and suction
The switching of disk manipulator, flexible servo motor drive telescopic rod to do stretching or recovery movement；
The rubber suction cups strut is connected with rubber suction cups, and rubber suction cups strut is connected with vacuum pump, and vacuum pump passes through rubber
Sebific duct is connect with rubber suction cups, realizes sucker manipulator to the charging interface protection cap of vehicle by the air-breathing and air blowing of vacuum pump
Crawl and release operation.
Further, the control system includes main control module, detection module, motion-control module, communication module, charging
Control module；The main control module is connected with detection module, motion-control module, communication module, charge control module respectively；Institute
State motion-control module respectively with sliding block, each joint of mechanical arm and be automatically connected to the servo motor in connection module；
The detection module is connected true for the detection of electric car storage, body gesture detection, charging interface spatial position
Fixed, mechanical arm stress detection, charging current detection, charging voltage detection, charge power detection；The motion-control module is used for
Realize that movement instruction is sent and motion state receives；The communication module is for connecting server；The charge control module is used
In the conversion of completion electric energy and power output.
Further, the detection module includes vehicle monitoring camera, mechanical arm monitoring camera, docking detection camera shooting
Head, mechanical arm pressure sensor, slide block pressure sensor, docking pressure sensor, charging current sensor, charging voltage sensing
Device；
The vehicle monitoring camera is installed below ceiling, and vehicle monitoring camera is for detecting in charging working space
Vehicle-state and acquisition information of vehicles；
The mechanical arm monitoring camera is connected with sliding block, and mechanical arm monitoring camera is for detection mechanical arm and automatically
To the motion state of connection module on the whole；
Docking detection camera be automatically connected to connection module, it is automatically right that docking detection camera is used to detect
The motion state of connection module；
The mechanical arm pressure sensor is installed on each joint of mechanical arm, and mechanical arm pressure sensor is used for detection machine
The external force that each joint of tool arm is born；
The slide block pressure sensor is installed in sliding block, and block pressure sensor is used for the load-carrying of detection mechanical arm entirety and cunning
Block slides stress along sliding rail；
The docking pressure sensor is installed in automatic butt module, and docking pressure sensor is for detecting charging interface
It is completely embedded degree；
In full-automatic charging system of the invention, each joint of mechanical arm, sliding block, automatically to being provided with pressure in connection module
Sensor, with for each joint of detection mechanical arm, sliding block, the automatically pressure condition that is subject to connection module etc., to identify
The situation of movement of charging vehicle automatically disconnects connection module, when vehicle movement is more than tolerance range if charging automatically
Automobile moves in journey, such as driver starts automobile in the case where charging plug is inserted into, and mechanical arm can be timely at this time
It detects the movement of vehicle, and is automatically detached from charging plug, protect charging system and electric vehicle charge interface without damage,
It realizes whole process and all realizes automation, improve the safety of entire charging system.
Further, default in the mechanical arm pressure sensor, slide block pressure sensor, docking pressure sensor
There is pressure value secure threshold, during the charging process, mechanical arm pressure sensor, above-mentioned slide block pressure sensor or docking pressure pass
When the pressure value that sensor detects is more than corresponding pressure value secure threshold, then charging process is terminated.
Further, the mobile client is mobile phone, and the vehicle of car owner is bundled in the application software of mobile phone
License plate number, and the identification number that identification, account are deducted fees using the vehicle license plate number of binding as owner information, and in the service
Owner identity information, information of vehicles, charging interface position, charging interface structure, default charging scheme, account gold are saved in device
Volume information.
Meanwhile the invention also discloses the realization sides of the above-mentioned full-automatic charging system suitable for a variety of electric cars
Method, comprising the following steps:
A. the communication connection of server and control system is established, whether vehicle monitoring camera real-time monitoring has vehicle to drive into
Charge working space；
B. vehicle monitoring camera identifies license plate number, control system when having detected that vehicle drives into charging working space
It is connect according to license plate number with server, determines owner identity information, Vehicular charging interface structure, account information, and wait waiting
Receive charging scheme；
C. whether monitoring server receives the charging side that car owner passes through application software upload in default waiting time threshold value
Case and charging setting information, charge default if not receiving charging scheme and charging setting information yet more than waiting time threshold value
Scheme is sent to control system；
D. after control system receives charging scheme, vehicle monitoring camera detection automobile attitude information is first passed through, determines vehicle
Spatial position and direction in charging station, in conjunction with receive charging interface position, charging interface structural information, pass through movement
Control module mobile mechanical arm nearby and is unfolded to charging interface；Control module monitors camera by mechanical arm and identifies mechanical arm
Mechanical arm is further controlled close to charging interface with the positional relationship of vehicle；Control module passes through docking detection camera identification
To Vehicular charging interface protective cover location information come control automatically to connection module complete charging interface protection cap open and incite somebody to action
The charging plug that charging scheme is chosen is inserted into Vehicular charging interface；
E. charge control module starts to monitor charging current, information of voltage for Vehicular charging, detection module, and will monitor
Information be transmitted in the application software of car owner by server；
F. it has charged after vehicle, referring to completing with charge step reverse order in step D, charging plug is extracted, charging interface is protected
The movement that protecting cover is closed, mechanical arm resets, while server calculates this charging according to charging current, information of voltage and uses electricity
Energy total amount, raw vehicle cost information are simultaneously sent in application software, and after car owner's confirmation, charging expense will be deducted from car owner's account.
Further, if during the charging process, vehicle is abnormal displacement or car owner actuating vehicle in the charge state
The mechanical arm pressure sensor or slide block pressure sensor is caused to detect that pressure value is more than pressure value secure threshold, the control
System processed then controls mechanical arm and is automatically detached from vehicle to connection module, and sends warning message in application software, waits
Car owner operates in next step；If car owner's selection continues to start new charging plan, return step D restarts to charge；If car owner
Actuating vehicle and vehicle monitoring camera detection are driven out to charging station to vehicle, then directly terminate this charging.
Compared with prior art, the present invention have it is below the utility model has the advantages that
First, when using full-automatic charging system of the invention, it not will receive parking direction, parking angle, vehicle, charging
The limitation of interface position, as long as electric car is parked in the charging system working region by car owner, as long as electric car charging
Mouth is located in parking area, and the charging system automatic identification information of vehicles, mechanical arm is automatically moved to electric vehicle automobile charging
Near mouthful, each joint of mechanical arm is adjusted, will be automatically mobile to connection module near automobile charging interface, automatically to connection module
Be automatically performed charging interface protection cap open and charging plug is inserted into charging interface, after charging complete automatically to connection module with
Charging interface is detached from and charge closing interface protective cover, and whole process all realizes automation；
Second, when using full-automatic charging system of the invention, it not will receive the limitation of charging interface type, of the invention is complete
It include automatically a variety of charging plugs that meet national standards to connection module in automatic charging system, charging plug is fixed on rotation
In pedestal, switch different charging plugs by way of rotation, and the charging plug chosen is released using telescopic rod, car owner
The charging modes that can choose needs before charging starts, are automatically automatically switched to corresponding charging plug to connection module,
Mechanical arm automatically moves near corresponding electric vehicle charge interface.Set of device adapts to a variety of electric car interface knots
Structure；
Third, in full-automatic charging system of the invention, each joint of mechanical arm, sliding block, automatically in connection module
It is provided with pressure sensor, can be used for each joint of detection mechanical arm, sliding block, the pressure feelings being automatically subject to connection module etc.
Condition, to identify the situation of movement of charging vehicle, vehicle is mobile when being more than tolerance range, automatically to the connection module company of disconnection automatically
It connects.If automobile moves in charging process, such as driver starts automobile in the case where charging plug is inserted into, mechanical at this time
Arm can detect the movement of vehicle in time, and automatically be detached from charging plug, protect charging system and electric car charging
Mouth is without damage, realizes whole process and all realizes automation, improves the safety of entire charging system；
4th, the control equipment of full-automatic charging system of the invention, device for converting electric energy etc. are respectively positioned in ceiling, are cancelled
The devices such as traditional charging pile, charging cabinet, improve space utilization rate, facilitate large-scale integrated, while also facilitating vehicle
Enter charged area, and when multiple charging parking positions are arranged side by side, can suitably reduce the quantity of column, optimize the cloth of column
Mode is set, space utilization rate is also further improved, facilitates going out for vehicle；.
5th, in full-automatic charging system of the invention, the electric car to charge, mechanical arm automatically docks mould
Block is all located under ceiling, and control equipment, device for converting electric energy etc. are located in ceiling, whole device, especially charging oral area
Position avoids being directly exposed under the environment such as rainwater and direct sunlight, avoids the dangerous situations such as electric leakage caused by the infiltration of rainwater,
The safety of charging system is improved, while also avoiding the aging and damage of device.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the full-automatic charging system of one embodiment of the present of invention.
Fig. 2 is the structural schematic diagram of control system in the full-automatic charging system of one embodiment of the present of invention.
Fig. 3 is automatically illustrated to the internal component of connection module in the full-automatic charging system of one embodiment of the present of invention
Figure.
Appended drawing reference: 1- sliding block, 2- mechanical arm, 3- is automatically to connection module, 31- butt joint switching module, the center 311-
Axis, 312- rotating base, 313- rotating servo motor, 314- stretch servo motor, 315- telescopic rod, 32- quick charge plug,
33- charging plug at a slow speed, 34- sucker manipulator, 341- vacuum pump, 342- rubber suction cups strut, 343- rubber suction cups, 344- rubber
Sebific duct, 4- ceiling, 5- round rectangle sliding rail, 6- column, 300- control system, 301- main control module, 302- detection module,
3021- vehicle monitoring camera, 3022- mechanical arm monitor camera, 3023- docking detection camera, 3024- mechanical arm pressure
Sensor, 3025- slide block pressure sensor, 3026- dock pressure sensor, 3027- charging current sensor, 3028- charging
Voltage sensor, 303- motion-control module, 304- communication module, 305 charge control modules.
Specific embodiment
Below with reference to the embodiment of the present invention, the invention will be further elaborated.
Embodiment:
Embodiment one:
As shown in Figure 1, a kind of full-automatic charging system suitable for a variety of electric cars, including server, cell phone software,
Control system 300, ceiling 4, round rectangle sliding rail 5, sliding block 1, mechanical arm 2, automatically to connection module 3, column 6.
Above-mentioned column 6 is connected with above-mentioned ceiling 4, and plays the role of the above-mentioned ceiling 4 of support；Above-mentioned column 6 and above-mentioned top
Canopy 4 constitutes a charging working space.Above-mentioned round rectangle sliding rail 5 is connected with above-mentioned ceiling 4, and is located at below above-mentioned ceiling 4；
Above-mentioned sliding block 1 is connected with above-mentioned round rectangle sliding rail 5, and above-mentioned sliding block 1 is under the driving that servo motor drives in above-mentioned fillet square
It is slided on shape sliding rail 5.
Above-mentioned sliding block 1 is connected with above-mentioned mechanical arm 2, and above-mentioned mechanical arm 2 is driven to move along the path of above-mentioned round rectangle sliding rail 5
It is dynamic；Above-mentioned sliding block 1 is driven with above-mentioned mechanical arm 2 by servo motor, and above-mentioned 2 axial-rotation of mechanical arm movement is completed；Mechanical arm 2
Including multiple joints moveing freely, each joint of above-mentioned mechanical arm 2 has servo motor driving, completes above-mentioned mechanical arm
2 flexor；Above-mentioned mechanical arm 2 is automatically connected to connection module 3 with above-mentioned.
As shown in figure 3, it is above-mentioned automatically to connection module 3 mainly include butt joint switching module 31, quick charge plug 32,
Charging plug 33, sucker manipulator 34 at a slow speed；Above-mentioned butt joint switching module 31 mainly includes central axis 311, rotating base
312, rotating servo motor 313, flexible servo motor 314, telescopic rod 315.Above-mentioned sucker manipulator 34 mainly includes vacuum pump
341, rubber suction cups strut 342, rubber suction cups 343, rubber tube 344.
Above-mentioned quick charge plug 32, above-mentioned charging plug at a slow speed 33 and above-mentioned sucker manipulator 34 respectively with rotating base
312 are connected, and above-mentioned rotating servo motor 313 drives above-mentioned rotating base 312 to rotate on above-mentioned central axis 311 to realize switching
The function of quick charge plug 32, at a slow speed charging plug 33 and above-mentioned sucker manipulator 34.
Above-mentioned quick charge plug 32, above-mentioned charging plug at a slow speed 33 or above-mentioned sucker manipulator 34 are rotated to the top
Become homework department when operating position and is agreed with above-mentioned telescopic rod 315 by groove identical with rotation direction realization, it is above-mentioned flexible
The homework department currently agreed with is driven to realize that stretching motion, groove structure do not influence above-mentioned rotating base when bar 315 does stretching motion
Rotation 312.
Above-mentioned flexible servo motor 314 drives above-mentioned telescopic rod 315 to do stretching or the above-mentioned charging plug of recovery movement realization
32,33 and above-mentioned sucker manipulator 34 stretch out and withdrawal movement.
Above-mentioned rubber suction cups strut 342 is connected with above-mentioned rubber suction cups 343, above-mentioned rubber suction cups strut 342 with it is above-mentioned true
Sky pump 341 is connected, and above-mentioned vacuum pump 341 is connect by rubber tube 344 with above-mentioned rubber suction cups 343, passes through above-mentioned vacuum pump 341
Air-breathing and blow and realize that above-mentioned sucker manipulator 34 operates the crawl of automobile charging interface protection cap and release.
As shown in Fig. 2, above-mentioned control system 300 include main control module 301, detection module 302, motion-control module 303,
Communication module 304, charge control module 305；Above-mentioned main control module 301, above-mentioned motion-control module 303, above-mentioned communication module
304, above-mentioned charge control module 305 is respectively positioned on inside above-mentioned ceiling 4.
Above-mentioned main control module 301 is connected with above-mentioned detection module 302, completes the detection of electric car storage, body gesture inspection
It surveys, charging interface spatial position is determining, the detection of mechanical arm stress, charging current, voltage, power detection.Above-mentioned master control mould
Block 301 is connected with above-mentioned motion-control module 303, realizes movement instruction transmission and motion state receive capabilities；Above-mentioned master control mould
Block 301 is connected with above-mentioned communication module 304, above-mentioned communication module 304 is connected with above-mentioned server by network, genuinely convinced among the above
Business device is connected by network with above-mentioned cell phone software, realizes that charging plan is sent, charged state monitors, bill push, payment button
Take, message informing function；Above-mentioned main control module 301 is connected with above-mentioned charge control module 305, and the conversion of completion electric energy, electric energy are defeated
Function out.
Above-mentioned detection module 302 includes vehicle monitoring camera 3021, mechanical arm monitoring camera 3022, docks to detect and take the photograph
As head 3023, mechanical arm pressure sensor 3024, slide block pressure sensor 3025, docking pressure sensor 3026, charging current
Sensor 3027, charging voltage sensor 3028.
Above-mentioned vehicle monitoring camera 3021 is connected with above-mentioned ceiling 4, and is located at above-mentioned 4 lower section of ceiling, for detecting
It states vehicle-state in charging working space and obtains information of vehicles.Above-mentioned mechanical arm monitoring camera 3022 and above-mentioned sliding block phase
Even, for detecting above-mentioned mechanical arm 2 and the above-mentioned automatically motion state to connection module 3 on the whole；Above-mentioned docking detection camera shooting
First 3023 are automatically connected to connection module 3 with above-mentioned, above-mentioned automatically to the motion state of connection module 3 for detecting.Above-mentioned machine
Tool arm pressure sensor 3024 is located at each joint of above-mentioned mechanical arm 2, for detecting the outer of each joint of above-mentioned mechanical arm 2 receiving
Power；Above-mentioned slide block pressure sensor 3025 is located in above-mentioned sliding block 1, for detecting the whole load-carrying of above-mentioned mechanical arm 2 and above-mentioned cunning
Block 1 slides stress along above-mentioned round rectangle sliding rail 5；Above-mentioned docking pressure sensor 3026 is located in above-mentioned automatic butt module 3,
Degree is completely embedded for detecting charging interface；
In charging process, above-mentioned mechanical arm pressure sensor 3024, above-mentioned slide block pressure sensor 3025 and above-mentioned docking
When the pressure value that pressure sensor 3026 detects is more than secure threshold, charging process is terminated, 3 pieces of above-mentioned full-automatic docking mould and
Automobile is detached from, and above-mentioned mechanical arm 2, which folds, to be withdrawn.
Above-mentioned motion-control module 303 and above-mentioned sliding block 1, each joint of above-mentioned mechanical arm 2 and above-mentioned full-automatic dock mould
Servo motor in block 3 is connected.
Above-mentioned cell phone software is mounted on car owner's mobile phone, and binds the electric car license plate number of the car owner, is believed as car owner
The identification number that breath identification, account are deducted fees, above-mentioned vehicle monitoring camera 3021 can confirm owner identity according to license plate number, with
Complete the function that charging scheme receives, account is deducted fees, message pushes.Above-mentioned server saves owner identity information, vehicle letter
Breath, charging interface position, charging interface structure, default charging scheme, account amount of money information etc..
When using full-automatic charging system of the invention, electric car is parked in the charging system working region by car owner,
The charging system automatic identification information of vehicles, by charging scheme information in server reception cell phone software or directly using service
Charging scheme is defaulted in device, mechanical arm is automatically moved near electric vehicle automobile charging interface, automatically automatically complete to connection module
It is opened at charging interface protection cap and point interface is filled into charging plug insertion, automatically to connection module and charging after charging complete
Mouth is detached from and charge closing interface protective cover, and whole process is all realized and automated.
Embodiment two
The present embodiment is the specific implementation flow of the full-automatic charging system progress automatic charging in embodiment one:
The working method of the system is as follows:
(1) without Vehicular charging when, whole system enters low-power consumption standby state, and above-mentioned mechanical arm is in folded state, on
The connection for maintaining above-mentioned communication module Yu above-mentioned server in control system is stated, monitoring server state of charge system is used for；On
It states vehicle monitoring camera and keeps working condition, monitored whether that vehicle drives into charging station；
(2) after electric car drives into charging station, after above-mentioned vehicle monitoring camera detection to vehicle, wake up system other
Part；Meanwhile above-mentioned vehicle monitoring camera identifies that license plate number, above-mentioned control system connect according to the number and above-mentioned server
It connects, determines owner identity information, determine that Vehicular charging interface structure, account information wait charging scheme to be received；
(3) above-mentioned cell phone software can be used after automobile comes to a complete stop in car owner, and setting charging time, charging rate, charging take
With etc. information, above-mentioned cell phone software information-setting by user is sent to above-mentioned server, the charging side that above-mentioned server will receive
Case and information of vehicles, charging interface position, charging interface structure etc. form charging scheme, are sent in above-mentioned control system；
(4) if car owner is after coming to a complete stop vehicle, charging scheme is not set using above-mentioned cell phone software, above-mentioned server will
Default charging scheme is sent in above-mentioned control system；
(5) after above-mentioned control system receives charging scheme, above-mentioned vehicle monitoring camera detection automobile attitude letter is first passed through
Breath, determine spatial position and direction of the vehicle in charging station, in conjunction with receive charging interface position, charging interface structure letter
Breath, using near above-mentioned motion-control module mobile mechanical arm to charging interface and being unfolded；Above-mentioned control module utilizes above-mentioned machine
The positional relationship of above-mentioned mechanical arm and vehicle that tool arm monitoring camera recognizes, further controls above-mentioned mechanical arm close to charging
Interface；Above-mentioned control module detects camera using above-mentioned docking, controls above-mentioned automatically to connection module completion charging interface guarantor
Protecting cover is opened and the charging plug for choosing charging scheme is inserted into Vehicular charging interface；
(6) above-mentioned charge control module starts to monitor the letter such as charging current, voltage for Vehicular charging, above-mentioned detection module
Breath, and the information is transmitted in the above-mentioned cell phone software of car owner by above-mentioned server；
(7) it has charged after vehicle, which completes charging plug extraction, charging according to the reverse order of above-mentioned steps (5)
Movement, the above-mentioned servers such as mouth protection cap is closed, mechanical arm resets will calculate this charging according to charging current, information of voltage
Using electric energy total amount, raw vehicle cost information is sent in above-mentioned cell phone software, and after car owner's confirmation, charging expense will be from car owner's account
It being deducted in family, system is again introduced into standby mode described in step (1),；
(8) if during the charging process, vehicle is abnormal displacement or car owner actuating vehicle in the charge state, above-mentioned
Mechanical arm pressure sensor and above-mentioned slide block pressure sensor detect that pressure value is more than threshold value, and above-mentioned control system enters urgent
Disengaging mode controls rapidly above-mentioned mechanical arm and is automatically detached from vehicle to connection module, protection system safety, and by warning message
Be sent to above-mentioned mobile phone it is soft in, wait car owner in next step operate；It is abnormal displacement if vehicle, car owner excludes vehicle abnormality
Afterwards, it may be selected to continue to start new charging plan, which restarts to charge according to step (5), and charging expense is cumulative；If
Actuating vehicle, above-mentioned vehicle monitoring camera detection are driven out to charging station to vehicle to car owner in the charge state, and system is according to step
(7), terminate this charging.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. being suitable for the full-automatic charging system of a variety of electric cars, which is characterized in that including server, be embedded in mobile client
Application software, control system and charging unit ontology, the charging unit ontology is by ceiling, sliding rail, sliding block, mechanical arm, complete
Automatic butt module, column are constituted；
The column is connected with ceiling and plays the role of supporting ceiling, and column and ceiling constitute a charging working space；Institute
State sliding rail and be annularly installed on ceiling bottom surface, sliding block is installed on sliding rail, and sliding block under the driving that servo motor drives in cunning
It is slided on rail；Mechanical arm is installed, sliding block drives mechanical arm to move along the path of sliding rail, and sliding block and mechanical arm on the sliding block
The spinning movement for completing mechanical arm axial direction is driven by servo motor；The mechanical arm includes multiple joints moveing freely,
And each joint of mechanical arm have servo motor driving complete mechanical arm flexor, mechanical arm with automatically to connection module
It is connected；It is described automatically in connection module include multiple standards charging plug；
The server is communicated to connect with control system and mobile client respectively, and server is used for adaptive control system and movement
Information data between the application software of client；The control system for identification information of vehicles, determine charging scheme, control
Charging unit ontology completes automatic charging to vehicle；The application software of the mobile client is used to send charging side to server
Case and charging setting information receive charge information, complete charging payment.
2. the full-automatic charging system according to claim 1 suitable for a variety of electric cars, which is characterized in that described to fill
Electric scheme includes at least charging time, charging rate, charging expense and/or the charging setting information and believes including at least vehicle
Breath, charging interface position, charging interface structure and/or the charge information include at least charging current data, charging voltage number
According to.
3. the full-automatic charging system according to claim 1 or 2 suitable for a variety of electric cars, which is characterized in that institute
Stating automatically includes butt joint switching module, quick charge plug, at a slow speed charging plug, sucker manipulator to connection module, quickly
Charging plug, at a slow speed charging plug and sucker manipulator are connected with butt joint switching module respectively.
4. the full-automatic charging system according to claim 3 suitable for a variety of electric cars, which is characterized in that described right
Connector switching module includes central axis, rotating base, rotating servo motor, flexible servo motor, telescopic rod；The sucker is mechanical
Hand includes vacuum pump, rubber suction cups strut, rubber suction cups, rubber tube；
The quick charge plug, at a slow speed charging plug and sucker manipulator are connected with rotating base respectively, and quick charge is inserted
Become when head, at a slow speed charging plug and sucker manipulator are rotated to the operating position of the top homework department and telescopic rod by with turn
It moves the identical groove realization in direction to agree with, the homework department currently agreed with is driven to realize stretching motion when telescopic rod does stretching motion,
Rotating servo motor drives rotating base to be rotated on center shaft to realize quick charge plug, at a slow speed charging plug and sucker machine
The switching of tool hand, flexible servo motor drive telescopic rod to do stretching or recovery movement；
The rubber suction cups strut is connected with rubber suction cups, and rubber suction cups strut is connected with vacuum pump, and vacuum pump passes through rubber tube
It is connect with rubber suction cups, sucker manipulator grabbing to the charging interface protection cap of vehicle is realized by the air-breathing of vacuum pump and blowing
Take and discharge operation.
5. the full-automatic charging system according to claim 4 suitable for a variety of electric cars, which is characterized in that the control
System processed includes main control module, detection module, motion-control module, communication module, charge control module；The main control module point
It is not connected with detection module, motion-control module, communication module, charge control module；The motion-control module respectively with cunning
Block, each joint of mechanical arm and automatically in connection module servo motor be connected；
The detection module is connected for the detection of electric car storage, body gesture detection, the determination of charging interface spatial position, machine
The detection of tool arm stress, charging current detection, charging voltage detection, charge power detection；The motion-control module for realizing
Movement instruction is sent and motion state receives；The communication module is for connecting server；The charge control module has been used for
At electric energy conversion and power output.
6. the full-automatic charging system according to claim 5 suitable for a variety of electric cars, which is characterized in that the inspection
Surveying module includes vehicle monitoring camera, mechanical arm monitoring camera, docking detection camera, mechanical arm pressure sensor, cunning
Block pressure sensor, docking pressure sensor, charging current sensor, charging voltage sensor；
The vehicle monitoring camera is installed below ceiling, and vehicle monitoring camera is for detecting vehicle in charging working space
State and acquisition information of vehicles；
The mechanical arm monitoring camera is connected with sliding block, and mechanical arm monitors camera for detection mechanical arm and full-automatic docking
The motion state of module on the whole；
Docking detection camera be automatically connected to connection module, docking detection camera automatically docks mould for detecting
The motion state of block；
The mechanical arm pressure sensor is installed on each joint of mechanical arm, and mechanical arm pressure sensor is used for detection mechanical arm
Each joint bear external force；
The slide block pressure sensor is installed in sliding block, and block pressure sensor is used for the load-carrying of detection mechanical arm entirety and sliding block edge
Sliding rail slides stress；
The docking pressure sensor is installed in automatic butt module, and docking pressure sensor is for detecting charging interface connection
Tightness degree.
7. the full-automatic charging system according to claim 6 suitable for a variety of electric cars, which is characterized in that described
Mechanical arm pressure sensor, slide block pressure sensor, docking pressure sensor in be preset with pressure value secure threshold, charging
In the process, mechanical arm pressure sensor, above-mentioned slide block pressure sensor or the pressure value that detects of docking pressure sensor are more than
When corresponding pressure value secure threshold, then charging process is terminated.
8. the full-automatic charging system according to claim 7 suitable for a variety of electric cars, which is characterized in that the shifting
Dynamic client is mobile phone, and is bundled with the vehicle license plate number of car owner, and in the application software of mobile phone with the vehicle of binding
License plate number identifies as owner information, the identification number deducted fees of account, and save in the server owner identity information,
Information of vehicles, charging interface position, charging interface structure, default charging scheme, account amount of money information.
9. the implementation method of the full-automatic charging system according to claim 8 suitable for a variety of electric cars, feature
It is, comprising the following steps:
A. the communication connection of server and control system is established, whether vehicle monitoring camera real-time monitoring has vehicle to drive into charging
Working space；
B. vehicle monitoring camera identifies license plate number when having detected that vehicle drives into charging working space, control system according to
License plate number is connect with server, determines owner identity information, Vehicular charging interface structure, account information, and wait to be received fill
Electric scheme；
C. monitoring server whether received in default waiting time threshold value car owner by the charging scheme of application software upload and
Charge setting information, will default charging scheme if not receiving charging scheme and charging setting information yet more than waiting time threshold value
It is sent to control system；
D. after control system receives charging scheme, vehicle monitoring camera detection automobile attitude information is first passed through, determines that vehicle exists
Spatial position and direction in charging station, in conjunction with receive charging interface position, charging interface structural information, pass through motion control
Module mobile mechanical arm nearby and is unfolded to charging interface；Control module monitors camera by mechanical arm and identifies mechanical arm and vehicle
Positional relationship further control mechanical arm close to charging interface；Control module is recognized by docking detection camera
Vehicular charging interface protective cover location information is automatically opened and will be charged to connection module completion charging interface protection cap to control
The charging plug that scheme is chosen is inserted into Vehicular charging interface；
E. charge control module starts to monitor charging current, information of voltage, and the letter that will be monitored for Vehicular charging, detection module
Breath is transmitted in the application software of car owner by server；
F. it has charged after vehicle, has completed charging plug extraction, charging interface protection cap referring to charge step reverse order in step D
It closes, the movement that mechanical arm resets, while server calculates this charging according to charging current, information of voltage and uses electric energy total
Amount, raw vehicle cost information are simultaneously sent in application software, and after car owner's confirmation, charging expense will be deducted from car owner's account.
10. the implementation method of the full-automatic charging system according to claim 9 suitable for a variety of electric cars, feature
It is, if during the charging process, vehicle is abnormal displacement or car owner, and actuating vehicle leads to the machinery in the charge state
Arm pressure sensor or slide block pressure sensor detect that pressure value is more than pressure value secure threshold, and the control system then controls
Mechanical arm and vehicle automatically is detached to connection module, and sends warning message in application software, car owner is waited to grasp in next step
Make；
If car owner's selection continues to start new charging plan, return step D restarts to charge；If car owner's actuating vehicle and vehicle
Monitoring camera detection to vehicle is driven out to charging station, then directly terminates this charging.
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