CN113459851A - Automatic charging robot and vehicle identification docking system and method - Google Patents
Automatic charging robot and vehicle identification docking system and method Download PDFInfo
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- CN113459851A CN113459851A CN202110736374.XA CN202110736374A CN113459851A CN 113459851 A CN113459851 A CN 113459851A CN 202110736374 A CN202110736374 A CN 202110736374A CN 113459851 A CN113459851 A CN 113459851A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
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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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- 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
Abstract
A system and a method for identifying and docking an automatic charging robot and a vehicle relate to the field of electric vehicle charging, and the system comprises first equipment, second equipment and a central processing unit, wherein the first equipment is arranged on the automatic charging robot, a first communication device is used for transmitting signals, a first camera is used for shooting the opening dynamic state of the vehicle and a vehicle charging opening cover, and the central processing unit is used for identifying the position of the charging opening cover through shooting and informing the automatic charging robot after the charging opening cover is completely opened; the system also comprises a second communication device and an unlocking controller, wherein the second communication device is arranged on the charging port cover and is used for receiving the signal sent by the first communication device; the unlocking controller is connected with the vehicle-mounted computer and is used for realizing primary unlocking of the charging port cover after receiving a vehicle charging instruction, realizing secondary unlocking of the charging port cover after receiving a signal by the second communication device and opening the charging port cover; and the charging device is also used for closing and locking the charging opening cover after charging is finished. The invention realizes the quick recognition of the position of the charging port and avoids the risk of opening the charging port cover in advance.
Description
Technical Field
The application relates to the field of electric automobile charging, in particular to an automatic charging robot and vehicle identification docking system and method.
Background
The electric automobile is a vehicle which takes a vehicle-mounted power supply as power and drives wheels to run by using a motor, and meets various requirements of road traffic and safety regulations. The former development trend is better and better due to smaller environmental impact compared with the traditional automobile. In the related art, in order to realize automatic charging of an electric vehicle, a charging connection head may be connected to a vehicle charging port by a charger robot traveling in a parking lot.
However, the charging port of the conventional electric vehicle is disposed at a large number of positions, and is usually disposed at the front of the vehicle, for example, at a front grille, a front bumper, or the like; but also on the front side of the vehicle side, such as the fender area (near the front door attachment); or on the rear side of the vehicle side, for example, under the side gusset area C pillar. In addition, when the charging port of the Electric Vehicle is arranged on the side, a part of charging ports of an Electric Vehicle (EV) is fast and slow, or the charging port and the fuel filling port of a Plug-in Hybrid Electric Vehicle (PHEV) are often arranged symmetrically on two sides of the Vehicle.
Since many vehicles (EV, PHEV, etc.) may adopt the same shape, or since the vehicle is modified, the user modifies itself, and decorates, or the modification speed is fast, these factors may cause the charging robot to be unable to identify the position of the charging port through the vehicle appearance.
In addition, electric automobile's the mouth that charges adopts the flap that charges to prevent to charge mouthful intaking or getting into other foreign matters, prevent to damage and charge mouthful. And the flap that charges when the butt joint, generally need the driver to walk to near the flap that charges and carry out manual pressure to open, complex operation. Or when electronic unlocking is controlled manually, the robot is unlocked once and is opened, if the robot is not present near the electric automobile in time, and the charging opening cover is opened, the risk that the charging opening is damaged can exist, and particularly in rainy and snowy days and other weather.
Disclosure of Invention
The embodiment of the application provides an automatic charging robot and vehicle identification butt joint system and method to solve the problems that in the related art, the position of a vehicle charging port cannot be rapidly identified, and the risk exists when the charging port cover is opened at one time.
In a first aspect, an automatic charging robot and vehicle identification docking system is provided, and is characterized in that the automatic charging robot is provided with a charging connector matched with a vehicle and can automatically run; the system comprises:
the first equipment is arranged on the automatic charging robot and comprises a first communication device, a first camera and a central processing unit; the automatic charging robot comprises a first communication device, a first camera, a central processing unit and an automatic charging robot, wherein the first communication device is used for transmitting signals, the first camera is used for shooting the opening dynamics of a vehicle and a vehicle charging opening cover, and the central processing unit is used for identifying the position of the charging opening cover through shooting and informing the automatic charging robot after the charging opening cover is completely opened;
the second device comprises a second communication device and an unlocking controller, wherein the second communication device is arranged on the charging port cover and is used for receiving the signal sent by the first communication device; the unlocking controller is connected with the vehicle-mounted computer and is used for realizing primary unlocking of the charging port cover after receiving a vehicle charging instruction, realizing secondary unlocking of the charging port cover after receiving a signal by the second communication device and opening the charging port cover; and the charging device is also used for closing and locking the charging opening cover after charging is finished.
In some embodiments, the central processor further comprises a database for storing charging flap position information for different vehicles; the first camera is further used for shooting a vehicle to be charged, and the central processing unit searches the same vehicle in the database according to the vehicle to be charged shot by the first camera, obtains matched charging port cover position information and submits the charging port cover position information to the charging robot.
In some embodiments, when the central processing unit does not find the same vehicle in the database, the charger robot automatically drives, and the charging port cover position is obtained according to the charging port cover opening dynamic state shot by the first camera.
In some embodiments, the second device further includes a rechargeable authorization device, configured to send a rechargeable authorization to the central processing unit of the first device after the charging flap is completely opened, and further configured to receive charging authorization confirmation information returned by the central processing unit, and feed back the charging authorization confirmation information to the user.
In some embodiments, the second device further includes a second camera disposed near the charging port cover, and configured to capture a real-time image of the charging port cover after being completely opened, and send the real-time image to the vehicle-mounted computer.
In some embodiments, the first communications device is further configured to: when charging is finished, the automatic charging robot pulls out the charging connector from the charging port of the vehicle and then continuously sends signals for preset times; the unlocking controller is also used for closing and locking the charging opening cover after the second communication device receives the signals of the preset times.
In some embodiments, the first communication device is a wireless radio frequency signal transmitter and the second communication device is a wireless radio frequency signal receiver;
alternatively, the first communication device and the second communication device are both one of an NFC communication device, a bluetooth communication device, and a wireless network communication device. In a second aspect, an automatic charging robot and vehicle identification docking method based on the system is provided, and includes:
after receiving a charging instruction of the vehicle to be charged, the second equipment realizes primary unlocking of the charging opening cover through the unlocking controller;
after receiving the charging demand information, the automatic charging robot moves around the vehicle to be charged, and meanwhile, a first communication device of the first device transmits a signal;
when the automatic charging robot approaches the charging opening cover, the second communication device receives a signal sent by the first communication device, and the unlocking controller realizes secondary unlocking of the charging opening cover and opens the charging opening cover; meanwhile, the first camera shoots the opening state of the charging port cover in real time, and the central processing unit 13 identifies the position of the charging port;
after the first camera shoots that the charging opening cover is completely opened, the central processing unit informs the automatic charging robot that the charging can be started;
after charging is finished, the unlocking controller closes and locks the charging opening cover.
In some embodiments, the central processing unit stores charging cover position information of different vehicles through a database, and the central processing unit searches for the same vehicle in the database according to the vehicle to be charged shot by the first camera, obtains matched charging cover position information, and submits the matched charging cover position information to the charging robot.
In some embodiments, when the charging is finished, the automatic charging robot pulls out the charging connector from the charging port of the vehicle, and then the first communication device continuously transmits signals for a preset number of times; and after the second communication device receives the signals of the preset times, the unlocking controller closes and locks the charging opening cover.
The beneficial effect that technical scheme that this application provided brought includes:
in the technical scheme provided by the application, the unlocking controller of the second equipment realizes the one-level unlocking of the charging port cover after receiving the vehicle charging instruction, the first equipment transmits signals through the first communication device around the vehicle to be charged, the unlocking controller realizes the secondary unlocking of the charging port cover and opens the charging port cover after the second communication device receives the signals, and the opening of the charging port cover is not required to be manually completed. Simultaneously, the first camera shoots the opening dynamic state of the charging opening cover, so that the position of the charging opening is obtained, and the quick recognition of the position of the charging opening is realized.
The unlocking controller realizes primary unlocking of the charging opening cover after receiving a vehicle charging instruction, the charging opening cover cannot be opened at the moment, but a user can leave the vehicle without waiting nearby the vehicle, full-automatic operation is realized, and manpower is saved. And before the flap that charges opened, the automatic charging robot can travel near the vehicle, and the signal of first communication device transmission can be received by second communication device, and the flap that charges opens after realizing the second grade unblock, avoids the risk that the flap that charges opened in advance, even sleet weather, the robot that charges connects the connector and dock and also can not need very long, prevents that the mouth that charges from intaking or getting into other foreign matters yet.
The central processing unit further comprises a database for storing charging cover position information of different vehicles, the first camera is further used for shooting the vehicle to be charged, the central processing unit searches for the same vehicle in the database according to the vehicle to be charged shot by the first camera, matched charging cover position information is obtained, and the charging cover position information is submitted to the charging robot. Before the charging opening cover is opened, the matched position of the charging opening can be obtained, and the quick recognition of the position of the charging opening is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an automatic charging robot and vehicle identification docking system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an automated charging robot and vehicle identification docking system in another embodiment of the present application;
FIG. 3 is a flowchart of a method for identifying and docking an automatic charging robot with a vehicle according to an embodiment of the present application;
fig. 4 is a flowchart of an automatic charging robot and vehicle identification docking method according to another embodiment of the present disclosure.
Reference numerals:
1. a first device; 11. a first communication device; 12. a first camera; 13. a central processing unit;
2. a second device; 21. a second communication device; 22. unlocking the controller; 23. a rechargeable authorization device; 24. and a second camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides an automatic charging robot and vehicle discernment butt joint system realizes the quick discernment of mouthful position that charges, and it can solve the vehicle and charge mouthful unable quick discernment of position to and the flap that charges once only opens the problem that has the risk, prevent that the mouth that charges from intaking or getting into other foreign matters.
As shown in fig. 1, an embodiment of an automatic charging robot and vehicle identification docking system is provided. The system comprises first equipment arranged on the automatic charging robot and second equipment arranged on the electric automobile. The automatic charging robot is a device which is provided with a charging connector matched with a vehicle and can automatically run, and the charging connector can be butted into a charging port of the vehicle through automatic operation, so that the butt joint charging of the vehicle is realized.
It can be understood that the automatic charging robot can run in a parking lot through map navigation, the automatic charging robot can carry a power supply by itself, and after the charging connector is connected to a vehicle charging port in a butt joint mode, the vehicle is charged. The automatic charging robot can also be connected with a charging pile to play a role in transmission, and the electricity of the charging pile is transmitted to a vehicle charging port through the charging connector to charge the vehicle.
It is understood that the automatic charging robot may interact with the vehicle to be charged to facilitate confirmation of charging information, including but not limited to the charging requirements of the vehicle, whether charging is to begin, whether charging is to end, and the like.
The first device 1 includes a first communication device 11, a first camera 12 and a central processing unit 13. First communication device 11 is used for the transmission signal for waiting to charge the vehicle, and first camera 12 is used for shooing waiting to charge the vehicle and the vehicle flap of charging opens the developments, shoots data transfer and gives central processing unit 13, and central processing unit 13 is used for discerning the flap position that charges through shooting data to inform automatic charging robot after the flap that charges is opened completely, automatic charging robot can dock the connector that charges in the charging port of vehicle this moment, realizes the butt joint of vehicle and charges.
It can be understood that the first camera 12 can determine the position of the charging port according to the position of the charging port cover, and can shoot the opening dynamic state of the charging port cover in real time until the charging port cover is completely opened, and then inform the automatic charging robot.
The second device 2 comprises a second communication device 21 and an unlocking controller 22, wherein the second communication device 21 is arranged in the charging port cover and is used for receiving the signal sent by the first communication device 11. The unlocking controller 22 is connected with the vehicle-mounted computer, and is used for realizing the primary unlocking of the charging port cover after receiving a vehicle charging instruction, realizing the secondary unlocking of the charging port cover and opening the charging port cover after the second communication device 21 receives a signal, and closing and locking the charging port cover after the charging is finished.
It can be understood that the unlocking controller 22 is connected to the vehicle-mounted computer, and receives a vehicle charging command through the vehicle-mounted computer, where the charging command may be a charging permission authorization transmitted to the vehicle by the user, or the user actively presses a button of the charging port cover, and the unlocking controller 22 receives the charging point command to implement the first-stage unlocking, but the charging port cover is not opened after the first-stage unlocking. The purpose of the first-stage unlocking is to enable the unlocking controller 22 to realize second-stage unlocking after the second communication device 21 receives a signal after a user leaves the vehicle, so that the charging port cover is automatically opened, and the first-stage unlocking is equivalent to that the user grants the unlocking controller 22 the right of opening the charging port cover.
Preferably, the central processor 13 also includes a database for storing different vehicle models, and matching charging flap position information. First camera 12 still is used for shooing the vehicle that waits to charge to shoot data transmission for central processing unit 13, central processing unit 13 looks for the same vehicle in the database according to the vehicle that waits to charge that first camera 12 shot, and then obtains the flap positional information that charges that matches, and submits for automatic charging robot. Because the first camera 12 just can shoot the general appearance of whole vehicle outside a certain distance away from the vehicle that waits to charge, consequently can receive first communication device 11 signal at second communication device 21, before the flap that charges opens, just obtain the vehicle and charge mouthful position, realize the more quick discernment of vehicle charge mouthful position.
In addition, when the central processing unit 13 does not find the same vehicle in the database, the charger robot automatically runs around the vehicle to be charged, the first communication device 11 transmits a signal to the vehicle to be charged during running, the second communication device 21 receives the signal to realize secondary unlocking of the charging port cover and open the charging port cover, and the central processing unit 13 obtains the position of the charging port cover through the opening dynamic state of the charging port cover shot by the first camera 12. After the entire charging is completed, the central processing unit 13 may also add the vehicle information and the position of the matched charging port to the database, so as to facilitate the comparison and use of the subsequent vehicle charging.
As shown in fig. 2, another embodiment of the automatic charging robot and vehicle identification docking system is provided, which is based on the above system embodiment and includes the same system structure as the above embodiment, except that the second device 2 further includes a rechargeable authorization device 23. The rechargeable authorization device 23 is used for sending rechargeable authorization to the central processing unit 13 of the first device 1 after the charging port cover is completely opened, and the central processing unit 13 returns charging authorization confirmation information to the rechargeable authorization device 23 after informing the automatic charging robot. The rechargeable authorization device 23 is further configured to feed back the charging authorization confirmation information to the user through the vehicle-mounted computer, for example, the vehicle-mounted computer feeds back the charging authorization confirmation information by sending a message to the user. The addition of the rechargeable authorization device 23 provides safety guarantee for information interaction before vehicle charging.
Preferably, the present embodiment may further include a second camera 24, where the second camera 24 is disposed near the charging port cover and is used for shooting a real-time image of the fully opened charging port cover and sending the real-time image to the vehicle-mounted computer. For example, whether the automatic charging robot is accurately docked in the vehicle charging port or not, whether the automatic charging robot is pulled out of the charging port or not and the like are photographed, so that a user can more clearly know the charging state of the vehicle.
In the above embodiments, when the charging is finished, the first communication device is further configured to: when charging is finished, the automatic charging robot can receive disconnection information sent by the vehicle, and after the automatic charging robot extracts the charging connector from the charging port of the vehicle, the automatic charging robot informs the second device 2 that the charging connector is extracted, and the charging port cover is closed. Preferably, the first communication device 11 can inform the second apparatus 2 by transmitting the signal a plurality of times in succession, provided that the number of times the signal is transmitted is preset, for example, three times the signal is transmitted in succession, the first communication device 11 transmits the signal three times in succession, and the unlocking controller 22 is configured to close and lock the charging flap after the second communication device receives the signal three times in succession. This kind of mode is simple accurate, avoids charging the flap mistake and closes.
In the above embodiment, the first communication device 11 may be a wireless rf signal transmitter, and the second communication device 21 may be a wireless rf signal receiver.
Alternatively, the first communication device 11 and the second communication device 21 may both be NFC communication devices; still alternatively, the first communication device 11 and the second communication device 21 may be both bluetooth communication devices; alternatively, the first communication apparatus 11 and the second communication apparatus 21 may be both wireless network communication apparatuses.
As shown in fig. 3, a method for identifying and docking an automatic charging robot and a vehicle is provided, which is suitable for the above system embodiments, and specifically includes the following steps:
s101, the vehicle receives a charging instruction of a user and then informs the second device 2, the second device 2 receives the charging instruction of the user, primary unlocking of the charging opening cover is achieved through the unlocking controller 22, the charging opening cover is not opened at the moment, and the user can leave a parking position at the moment.
And S102, after receiving the charging demand information, the automatic charging robot determines a vehicle to be charged, moves around the vehicle to be charged, and simultaneously transmits a signal through the first communication device 11 of the first equipment 1.
And S103, when the automatic charging robot approaches the charging port cover, the second communication device 21 receives a signal sent by the first communication device 11, the unlocking controller 22 realizes secondary unlocking of the charging port cover, and the charging port cover is opened. Meanwhile, the first camera 12 photographs the opening state of the charging port cover in real time, that is, opens dynamic capture to the charging port cover, and the central processing unit 13 recognizes the position of the charging port.
S104, after the first camera 12 shoots that the charging port cover is completely opened, the central processing unit 13 informs the automatic charging robot that charging can be started; the automatic charger robot controls the charging connector to be connected to the charging port in a butt joint mode to charge the vehicle.
And S105, after the charging is finished, the unlocking controller 22 closes and locks the charging opening cover. Specifically, after charging is completed, the vehicle transmits disconnection information to the automatic charging robot, and after the automatic charging robot receives the disconnection information, the charging is disconnected, and the charging connector is pulled out. At this time, the automatic charging robot may transmit a leave message to the in-vehicle computer, the in-vehicle computer transmits the message to the unlocking controller 22, and the unlocking controller 22 closes and locks the charging port cover.
Preferably, after the automatic charging robot transmits the leaving message to the vehicle-mounted computer, the automatic charging robot makes a short distance round trip near the charging port and continuously transmits a plurality of signals along with the first communication device 11, and after the second communication device 21 receives the continuous signals, the unlocking controller 22 determines that the disconnection between the vehicle and the automatic charging robot is successful according to the disconnection information, and closes and locks the charging port cover. This preferred mode can make the judgment more accurate.
And S106, after the charging opening cover is closed and locked, the automatic charging robot leaves the vehicle to be charged, and the charging process is completed. As shown in fig. 4, another embodiment of a flow of an automatic charging robot and vehicle identification docking method is provided, which has the same steps as those of the above embodiment, but adds a database comparison step, and includes the following specific steps:
s201, the vehicle receives a charging instruction of a user and then informs the second device 2, the second device 2 receives the charging instruction of the user, primary unlocking of the charging opening cover is achieved through the unlocking controller 22, the charging opening cover is not opened at the moment, and the user can leave a parking position at the moment.
S202, after receiving the charging demand information, the automatic charging robot determines a vehicle to be charged, the first camera 12 shoots the vehicle to be charged, and shooting data are transmitted to the vehicle to be charged; a database is arranged in the central processing unit 13, and the database stores charging flap position information of different vehicles. The central processing unit 13 searches the same vehicle in the database according to the information, obtains the matched charging cover position information, and submits the information to the automatic charging robot.
S203. the automatic charging robot moves around the vehicle to be charged while the first communication device 11 of the first device 1 transmits a signal.
And S204, when the automatic charging robot approaches the charging port cover, the second communication device 21 receives a signal sent by the first communication device 11, the unlocking controller 22 realizes secondary unlocking of the charging port cover, and the charging port cover is opened. Meanwhile, the first camera 12 photographs the opening state of the charging port cover in real time, that is, opens dynamic capture to the charging port cover, and the central processing unit 13 recognizes the position of the charging port.
S205, after the first camera 12 shoots that the charging port cover is completely opened, the central processing unit 13 informs the automatic charging robot that charging can be started; the automatic charger robot controls the charging connector to be connected to the charging port in a butt joint mode to charge the vehicle. When the charging port cover is completely opened, the second camera 24 arranged near the charging port cover shoots, and real-time image records after the charging port is opened are synchronously transmitted to the vehicle.
S206, after charging is finished, the vehicle transmits disconnection information to the automatic charging robot, and after the automatic charging robot receives the disconnection information, the charging is disconnected, and the charging connector is pulled out.
And S207, the automatic charging robot can transmit a leaving message to the vehicle-mounted computer, and when the charging is finished, the automatic charging robot pulls out the charging connector from the charging port of the vehicle, and then the first communication device 11 continuously transmits a signal for three times.
And S208, after the second communication device 21 receives the continuous three-time signal, the unlocking controller 22 closes and locks the charging port cover.
S209, after the opening cover is closed and locked, the automatic charging robot leaves the vehicle to be charged, and the charging process is completed.
In the above embodiment, the unlocking controller 22 realizes the primary unlocking of the charging port cover after receiving the vehicle charging instruction, the first communication device 11 transmits a signal around the vehicle to be charged, and the unlocking controller 22 realizes the secondary unlocking of the charging port cover and opens the charging port cover after the second communication device 21 receives the signal, without manually completing the opening of the charging port cover. Simultaneously, the first camera 12 shoots the opening dynamic state of the charging opening cover, so that the position of the charging opening is obtained, and the position of the charging opening is rapidly identified.
Furthermore, the unlocking controller 22 realizes the primary unlocking of the charging port cover after receiving the vehicle charging instruction, at this time, the charging port cover is not opened, but the user can leave the vehicle without waiting near the vehicle, so that the full-automatic operation is realized, and the labor is saved. And before the flap that charges opens, the automatic charging robot can travel near the vehicle, and the signal of 11 launches of first communication device can be received by second communication device 21, and the flap that charges opens after realizing the second grade unblock, avoids the risk that the flap that charges opened in advance, even sleet weather, the butt joint of the robot that charges connects does not need very much of a specified duration yet, prevents that the mouth that charges from intaking or getting into other foreign matters.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic charging robot and vehicle recognition docking system is characterized in that the automatic charging robot is provided with a charging connector matched with a vehicle and can automatically run; the system comprises:
the first equipment is arranged on the automatic charging robot and comprises a first communication device, a first camera and a central processing unit; the automatic charging robot comprises a first communication device, a first camera, a central processing unit and an automatic charging robot, wherein the first communication device is used for transmitting signals, the first camera is used for shooting the opening dynamics of a vehicle and a vehicle charging opening cover, and the central processing unit is used for identifying the position of the charging opening cover through shooting and informing the automatic charging robot after the charging opening cover is completely opened;
the second device comprises a second communication device and an unlocking controller, wherein the second communication device is arranged on the charging port cover and is used for receiving the signal sent by the first communication device; the unlocking controller is connected with the vehicle-mounted computer and is used for realizing primary unlocking of the charging port cover after receiving a vehicle charging instruction, realizing secondary unlocking of the charging port cover after receiving a signal by the second communication device and opening the charging port cover; and the charging device is also used for closing and locking the charging opening cover after charging is finished.
2. The automated charging robot and vehicle identification docking system of claim 1, wherein said central processor further comprises a database for storing charging flap position information for different vehicles; the first camera is further used for shooting a vehicle to be charged, and the central processing unit searches the same vehicle in the database according to the vehicle to be charged shot by the first camera, obtains matched charging port cover position information and submits the charging port cover position information to the charging robot.
3. The automatic charging robot and vehicle identification docking system as claimed in claim 2, wherein when the central processing unit does not find the same vehicle in the database, the charging robot automatically travels, and the charging cover position is obtained according to the opening dynamics of the charging cover photographed by the first camera.
4. The automated charging robot and vehicle identification docking system as claimed in claim 1, wherein the second device further comprises a charging authorization means for sending a charging authorization to the central processor of the first device after the charging flap is fully opened, and for receiving a charging authorization confirmation message returned from the central processor and feeding back the charging authorization confirmation message to the user.
5. The automatic charging robot and vehicle identification docking system as claimed in claim 1, wherein said second device further comprises a second camera disposed near the charging port cover for capturing a real-time image of the charging port cover after it is fully opened for transmission to the onboard computer.
6. The automated charging robot and vehicle identification docking system of claim 1, wherein the first communication device is further configured to: when charging is finished, the automatic charging robot pulls out the charging connector from the charging port of the vehicle and then continuously sends signals for preset times; the unlocking controller is also used for closing and locking the charging opening cover after the second communication device receives the signals of the preset times.
7. The automated robotic charging and vehicle identification docking system according to any one of claims 1-6, wherein the first communication device is a wireless radio frequency signal transmitter and the second communication device is a wireless radio frequency signal receiver;
alternatively, the first communication device and the second communication device are both one of an NFC communication device, a bluetooth communication device, and a wireless network communication device.
8. An automatic charging robot and vehicle identification docking method based on the system of claim 1, which is characterized by comprising the following steps:
after receiving a charging instruction of the vehicle to be charged, the second equipment realizes primary unlocking of the charging opening cover through the unlocking controller;
after receiving the charging demand information, the automatic charging robot moves around the vehicle to be charged, and meanwhile, a first communication device of the first device transmits a signal;
when the automatic charging robot approaches the charging opening cover, the second communication device receives a signal sent by the first communication device, and the unlocking controller realizes secondary unlocking of the charging opening cover and opens the charging opening cover; meanwhile, the first camera shoots the opening state of the charging port cover in real time, and the central processing unit 13 identifies the position of the charging port;
after the first camera shoots that the charging opening cover is completely opened, the central processing unit informs the automatic charging robot that the charging can be started;
after charging is finished, the unlocking controller closes and locks the charging opening cover.
9. The automatic charging robot and vehicle identification and docking method according to claim 8, wherein the central processing unit stores charging flap position information of different vehicles through a database, and the central processing unit searches the same vehicle in the database according to the vehicle to be charged photographed by the first camera, obtains matched charging flap position information, and submits the matched charging flap position information to the charging robot.
10. The automatic charging robot and vehicle recognition and docking method according to claim 8, wherein the first communication device continuously transmits a signal for a preset number of times after the automatic charging robot pulls out the charging connector from the charging port of the vehicle when the charging is finished; and after the second communication device receives the signals of the preset times, the unlocking controller closes and locks the charging opening cover.
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