CN113682163A - Wireless charging method and system for unmanned vehicle and storage medium - Google Patents

Abstract

The application discloses a wireless charging method, a wireless charging system and a storage medium for an unmanned vehicle, which are used for improving the flexibility of wireless charging of the unmanned vehicle. The application discloses wireless charging method of unmanned car includes: the unmanned vehicle sends a charging request to a back-end system; the back-end system determines a charging vehicle according to the charging request; the rear-end system plans a path for the charging vehicle to reach the position of the unmanned vehicle and controls the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path; the charging vehicle charges the unmanned vehicle. The application also provides a wireless charging device and a storage medium of the unmanned vehicle.

Description

Wireless charging method and system for unmanned vehicle and storage medium

Technical Field

The present disclosure relates to the field of unmanned vehicles, and more particularly, to a wireless charging method and apparatus for an unmanned vehicle, and a storage medium.

Background

At present, an effective way is provided for solving the problem of safe and convenient charging of an unmanned vehicle by using a Wireless charging technology (WPT), and the Wireless charging technology has received wide attention of researchers at home and abroad in recent years. In the technical scheme at present, unmanned vehicle's wireless charging process majority utilizes fixed charging device such as electric pile that fills, lacks the flexibility.

Disclosure of Invention

In view of the foregoing technical problems, embodiments of the present application provide a wireless charging method and system for an unmanned vehicle, and a storage medium, so as to improve flexibility of wireless charging for the unmanned vehicle.

In a first aspect, an embodiment of the present application provides a wireless charging method for an unmanned vehicle, including:

the unmanned vehicle sends a charging request to a back-end system;

the back-end system determines a charging vehicle according to the charging request;

the rear-end system plans a path for the charging vehicle to reach the position of the unmanned vehicle and controls the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path;

the charging vehicle charges the unmanned vehicle.

Further, the charging vehicle still includes after charging the unmanned vehicle:

the charging vehicle sends a charging pile returning request and the current position of the charging vehicle to a back-end system;

the back-end system determines an idle charging pile which is closest to the charging vehicle according to the request of returning the charging pile;

and the back-end system plans a path from the charging vehicle to the charging pile and controls the charging vehicle to move to the charging pile.

Preferably, the sending of the charging request to the back-end system by the unmanned vehicle includes:

and when the unmanned vehicle detects that the electric quantity is lower than a first electric quantity threshold value, sending a charging request and the current position to the back-end system.

Preferably, the determining, by the backend system according to the charging request, the charging vehicle includes:

the back-end system determines a charging vehicle which is closest to the unmanned vehicle and is idle;

the existing electric quantity of the charging vehicle exceeds a second electric quantity threshold value.

Preferably, the planning, by the back-end system, a path for the charging vehicle to reach the position of the unmanned vehicle, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path includes:

acquiring the position and the orientation of the unmanned vehicle;

acquiring the position and the orientation of the charging vehicle;

setting a wireless charging area at one side of the unmanned vehicle;

generating a first driving track point reaching the central point position of the wireless charging area from the position of the charging vehicle on an environment map according to the position and the orientation of the unmanned vehicle, the position and the orientation of the charging vehicle and the central point position of the wireless charging area according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the first traveling track points.

Preferably, the back-end system controlling the charging vehicle to sequentially pass through each first travel track point includes:

the method comprises the following steps that in the movement process of the charging vehicle, whether the charging vehicle reaches the position of a central point of a wireless charging area is detected;

if the wireless charging area reaches the central point position, stopping moving;

if the wireless charging area does not reach the central point position, detecting whether other objects exist around the wireless charging area;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset first distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the back-end system regenerates a second running track point reaching the central point position of the wireless charging area from the position of the charging vehicle according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the central point position of the wireless charging area and the positions of other objects on the environment map according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the second running track points.

Preferably, the setting of the wireless charging area at one side of the unmanned vehicle includes:

and setting the wireless charging area according to the effective distance of wireless charging and the shortest safe distance between the unmanned vehicle and the charging vehicle.

Preferably, the charging vehicle charging the unmanned vehicle includes:

the charging car turns on a charging circuit switch to start the transmitting terminal device;

after the unmanned vehicle detects that the charging vehicle reaches a wireless charging area, a charging circuit switch is turned on, and a receiving end device is started;

after the unmanned vehicle detects that the unmanned vehicle is full of electric quantity, a signal of charging completion is sent to the charging vehicle, and a charging circuit switch is turned off;

and after the charging vehicle receives the charging completion signal, closing the charging circuit switch.

Preferably, the planning, by the backend system, a path from the charging vehicle to the charging pile, and the controlling the charging vehicle to move to the charging pile includes:

the back-end system generates a third driving track point of the charging vehicle from the current position to the charging pile position on an environment map according to the received position of the charging vehicle, the body orientation of the charging vehicle and the charging pile position and a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the third traveling track points.

Preferably, the back-end system controls the charging vehicle to sequentially pass through each third travel track point, and the method includes:

the charging vehicle detects whether the charging vehicle reaches the position of the charging pile or not in the movement process;

if the charging pile position is detected to be reached, stopping moving;

if the charging pile position is not detected, detecting whether other objects exist around the charging pile;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset second distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the rear-end system regenerates a fourth driving track point from the position of the charging vehicle to the position of the charging pile on the environment map according to a preset algorithm according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the position of the charging pile and the positions of other objects;

and the rear-end system controls the charging vehicle to sequentially pass through the fourth driving track points.

Preferably, the preset algorithm includes:

mixing A algorithm and kinetic parameters of the charging vehicle.

By using the method provided by the invention, firstly, the back-end system determines the charging vehicle according to the charging request of the unmanned vehicle, plans the path of the charging vehicle to the unmanned vehicle, controls the charging vehicle to reach the charging area of the unmanned vehicle, sends the request of returning to the charging pile to the back-end system after the charging is finished, plans the path of the charging vehicle to the charging pile according to the request of returning to the charging pile, and controls the charging vehicle to return to the charging pile for charging, thereby improving the charging flexibility of the unmanned vehicle.

In a second aspect, an embodiment of the present application further provides a wireless charging system for an unmanned vehicle, including:

the unmanned vehicle is configured to send a charging request to the back-end system and receive the charging of the charging vehicle;

a backend system configured to determine a charging vehicle according to the charging request; planning a path for the charging vehicle to reach the position of the unmanned vehicle, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path;

a charging cart configured to move to a wireless charging area around the unmanned cart under control of the backend system to charge the unmanned cart.

Further, the charging car is used for sending a charging pile return request and the position of the current charging car to a back-end system;

the back-end system is used for determining an idle charging pile which is closest to the charging vehicle according to the request of returning the charging pile;

the back-end system is used for planning a path from the charging vehicle to the charging pile and controlling the charging vehicle to move to the charging pile.

In a third aspect, an embodiment of the present application further provides a wireless charging device for an unmanned vehicle, which is applied to a backend system, and includes: a memory, a processor, and a user interface;

the memory for storing a computer program;

the user interface is used for realizing interaction with a user;

the processor is used for reading the computer program in the memory, and when the processor executes the computer program, the processor realizes that:

determining a charging vehicle according to the charging request of the unmanned vehicle;

planning a path of the charging vehicle to the position of the unmanned vehicle, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path.

Further, when the processor executes the computer program, the method further comprises:

according to a charging pile returning request sent by the charging vehicle, determining an idle charging pile which is closest to the charging vehicle;

planning a path from the charging vehicle to the charging pile, and controlling the charging vehicle to move to the charging pile.

In a fourth aspect, an embodiment of the present invention further provides a processor-readable storage medium, where a computer program is stored, and when the computer program is executed by the processor, the processor implements the wireless charging method for an unmanned vehicle provided by the present invention.

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 view illustrating a wireless charging method for an unmanned vehicle according to an embodiment of the present disclosure;

fig. 2 is a second schematic view illustrating a wireless charging method for an unmanned vehicle according to an embodiment of the present application;

fig. 3 is a schematic diagram of a relationship between a backend system, a charging vehicle and an unmanned vehicle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an environment map provided by an embodiment of the present application;

fig. 5 is one of schematic diagrams illustrating a path from a charging vehicle to a charging area of an unmanned vehicle according to an embodiment of the present application;

fig. 6 is a second schematic diagram illustrating a path from the charging vehicle to the charging area of the unmanned vehicle according to the embodiment of the present application;

fig. 7 is a schematic view illustrating that the charging vehicle provided by the embodiment of the present application charges an unmanned vehicle;

fig. 8 is a schematic diagram illustrating a path planning of a charging car returning charging pile according to an embodiment of the present disclosure;

fig. 9 is a schematic view of another wireless charging system for an unmanned vehicle according to an embodiment of the present application;

fig. 10 is a schematic diagram of a back-end system of the unmanned vehicle wireless charging system according to the embodiment of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the 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 invention.

Some of the words that appear in the text are explained below:

1. the term "and/or" in the embodiments of the present invention describes an association relationship of associated objects, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

2. In the embodiments of the present application, the term "plurality" means two or more, and other terms are similar thereto.

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 only a part of the embodiments of the present application, and not all of the 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.

It should be noted that the display sequence of the embodiment of the present application only represents the sequence of the embodiment, and does not represent the merits of the technical solutions provided by the embodiments.

Example one

Referring to fig. 1, a schematic diagram of a wireless charging method for an unmanned vehicle according to an embodiment of the present application is shown in fig. 1, where the method includes steps S101 to S104:

s101, sending a charging request to a back-end system by the unmanned vehicle;

s102, the rear-end system determines a charging vehicle according to the charging request;

s103, planning a path of the charging vehicle to the position of the unmanned vehicle by the back-end system, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path;

and S104, the charging vehicle charges the unmanned vehicle.

In the embodiment of the invention, the relation between the charging vehicle, the unmanned vehicle and the rear-end system is shown in fig. 3, the unmanned vehicle is in wireless communication connection with the rear-end system, the charging vehicle is also in wireless communication connection with the rear-end system, and the charging vehicle is also in wireless communication connection with the unmanned vehicle. As a preferred example, the wireless communication connection includes, but is not limited to: WIFI connection, Bluetooth connection, mobile communication network connection and the like.

The unmanned vehicle sends a charging request to the back-end system through wireless communication connection between the unmanned vehicle and the back-end system, and the charging vehicle receives a charging task through wireless communication connection between the charging vehicle and the back-end system. The unmanned vehicle and the charging vehicle are connected through wireless communication to exchange charging state information, such as information of charging completion, charging start, charging shutdown and the like.

As a preferable example, in S101 according to an embodiment of the present invention, sending a charging request to a back-end system by an unmanned vehicle includes:

and when the unmanned vehicle detects that the electric quantity is lower than a first electric quantity threshold value, sending a charging request and the current position to the back-end system.

Wherein the power is expressed as a percentage of the remaining power, and the first power threshold is preset, for example, the first power threshold is 30%, that is, when the unmanned vehicle detects that the power is lower than 30%, the charging request is sent to the back-end system.

It should be noted that the current position of the unmanned vehicle refers to position information on an environment map, where the environment map is stored in the backend system in advance. The environment map comprises map information of working environments of the unmanned vehicle and the charging vehicle, and comprises a passable area, an obstacle position, a charging pile position, a terrain and an area shape, for example, as shown in fig. 4.

As a preferable example, in S102 according to an embodiment of the present invention, the determining, by the backend system according to the charging request, that the charging vehicle includes:

the back-end system determines a charging vehicle which is closest to the unmanned vehicle and is idle;

the existing electric quantity of the charging vehicle exceeds a second electric quantity threshold value.

That is to say, after receiving the charging request of the unmanned vehicle and the position of the unmanned vehicle, the back-end system searches for the nearest charging vehicle from all the charging vehicles, and the charging vehicle is idle, and the existing electric quantity of the charging vehicle exceeds the second electric quantity threshold. The distance between the unmanned vehicle and the charging vehicle is a linear distance or a Manhattan distance or a distance preset by other systems; the second power threshold is preset, and as a preferred example, the second power threshold is 60%.

For example, the backend system may search for a charging cart as follows:

the method comprises the following steps:

a1: searching idle charging vehicles to obtain a first charging vehicle list;

a2: searching a charging vehicle with the existing electric quantity exceeding a second electric quantity threshold value in the first charging vehicle list to obtain a second charging vehicle list;

a3; and calculating the distances between all the charging vehicles in the second charging vehicle list and the unmanned vehicle, and selecting the charging vehicle with the minimum distance.

The second method comprises the following steps:

b1: searching the charging vehicles with the existing electric quantity exceeding a second electric quantity threshold value to obtain a third charging vehicle list;

b2: searching an idle charging vehicle in the third charging vehicle list to obtain a fourth charging vehicle list;

b3; and calculating the distances between all the charging vehicles in the fourth charging vehicle list and the unmanned vehicle, and selecting the charging vehicle with the minimum distance.

The third method comprises the following steps:

c1: calculating the distances between all the charging vehicles and the unmanned vehicle, and sequencing the charging vehicles from small to large according to the distances;

c2: searching the charging cars with the existing electric quantity exceeding a second electric quantity threshold value to obtain a fifth charging car list;

c3; and searching idle charging vehicles in the fifth charging vehicle list according to the sequence of the distances from small to large, wherein the searched first charging vehicle is the selected charging vehicle.

The method four comprises the following steps:

d1: calculating the distances between all the charging vehicles and the unmanned vehicle, and sequencing the charging vehicles from small to large according to the distances;

d2: searching idle charging vehicles to obtain a sixth charging vehicle list;

d3; and searching the charging vehicles with the existing electric quantity exceeding the second electric quantity threshold value in the sixth charging vehicle list from small to large, wherein the searched first charging vehicle is the selected charging vehicle.

As a preferable example, in S103 according to an embodiment of the present invention, the planning, by the back-end system, a path of the charging vehicle to the unmanned vehicle location, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path includes:

acquiring the position and the orientation of the unmanned vehicle;

acquiring the position and the orientation of the charging vehicle;

and setting a wireless charging area at one side of the unmanned vehicle.

As a preferred example, the position determination is based on the position of the unmanned vehicle charging receiver coil. The power receiving coil (also called receiving coil) of the power battery of the unmanned vehicle is arranged on one side of the unmanned vehicle body. When the position and orientation of the unmanned vehicle are obtained, a charging area is set on the side close to the power receiving coil of the battery of the unmanned vehicle according to the position of the power receiving coil of the battery of the unmanned vehicle on the vehicle body.

As a preferable example, the wireless charging distance is set according to the distance and position between the transmitting coil of the charging vehicle and the receiving coil of the unmanned vehicle. For example, when the charging vehicle is charged, the transmitting coil is over against the unmanned vehicle receiving coil, the charging vehicle is not in contact with the unmanned vehicle, and the distance between the charging vehicle and the unmanned vehicle exceeds 2 meters. The charging area may be rectangular, circular, square, or other shape.

It should be noted that, the unmanned vehicle and the charging vehicle both carry navigation equipment, including: the navigation system comprises an Inertial Measurement Unit (IMU) and Real-time kinematic (RTK) equipment, wherein the navigation equipment directly obtains the position and the orientation of a vehicle according to data of a vehicle-mounted IMU and data of a satellite navigation system, the satellite navigation system can be a Beidou satellite navigation system or a Global Positioning System (GPS) satellite navigation system, and the embodiment of the invention is not limited.

Generating a first driving track point reaching the central point position of the wireless charging area from the position of the charging vehicle on an environment map according to the position and the orientation of the unmanned vehicle, the position and the orientation of the charging vehicle and the central point position of the wireless charging area according to a preset algorithm; the method comprises the steps that a charging vehicle is charged by a user, the position of the charging vehicle is determined according to the position of the charging vehicle, the orientation of the charging vehicle, the position of a center point of a wireless charging area and an environment map, the environment map is input into the back-end system by the user in advance, the position of the center point of the wireless charging area is used as a terminal position, path planning of the charging vehicle is carried out by using a preset algorithm, and a first traveling track point of the charging vehicle is generated.

It should be noted that, as a preferred example, the preset algorithm is a hybrid a-algorithm and the kinetic parameters of the charging vehicle.

And the rear-end system controls the charging vehicle to sequentially pass through the first traveling track points.

As shown in fig. 5, according to the hybrid a-x algorithm, when a route of the charging vehicle is planned, the current position and orientation are obtained first, and 6 trajectory points to be selected are generated at one position.

The track point 2 is a position of a first decision distance towards the current heading, the first decision distance is set in the system in advance and is set according to the maximum outline size of the vehicle body and the minimum turning radius size of the vehicle, and the dynamic parameters comprise the maximum outline size of the vehicle body, the minimum turning radius and the maximum steering angle. The first decision distance is set to 1 meter.

The trace point 5 is a position that recedes toward the current orientation by a first decision distance;

the track point 1 is a position which moves to the left front direction by a first decision distance according to a maximum turning angle corresponding to the minimum turning radius of the charging vehicle;

the track point 3 is a position which moves to the right front direction by a first decision distance according to the maximum turning angle corresponding to the minimum turning radius of the charging vehicle;

the track point 4 is a position which moves a first decision distance to the left and back direction according to the maximum turning angle corresponding to the minimum turning radius of the charging vehicle;

the track point 6 is a position which moves to the right rear direction by a first decision distance according to the maximum turning angle corresponding to the minimum turning radius of the charging vehicle;

after 6 track points are determined, an evaluation value of each track point is calculated, the evaluation value considers whether the position is occupied by an obstacle, whether the position can be reached by backing the vehicle, whether the position can be reached by turning the vehicle and the distance between the position and the end position, and the distance is calculated by an A-star algorithm. The evaluation value of the trace point is calculated by the following formula:

wherein, f (i) is the evaluation value of the ith track point;

a₁setting the position cost value of the obstacle as a maximum value, such as 999999, or setting the position cost value as a numerical value corresponding to the area of the environment map;

judging a coefficient for the position of the obstacle, wherein when the position of the ith track point is occupied by the obstacle, the value is 1, otherwise, the value is 0;

a₂a fallback path cost value, which is 1.5 times the first decision distance, may also be set to other values in the system;

judging a coefficient for a backward path, wherein the position of the ith track point can be reached only when the vehicle needs to backward, the value is 1, and otherwise, the value is 0;

a₃a turn-around-path cost value that is 1.2 times the first decision distance, or other values may be set at the system;

judging a coefficient for a steering path, wherein the position of the ith track point can be reached only by steering the vehicle, the value is 1, and otherwise, the value is 0;

a₄calculating the distance from the ith trace point to the end point by using an A algorithm;

and then selecting the track point with the minimum evaluation value, judging whether the distance between the track point and the end point exceeds a first decision distance, if so, selecting the next track point by taking the track point with the minimum evaluation value as the current position until the distance between the selected track point and the end point does not exceed the first decision distance, and sequentially saving the position and the end point of the selected track point to form a first driving track point.

It should be noted that, in the embodiment of the present invention, the a-Star algorithm is a most effective direct search method for solving the shortest path in a static road network, and can quickly plan the shortest path from a start position to an end position in the road network. The algorithm a is a typical heuristic search algorithm, which is to search in a state space, evaluate each searched position to obtain the best position, and then search from the position to the end position. The hybrid a-algorithm is a path planning algorithm that applies the a-algorithm to a kinematic state space. The method provides an algorithm meeting the vehicle kinematics for the first time in 2010 by Stanford, and the important difference between the algorithm and A-algorithm is that the algorithm takes the kinematic constraint of the vehicle into consideration, and the method is also used for planning the shortest path from the starting position to the end position in a kinematic state space.

It should be noted that the position of the wireless charging area is set according to the effective distance of wireless charging and the shortest safe distance between the unmanned vehicle and the charging vehicle.

After the first travel track point is determined, a back-end system controls the charging vehicle to sequentially pass through the first travel track points, and the method comprises the following steps:

the method comprises the following steps that in the movement process of the charging vehicle, whether the charging vehicle reaches the position of a central point of a wireless charging area is detected;

if the wireless charging area reaches the central point position, stopping moving;

if the wireless charging area does not reach the central point position, detecting whether other objects exist around the wireless charging area;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset first distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the back-end system regenerates a second running track point reaching the central point position of the wireless charging area from the position of the charging vehicle according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the central point position of the wireless charging area and the positions of other objects on the environment map according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the second running track points.

For example, as shown in fig. 6, the controlling, by the backend system, the charging vehicle to sequentially pass through each of the first travel track points includes:

the rear-end system controls the charging vehicle to sequentially pass through each running track point, in the moving process of the charging vehicle, the charging vehicle detects whether other objects exist around by using sensors such as a carried laser radar, a camera and a millimeter wave radar, and when the fact that the distance between the other objects and the vehicle body of the charging vehicle is smaller than a set range value is detected, the charging vehicle decelerates and stops moving;

after the rechargeable vehicle stops moving, the back-end system takes the position of the central point of the wireless charging area as the end point position again according to the parking position of the rechargeable vehicle, the vehicle body orientation of the current parking state of the rechargeable vehicle, the position of the central point of the wireless charging area, an environment map and the detected position information of an object influencing the movement of the rechargeable vehicle, the path planning of the rechargeable vehicle is re-planned by utilizing a hybrid A-algorithm and the dynamic parameters of the rechargeable vehicle, a new running track point of the rechargeable vehicle is generated, and the back-end system continues to control the rechargeable vehicle to move according to the new running track point until the position of the central point of the wireless charging area is reached.

As a preferable example, in S104 according to the embodiment of the present invention, the charging vehicle charging the unmanned vehicle includes:

the charging car turns on a charging circuit switch to start the transmitting terminal device;

after the unmanned vehicle detects that the charging vehicle reaches a wireless charging area, a charging circuit switch is turned on, and a receiving end device is started;

after the unmanned vehicle detects that the unmanned vehicle is full of electric quantity, a signal of charging completion is sent to the charging vehicle, and a charging circuit switch is turned off;

and after the charging vehicle receives the charging completion signal, closing the charging circuit switch.

For example, as shown in fig. 7, the charging vehicle charging the unmanned vehicle includes:

e1, when the charging vehicle reaches the appointed wireless charging area, the charging circuit switch of the charging vehicle is turned on, and the transmitting terminal device is started, wherein the transmitting terminal mainly comprises a switch circuit, a waveform generating circuit and a primary coil circuit;

e2, after the unmanned vehicle detects that the charging vehicle reaches a wireless charging area nearby, a charging circuit switch of the unmanned vehicle is turned on, and a receiving end device is started, wherein the receiving end mainly comprises a rectifying and filtering circuit, a voltage stabilizing circuit and a secondary coil circuit;

e3, after the unmanned vehicle detects the full charge, sending a signal of charging completion to the charging vehicle, and closing a charging circuit switch of the unmanned vehicle;

e4, after the charging car receives the signal of charging completion, the charging circuit switch of the charging car is closed. .

Example two

Referring to fig. 2, a schematic diagram of a wireless charging method for an unmanned vehicle according to an embodiment of the present application is shown in fig. 2, where the method includes steps S201 to S207:

s201, sending a charging request to a rear-end system by an unmanned vehicle;

s202, the back-end system determines a charging vehicle according to the charging request;

s203, the back-end system plans a path for the charging vehicle to reach the position of the unmanned vehicle, and controls the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path;

and S204, the charging vehicle charges the unmanned vehicle.

S205, the charging vehicle sends a charging pile return request and the position of the current charging vehicle to a back-end system;

s206, the back-end system determines an idle charging pile which is closest to the charging vehicle according to the returned charging pile request;

and S207, the back-end system plans a path from the charging vehicle to the charging pile and controls the charging vehicle to move to the charging pile.

It should be noted that, in S201, sending a charging request to the back-end system by the unmanned vehicle is the same as in S101, and details are not described here;

it should be noted that, in S202, the back-end system determines that the charging vehicle is the same as the charging vehicle in S102 according to the charging request, and details are not repeated herein;

it should be noted that, in S203, the back-end system plans a path where the charging vehicle reaches the position of the unmanned vehicle, and controls the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path, which is the same as S103 and is not described herein again;

it should be noted that, in S204, the charging vehicle charges the unmanned vehicle the same as in S104, and details are not repeated herein;

as a preferable example, in S205 of the embodiment of the present invention, the sending, by the charging vehicle to the backend system, the request to return to the charging pile and the current location of the charging vehicle include:

and after receiving the charging completion signal, the charging vehicle closes a charging circuit switch of the charging vehicle and sends a charging pile return request and the current position of the charging vehicle to the back-end system.

As a preferable example, in S206 according to the embodiment of the present invention, the back-end system determines, according to the request for returning to the charging pile, the charging pile that is closest to the charging vehicle and is idle, and the method may be performed as follows:

the method five comprises the following steps:

f1: searching an idle charging pile by a back-end system to form a first charging pile list;

f2: and calculating the distance between the charging pile in the first charging pile list and the charging vehicle, and selecting the charging pile with the minimum distance.

The method six:

f1: the rear-end system calculates the distances between all the charging piles and the charging vehicle, and arranges the charging piles from small to large according to the distances to form a second charging pile list;

f2: and searching idle charging piles in the second charging pile list according to the sequence of the distances from small to large, wherein the searched first charging pile is the selected charging pile.

As a preferable example, in S207 in the embodiment of the present invention, the planning, by the back-end system, a path from the charging vehicle to the charging pile, and controlling the charging vehicle to move to the charging pile includes:

the back-end system generates a third driving track point of the charging vehicle from the current position to the charging pile position on an environment map according to the received position of the charging vehicle, the body orientation of the charging vehicle and the charging pile position and a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the third traveling track points.

Further, the charging vehicle detects whether the charging pile reaches the position of the charging pile in the movement process;

if the charging pile position is detected to be reached, stopping moving;

if the charging pile position is not detected, detecting whether other objects exist around the charging pile;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset second distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the rear-end system regenerates a fourth driving track point from the position of the charging vehicle to the position of the charging pile on the environment map according to a preset algorithm according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the position of the charging pile and the positions of other objects;

and the rear-end system controls the charging vehicle to sequentially pass through the fourth driving track points.

It should be noted that, in the present embodiment, the preset algorithm includes a hybrid a-algorithm and the dynamic parameters of the charging vehicle.

For example, as shown in fig. 8, the back-end system planning a path from the charging vehicle to the charging post, and controlling the charging vehicle to move to the charging post includes:

the back-end system takes the charging pile position as an end point position according to the received charging car position, the body orientation of the charging car, the charging pile position and an environment map, performs path planning on the charging car by using a traditional hybrid A-star algorithm and the dynamic parameters of the charging car, and generates a charging car running track point;

the rear-end system controls the charging vehicle to sequentially pass through each running track point, in the moving process of the charging vehicle, the charging vehicle detects whether other objects exist around by using sensors such as a carried laser radar, a camera and a millimeter wave radar, and when the fact that the distance between the other objects and the vehicle body of the charging vehicle is smaller than a set range value is detected, the charging vehicle decelerates and stops moving;

after the charging vehicle stops moving, the rear-end system takes the charging pile position as the end position again according to the parking position of the charging vehicle, the vehicle body orientation of the current parking state of the charging vehicle, the charging pile position, the environment map and the detected position information of the object influencing the movement of the charging vehicle, the path planning of the charging vehicle is re-planned by utilizing a hybrid A-algorithm, a new charging vehicle running track point is generated, and the rear-end system continues to control the charging vehicle to move according to the new running track point until the charging pile position is reached.

According to the method, in the process that the charging vehicle moves forwards to the unmanned vehicle and returns to the charging pile from the charging vehicle, all the optimal track points are connected to form the running track through planning the reasonable running track and continuously correcting the running track in the moving process and selecting the optimal next track point, so that the optimal running path is obtained.

According to the method, after the unmanned vehicle charging request is received, the rear-end system selects the best charging vehicle according to the distance between the charging vehicle and the unmanned vehicle, whether the charging vehicle is idle or not, the existing electric quantity and the like, and therefore effectiveness of the charging process and efficiency of path planning are improved.

According to the method, after the charging vehicle finishes charging of the unmanned vehicle, the optimal charging pile is selected according to the distance between the charging vehicle and the charging pile, whether the charging pile is idle and other factors, and therefore the efficiency of path planning of the charging vehicle returning to the charging pile is improved.

EXAMPLE III

Based on the same inventive concept, an embodiment of the present invention further provides a wireless charging system for an unmanned vehicle, as shown in fig. 9, the system includes:

an unmanned vehicle 801 configured to send a charging request to a backend system, and receive charging of a charging vehicle;

a backend system 802 configured to determine a charging vehicle according to the charging request; planning a path for the charging vehicle to reach the position of the unmanned vehicle, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path;

a charging cart 803 configured to move to a wireless charging area around the unmanned cart under control of the backend system to charge the unmanned cart.

It should be noted that the unmanned vehicle 801 provided in this embodiment can implement all functions included in the unmanned vehicle in the first embodiment or the second embodiment, solve the same or similar technical problems, achieve the same or similar technical effects, and are not described herein again;

it should be noted that the charging cart 803 provided in this embodiment can implement all functions included in the charging cart in the first embodiment or the second embodiment, solve the same or similar technical problems, achieve the same or similar technical effects, and are not described herein again;

as a preferred example, the charging cart 803 is further configured to:

and sending a charging pile returning request and the position of the current charging vehicle to a back-end system.

As a preferred example, the backend system 802 is further configured to:

according to the request for returning the charging piles, determining the charging pile which is closest to the charging vehicle and is idle;

planning a path from the charging vehicle to the charging pile, and controlling the charging vehicle to move to the charging pile.

As a preferred example, the back-end system 802 is further configured to plan a path for the charging vehicle to reach the unmanned vehicle location according to the following steps, and control the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path:

acquiring the position and the orientation of the unmanned vehicle;

a position and orientation of the charging vehicle;

setting a wireless charging area at one side of the unmanned vehicle;

generating a first driving track point reaching the central point position of the wireless charging area from the position of the charging vehicle on an environment map according to the position and the orientation of the unmanned vehicle, the position and the orientation of the charging vehicle and the central point position of the wireless charging area according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the first traveling track points.

The rear-end system controls the charging vehicle to detect whether the charging vehicle reaches the position of the central point of the wireless charging area in the movement process;

if the wireless charging area reaches the central point position, stopping moving;

if the wireless charging area does not reach the central point position, detecting whether other objects exist around the wireless charging area;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset first distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the back-end system regenerates a second running track point reaching the central point position of the wireless charging area from the position of the charging vehicle according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the central point position of the wireless charging area and the positions of other objects on the environment map according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the second running track points.

As a preferred example, the back-end system 802 is further configured to plan a path from the charging vehicle to the charging post and control the charging vehicle to move to the charging post according to the following steps:

the back-end system generates a third driving track point of the charging vehicle from the current position to the charging pile position on an environment map according to the received position of the charging vehicle, the body orientation of the charging vehicle and the charging pile position and a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the third traveling track points.

The rear-end system controls the charging vehicle to detect whether the charging vehicle reaches the position of the charging pile or not in the movement process;

if the charging pile position is detected to be reached, stopping moving;

if the charging pile position is not detected, detecting whether other objects exist around the charging pile;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset second distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the rear-end system regenerates a fourth driving track point from the position of the charging vehicle to the position of the charging pile on the environment map according to a preset algorithm according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the position of the charging pile and the positions of other objects;

and the rear-end system controls the charging vehicle to sequentially pass through the fourth driving track points.

It should be noted that the apparatus provided in the third embodiment and the method provided in the first embodiment or the second embodiment belong to the same inventive concept, the same technical problems are solved, the same technical effects are achieved, the apparatus provided in the second embodiment can implement all the methods of the first embodiment, and the same parts are not described again.

Example four

Based on the same inventive concept, an embodiment of the present invention further provides a wireless charging device for an unmanned vehicle, which is applied to a back-end system, as shown in fig. 10, and the device includes:

including memory 902, processor 901, and user interface 903;

the memory 902 is used for storing computer programs;

the user interface 903 is used for realizing interaction with a user;

the processor 901 is configured to read the computer program in the memory 902, and when the processor 901 executes the computer program, the processor is configured to:

determining a charging vehicle according to the charging request of the unmanned vehicle;

planning a path of the charging vehicle to the position of the unmanned vehicle, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path.

As a preferred example, when the processor 901 executes the computer program, it further implements:

according to a charging pile returning request sent by the charging vehicle, determining an idle charging pile which is closest to the charging vehicle;

planning a path from the charging vehicle to the charging pile, and controlling the charging vehicle to move to the charging pile.

As a preferred example, the processor 901, when executing the computer program, implements:

acquiring the position and the orientation of the unmanned vehicle;

a position and orientation of the charging vehicle;

setting a wireless charging area at one side of the unmanned vehicle;

generating a first driving track point reaching the central point position of the wireless charging area from the position of the charging vehicle on an environment map according to the position and the orientation of the unmanned vehicle, the position and the orientation of the charging vehicle and the central point position of the wireless charging area according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the first traveling track points.

The rear-end system controls the charging vehicle to detect whether the charging vehicle reaches the position of the central point of the wireless charging area in the movement process;

if the wireless charging area reaches the central point position, stopping moving;

if the wireless charging area does not reach the central point position, detecting whether other objects exist around the wireless charging area;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset first distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the back-end system regenerates a second running track point reaching the central point position of the wireless charging area from the position of the charging vehicle according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the central point position of the wireless charging area and the positions of other objects on the environment map according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the second running track points.

As a preferred example, the processor 901, when executing the computer program, implements:

the back-end system generates a third driving track point of the charging vehicle from the current position to the charging pile position on an environment map according to the received position of the charging vehicle, the body orientation of the charging vehicle and the charging pile position and a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the third traveling track points.

The rear-end system controls the charging vehicle to detect whether the charging vehicle reaches the position of the charging pile or not in the movement process;

if the charging pile position is detected to be reached, stopping moving;

if the charging pile position is not detected, detecting whether other objects exist around the charging pile;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset second distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the rear-end system regenerates a fourth driving track point from the position of the charging vehicle to the position of the charging pile on the environment map according to a preset algorithm according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the position of the charging pile and the positions of other objects;

and the rear-end system controls the charging vehicle to sequentially pass through the fourth driving track points.

Where in fig. 10 the bus architecture may include any number of interconnected buses and bridges, in particular one or more processors represented by processor 901 and various circuits of memory represented by memory 902 linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The processor 501 is responsible for managing the bus architecture and general processing, and the memory 902 may store data used by the processor 901 in performing operations.

The processor 901 may be a CPU, an ASIC, an FPGA or a CPLD, and the processor 901 may also adopt a multi-core architecture.

The processor 901 implements the wireless charging method for any one of the unmanned vehicles in the first embodiment or the second embodiment when executing the computer program stored in the memory 902.

It should be noted that the apparatus provided in the fourth embodiment and the method provided in the first embodiment or the second embodiment belong to the same inventive concept, the same technical problems are solved, the same technical effects are achieved, the apparatus provided in the third embodiment can implement all the methods of the first embodiment, and the same parts are not described again.

The present application also proposes a processor-readable storage medium. The processor-readable storage medium stores a computer program, and the processor executes the computer program to implement the wireless charging method for any one of the unmanned vehicles according to the first embodiment.

It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (16)

1. A wireless charging method of an unmanned vehicle, comprising:

the unmanned vehicle sends a charging request to a back-end system;

the back-end system determines a charging vehicle according to the charging request;

the rear-end system plans a path for the charging vehicle to reach the position of the unmanned vehicle and controls the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path;

the charging vehicle charges the unmanned vehicle.

2. The method of claim 1, wherein the charging vehicle further comprises, after charging the unmanned vehicle:

the charging vehicle sends a charging pile returning request and the current position of the charging vehicle to a back-end system;

the back-end system determines an idle charging pile which is closest to the charging vehicle according to the request of returning the charging pile;

and the back-end system plans a path from the charging vehicle to the charging pile and controls the charging vehicle to move to the charging pile.

3. The method of claim 1, wherein sending a charging request to a backend system by the unmanned vehicle comprises:

and when the unmanned vehicle detects that the electric quantity is lower than a first electric quantity threshold value, sending a charging request and the current position to the back-end system.

4. The method of claim 1, wherein the backend system determining, from the charging request, a charging vehicle comprises:

the back-end system determines a charging vehicle which is closest to the unmanned vehicle and is idle;

the existing electric quantity of the charging vehicle exceeds a second electric quantity threshold value.

5. The method of claim 1, wherein the backend system plans a path for the charging vehicle to reach the unmanned vehicle location, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path comprises:

acquiring the position and the orientation of the unmanned vehicle;

acquiring the position and the orientation of the charging vehicle;

setting a wireless charging area at one side of the unmanned vehicle;

generating a first driving track point reaching the central point position of the wireless charging area from the position of the charging vehicle on an environment map according to the position and the orientation of the unmanned vehicle, the position and the orientation of the charging vehicle and the central point position of the wireless charging area according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the first traveling track points.

6. The method of claim 5, wherein the backend system controlling the charging vehicle to sequentially pass through the respective first travel trajectory points comprises:

the method comprises the following steps that in the movement process of the charging vehicle, whether the charging vehicle reaches the position of a central point of a wireless charging area is detected;

if the wireless charging area reaches the central point position, stopping moving;

if the wireless charging area does not reach the central point position, detecting whether other objects exist around the wireless charging area;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset first distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the back-end system regenerates a second running track point reaching the central point position of the wireless charging area from the position of the charging vehicle according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the central point position of the wireless charging area and the positions of other objects on the environment map according to a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the second running track points.

7. The method of claim 5, wherein the setting a wireless charging area on a side of the unmanned vehicle comprises:

and setting the wireless charging area according to the effective distance of wireless charging and the shortest safe distance between the unmanned vehicle and the charging vehicle.

8. The method of claim 1, wherein the charging vehicle charging the unmanned vehicle comprises:

the charging car turns on a charging circuit switch to start the transmitting terminal device;

after the unmanned vehicle detects that the charging vehicle reaches a wireless charging area, a charging circuit switch is turned on, and a receiving end device is started;

after the unmanned vehicle detects that the unmanned vehicle is full of electric quantity, a signal of charging completion is sent to the charging vehicle, and a charging circuit switch is turned off;

and after the charging vehicle receives the charging completion signal, closing the charging circuit switch.

9. The method of claim 2, wherein the backend system planning a path for the charging vehicle to the charging post and controlling the charging vehicle to move to the charging post comprises:

the back-end system generates a third driving track point of the charging vehicle from the current position to the charging pile position on an environment map according to the received position of the charging vehicle, the body orientation of the charging vehicle and the charging pile position and a preset algorithm;

and the rear-end system controls the charging vehicle to sequentially pass through the third traveling track points.

10. The method of claim 9, wherein the backend system controlling the charging vehicle to sequentially pass through each of the third travel trajectory points comprises:

the charging vehicle detects whether the charging vehicle reaches the position of the charging pile or not in the movement process;

if the charging pile position is detected to be reached, stopping moving;

if the charging pile position is not detected, detecting whether other objects exist around the charging pile;

if the fact that the distance between other objects around the charging vehicle is smaller than a preset second distance is detected, the charging vehicle stops moving;

after the charging vehicle stops moving, the rear-end system regenerates a fourth driving track point from the position of the charging vehicle to the position of the charging pile on the environment map according to a preset algorithm according to the current position of the charging vehicle, the current vehicle body orientation of the charging vehicle, the position of the charging pile and the positions of other objects;

and the rear-end system controls the charging vehicle to sequentially pass through the fourth driving track points.

11. The method according to any one of claims 5, 6, 9, 10, wherein the predetermined algorithm comprises:

mixing A algorithm and kinetic parameters of the charging vehicle.

12. A wireless charging system of an unmanned vehicle, comprising:

the unmanned vehicle is configured to send a charging request to the back-end system and receive the charging of the charging vehicle;

a backend system configured to determine a charging vehicle according to the charging request; planning a path for the charging vehicle to reach the position of the unmanned vehicle, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path;

a charging cart configured to move to a wireless charging area around the unmanned cart under control of the backend system to charge the unmanned cart.

13. The wireless charging system of claim 12, further comprising:

the charging vehicle is used for sending a charging pile return request and the position of the current charging vehicle to the back-end system;

the back-end system is used for determining an idle charging pile which is closest to the charging vehicle according to the request of returning the charging pile;

the back-end system is used for planning a path from the charging vehicle to the charging pile and controlling the charging vehicle to move to the charging pile.

14. A wireless charging device of an unmanned vehicle is applied to a back-end system and is characterized by comprising a memory, a processor and a user interface;

the memory for storing a computer program;

the user interface is used for realizing interaction with a user;

the processor is used for reading the computer program in the memory, and when the processor executes the computer program, the processor realizes that:

determining a charging vehicle according to the charging request of the unmanned vehicle;

planning a path of the charging vehicle to the position of the unmanned vehicle, and controlling the charging vehicle to move to a wireless charging area around the unmanned vehicle according to the path.

15. The wireless charging apparatus of claim 14, wherein the processor, when executing the computer program, further implements:

according to a charging pile returning request sent by the charging vehicle, determining an idle charging pile which is closest to the charging vehicle;

planning a path from the charging vehicle to the charging pile, and controlling the charging vehicle to move to the charging pile.

16. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program which, when executed by a processor, implements a wireless charging method for an unmanned vehicle according to one of claims 1 to 11.

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