CN114013314A

CN114013314A - Charging system and charging method

Info

Publication number: CN114013314A
Application number: CN202111245709.4A
Authority: CN
Inventors: 高文宝; 苏宁; 孙家鑫
Original assignee: Varitronix Heyuan Display Technology Co Ltd
Current assignee: Varitronix Heyuan Display Technology Co Ltd
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2022-02-08

Abstract

The application provides a charging system and a charging method, which are suitable for the technical field of electric automobile charging piles and used for solving the problem of low utilization rate of the charging piles in the prior art. The system comprises: the system comprises a controller, a plurality of charging piles, a traveling main route and a plurality of traveling auxiliary routes; the first end of each auxiliary traveling route is connected with one point in the main traveling route, and the second end of each auxiliary traveling route corresponds to one parking space; wherein, this controller is used for controlling this electric pile of filling and removes along this main route of marcing and a route of marcing of assistance.

Description

Charging system and charging method

Technical Field

The application relates to the technical field of electric automobile charging piles, in particular to an electric automobile charging system and a charging method.

Background

With the rapid development of the electric automobile industry, the preservation quantity of the electric automobiles is greatly increased.

The way of installing fixed charging pile in parking lot is usually adopted. The fixed charging pile connected with the alternating current power grid provides charging service for the electric automobile. However, because fixed electric pile and the parking stall of filling are the one-to-one correspondence, when the parking stall was occupied by the electric automobile or the non-electric automobile that need not to charge, the electric automobile that needs to charge will unable the fixed electric pile of filling that fills of use to charge, leads to filling the electric pile utilization ratio lower.

Disclosure of Invention

The application provides a charging system and a charging method, which solve the problem of low utilization rate of a charging pile in the traditional technology.

In order to achieve the purpose, the technical scheme is as follows:

in a first aspect, a charging system is provided. This charging system includes: the device comprises a controller, a plurality of charging piles, a traveling main route and a plurality of traveling auxiliary routes. The first end of each auxiliary traveling route is connected with one point in the main traveling route, and the second end of each auxiliary traveling route corresponds to one parking space. Wherein, this controller is used for controlling this electric pile of filling and removes along this main route of marcing and a route of marcing of assistance.

With reference to the first aspect, in a possible implementation manner, the controller is specifically configured to plan a driving path for each vehicle to be charged according to a parking space where at least one vehicle to be charged is located; and controlling at least one charging pile in the induction area to respectively move to the parking spaces where the corresponding vehicles to be charged are located along the planned driving path in sequence. Each driving path comprises a main driving path and an auxiliary driving path, and the auxiliary driving paths of different driving paths are different.

With reference to the first aspect, in one possible implementation manner, each charging pile is provided with an electric storage device for providing moving power.

With reference to the first aspect, in a possible implementation manner, each charging pile is further provided with a charging port. The charging system further includes: and each power supply interface is arranged at a position corresponding to the second end of the travelling auxiliary route of one parking space. Each charging pile is also used for connecting a power receiving port of the charging pile with a power interface at a corresponding position after moving to a second end of one traveling auxiliary route, and charging the vehicle to be charged and the power storage device.

With reference to the first aspect, in a possible implementation manner, each charging pile is further provided with a mechanical arm, and the mechanical arm is provided with a sensor. Each charging pile is specifically used for determining a charging port of the vehicle to be charged through a sensor, and the mechanical arm is inserted into the charging port of the vehicle to be charged so as to charge the vehicle to be charged.

With reference to the first aspect, in a possible implementation manner, each charging pile is further configured to, after the vehicle to be charged is charged, pull out the mechanical arm from the charging port of the vehicle to be charged, separate the charging port of the charging pile from the power interface, and return the charging pile to the induction area along one traveling auxiliary route and one traveling main route.

With reference to the first aspect, in a possible implementation manner, each charging pile is further provided with a charging metering module. The controller is also used for charging the vehicle to be charged according to the charging metering data acquired from the charging metering module of the charging pile after the charging pile finishes charging the vehicle to be charged.

With reference to the first aspect, in one possible implementation, the main travelling route is laid on the ground. Each power interface is specifically arranged as follows: the ground position corresponding to the second end of the auxiliary traveling route of one parking space, the wall position corresponding to the second end of the auxiliary traveling route of one parking space, or the upper suspension position corresponding to the second end of the auxiliary traveling route of one parking space.

With reference to the first aspect, in a possible implementation manner, the main traveling route and the plurality of auxiliary traveling routes are induction routes, or the main traveling route and the plurality of auxiliary traveling routes are tracks.

With reference to the first aspect, in one possible implementation manner, the primary travel route and the plurality of secondary travel routes are sensing routes. Fill electric pile and include treater and electromagnetic induction module. The processor is used for acquiring real-time offset according to the real-time induction voltage detected by the electromagnetic induction module; obtaining a control parameter according to the real-time offset; and correcting the deviation amount of the driving path by using the control parameter.

With reference to the first aspect, in one possible implementation manner, the secondary route of travel is an arc or a line segment. If the auxiliary travel route is an arc, the curvature center of the arc is positioned on one side of the arc close to the induction area or one side of the arc far away from the induction area. If the auxiliary traveling route is a line segment, the line segment is perpendicular to the main traveling route.

With reference to the first aspect, in one possible implementation manner, the plurality of traveling auxiliary routes are disposed on one side or both sides of the traveling main route.

In a second aspect, a charging method is provided. The charging method may be applied to the charging system as provided in the first aspect. The method comprises the following steps: respectively planning a driving path for each vehicle to be charged according to the parking space where at least one vehicle to be charged is located, wherein each driving path comprises a main driving path and an auxiliary driving path connected with one point of the main driving path, and the auxiliary driving paths of different driving paths are different; and controlling at least one charging pile in the induction area, and sequentially moving the charging piles to parking spaces where corresponding vehicles to be charged are located along the planned driving path.

With reference to the second aspect, in one possible implementation manner, each charging pile is provided with a mechanical arm, and the mechanical arm is provided with a sensor. After controlling at least one charging pile located in the induction area and sequentially moving to the parking spaces where the corresponding vehicles to be charged are located along the planned driving path, the method further comprises the following steps: after each charging pile moves to the second end of one traveling auxiliary route, the charging port of the charging pile is connected with the power interface at the corresponding position, the charging port of the vehicle to be charged is determined through the sensor of the mechanical arm, and the mechanical arm is inserted into the charging port of the vehicle to be charged so as to charge the vehicle to be charged.

With reference to the second aspect, in a possible implementation manner, the method further includes: after each charging pile finishes charging the vehicle to be charged, the mechanical arm is pulled out of a charging port of the vehicle to be charged, a charging port of the charging pile is separated from a charging port at a corresponding position, and the charging pile returns to an induction area along a traveling auxiliary route and a traveling main route.

With reference to the second aspect, in one possible implementation manner, after each charging pile finishes charging the vehicles to be charged, the charging metering data corresponding to each vehicle is acquired from each charging pile respectively; each vehicle is charged according to the charge metering data corresponding to each vehicle.

According to the charging system and the charging method provided by the embodiment of the application, the first end of each traveling auxiliary route is connected with one point in the traveling main route, and the second end of each traveling auxiliary route corresponds to one parking space, so that when vehicles to be charged at different parking spaces need to be charged, the plurality of charging piles can move along the traveling main route firstly, and then move along the traveling auxiliary route corresponding to each vehicle to be charged respectively. So different fill electric pile can be in different auxiliary routes of marcing, and it has no influence to march each other.

Drawings

Fig. 1 is one of schematic diagrams of a movable charging pile provided in the related art;

fig. 2 is a second schematic diagram of a portable charging pile provided in the related art;

fig. 3 is a third schematic diagram of a movable charging pile provided in the related art;

fig. 4 is a schematic diagram of a charging system according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of an arrangement manner of a secondary travel route provided in the embodiment of the present application;

fig. 6 is a second schematic diagram of a charging system according to an embodiment of the present application;

fig. 7 is a third schematic diagram of a charging system according to an embodiment of the present application;

fig. 8 is a schematic diagram illustrating distribution of charging piles for a vehicle to be charged according to an embodiment of the present application;

fig. 9 is a schematic view illustrating a power interface disposed in a parking space according to an embodiment of the present disclosure;

fig. 10 is a schematic diagram illustrating a charging pile provided in an embodiment of the present application for charging a vehicle;

FIG. 11 is an exemplary diagram of a corrected travel path provided by an embodiment of the present application;

fig. 12 is an exemplary diagram of a car owner calling a charging pile according to an embodiment of the present application;

fig. 13 is a schematic diagram illustrating a charging method according to an embodiment of the present disclosure;

fig. 14 is a second schematic diagram of a charging method according to an embodiment of the present application;

fig. 15 is a third schematic diagram of a charging method according to the embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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 but not all embodiments of the present application. 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 will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, elements, components, and/or groups thereof.

In the description of the present application, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

In order to satisfy electric automobile's the increase by a wide margin, the fixed electric pile that fills has generally been installed in positions such as parking area or garage, but because fixed electric pile that fills is the one-to-one relation with the parking stall, promptly, fixed electric pile that fills of a parking stall configuration. When the parking stall is occupied by the electric automobile or the non-electric automobile (for example, fuel car) that need not to charge, the electric automobile that needs to charge will unable fixed electric pile that fills that uses charges, leads to filling electric pile utilization ratio lower.

At present, the related art has proposed a concept of a mobile charging pile.

The first scenario is that as shown in fig. 1, a movable charging pile is arranged between two parking spaces. The movable charging pile is composed of a single charging device 011 and a single rail 012. During idle time, the charging device 011 is located at one end of the single rail 012. When the vehicle in a certain parking space needs to be charged, the charging device 011 moves to the parking space in the direction indicated by the arrow shown in the figure to charge the vehicle. After the vehicle is charged, the charging device 011 returns to one end of the single rail 012 in the direction opposite to the direction indicated by the arrow shown in the figure. However, because there are often a plurality of vehicles in two parking spaces and there is a demand for charging at the same time, therefore, in the same time interval, a single charging device can only satisfy the demand for charging one vehicle, resulting in that other vehicles cannot be charged.

The second scenario is based on the problem of the first scenario, and the related art proposes a scheme of arranging a plurality of charging devices on a single track. As shown in fig. 2, a charging device 013, a charging device 014, and a charging device 015 are provided on the single rail 012. The three charging devices allow for charging of multiple vehicles at the same time. But the three charging devices may affect travel with respect to each other. For example, when the charging device 015 returns in the direction indicated by the arrow shown in fig. 2 after the charging is finished, if the

charging device

013 or 014 has not finished the charging process, the charging device 015 cannot return to one end of the single track. Therefore, the scheme also has the defect of inconvenient charging.

In a third scenario, in order to arrange cables for power supply in order, a cable drag chain scheme based on a single-track design is also proposed in the related art. As shown in fig. 3, the cable drag chain 016 in a contracted state is installed on the lifting device and moves along with the movement of the charging device, but when the width of the parking lot is long, the cable drag chain is particularly long, and the cable drag chain is large in volume after being contracted, thereby affecting the normal running of the charging device. In addition, the multiple power lines are easily knotted together, which brings hidden danger of power utilization.

In order to solve various problems in the above-mentioned several scenarios, a charging system and a charging method provided in an embodiment of the present application will be described below with reference to fig. 4 to 14.

As shown in fig. 4, the present application provides a charging system. This charging system includes: the system comprises a controller 40, a plurality of charging piles 41, a main traveling route 42 and a plurality of auxiliary traveling routes 43. A first end of each secondary travel route is connected to a point of the primary travel route 42, and a second end of each secondary travel route corresponds to a parking space. The controller 40 is configured to control the charging pile 41 to move along a primary traveling route and a secondary traveling route.

Above-mentioned a plurality of electric pile that fill can place and conclude the region in one when being in non-charged state to be convenient for fill the unified management of electric pile to a plurality of. For example, the generalized area may be a certain free area of a parking lot, or an area where vehicles are infrequently passing.

The main traveling route may be a straight route, a curved route, or a combined route. The method can be determined according to actual use requirements, and the embodiment of the application is not limited.

The auxiliary traveling route is an arc line or a line segment. Specifically, if the auxiliary traveling path is an arc, the curvature center of the arc is located on one side of the arc close to the induction area, or on one side of the arc far from the induction area. If the auxiliary traveling route is a line segment, the line segment is perpendicular to the main traveling route.

For example, as shown in fig. 5 (a), the travel main route 42 is a straight route, the travel sub-route 43 is an arc, and the center of curvature P1 of the arc is located on the side of the arc near the induction area. From the summary area, the charging pile 41 moves from the start end Q1 of the main travel route 42 to the first end Q2 of the auxiliary travel route 43 in the direction indicated by the arrow. Thereafter, the second end Q3 of the secondary path of travel 43 is moved along the secondary path of travel 43 in the counterclockwise direction as indicated by the arrow.

For another example, as shown in fig. 5 (b), the main travel path 42 is a straight line, the auxiliary travel path 43 is an arc, and the center of curvature P2 of the arc is located on the side of the arc away from the induction area. From the summary area, the charging pile 41 moves from the start end Q1 of the main travel route 42 to the first end Q4 of the auxiliary travel route 43 in the direction indicated by the arrow. Thereafter, the second end Q5 of the secondary path of travel 43 is moved along the secondary path of travel 43 in a clockwise direction as indicated by the arrow.

For another example, as shown in fig. 5 (c), the travel main route 42 and the travel sub route 43 are both straight routes, and the two routes are perpendicular to each other. From the summary area, the charging pile 41 moves from the start end Q1 of the main travel route 42 to the first end Q6 of the auxiliary travel route 43 in the direction indicated by the arrow. Thereafter, the vehicle moves along the secondary travel route 43 in the direction indicated by the arrow to the second end Q7 of the secondary travel route 43.

It should be noted that, when the auxiliary route of marcing is the pitch arc, this application does not specifically limit to the size of the radian of pitch arc, the length of pitch arc etc. and it can be according to the size of parking stall, the distance of parking stall and the main route of marcing, power source interface's position etc. setting.

The controller may be a server, and the server communicates with each charging pile in a wireless manner (wireless communication), such as bluetooth (bluetooth), ZigBee (ZigBee), Ultra Wideband (UWB), wireless fidelity (WIFI), infrared communication technology, short-range wireless communication, or any other possible wireless manner, which is not limited in the embodiment of the present application.

Exemplarily, all be provided with bluetooth module in server and the electric pile of filling. The server sends travelling route information to the Bluetooth module of the charging pile through the Bluetooth module, and the travelling route information comprises a travelling main route and a travelling auxiliary route. So, after the bluetooth module that fills electric pile received this route information, fill electric pile and can move to certain parking stall along this main route of marcing and this supplementary route of marcing according to this route information of marcing.

The quantity of the auxiliary route of marcing equals the quantity in parking stall, has created the prerequisite of allowing to pass through to fill electric pile and remove to this parking stall and charge for the vehicle in every parking stall like this.

The number of the charging piles is smaller than or equal to the number of the auxiliary traveling routes. It should be understood that if the number of charging piles is set to be equal to the number of traveling auxiliary routes, it can be ensured that the vehicles in all parking spaces can be in a charging state at the same time. In addition, because parking stall usually can be in unsaturated state, consequently in order to reduce investment cost, also can suitably reduce the quantity of filling electric pile, be about to fill electric pile's quantity and set up to be less than or equal to the quantity in parking stall.

The charging system that this application embodiment provided, because the first end of every auxiliary route of marcing is connected with a point in the main route of marcing, and every second end of the auxiliary route of marcing corresponds a parking stall, consequently when needing to charge for the vehicle that waits to charge in different parking stalls, can make a plurality of electric pile remove along the main route of marcing earlier, again respectively along the auxiliary route of marcing that corresponds with every vehicle that waits to charge. So different fill electric pile can be in different auxiliary routes of marcing, and it has no influence to march each other.

It should be noted that, the laying manner of the main route and the plurality of auxiliary traveling routes may be predetermined based on the parking space arrangement manner, the number of parking spaces, the obstacles, the ground state, and the like of the parking lot. After the laying of the main route and the plurality of traveling auxiliary routes is completed, the charging pile can travel along the traveling routes.

As an alternative example, a plurality of travel sub-routes are provided on one side or both sides of the travel main route.

As shown in fig. 4, two rows of parking spaces are planned in the parking area, and each row of parking spaces includes 4 parking spaces. Since a common free space exists between two rows of parking spaces, a straight main travel route 42 is laid in the common free space. The 8 auxiliary traveling routes correspond to 8 parking spaces and are respectively arranged on two sides of the main traveling route 42. Wherein, the first end of each traveling auxiliary route 43 is connected with 1 node of the main route 42, and the second end of each traveling auxiliary route 43 corresponds to a parking space. The charging pile can move along the main traveling route 42 to a first end of a secondary traveling route 43, and then move from the first end of the secondary traveling route 43 to a second end of the secondary traveling route 43, so as to charge the vehicle to be charged.

As shown in fig. 6, a row of parking spaces including 4 parking spaces is planned at a position close to the wall 44 of the parking area. Since a common free space exists between the wall 44 and the row of parking spaces, a straight main travel route 42 is laid in the common free space. The 4 auxiliary traveling routes correspond to 4 parking spaces and are disposed on the same side of the main traveling route 42. A first end of each traveling auxiliary route 43 is connected to 1 point of the main route 42, and a second end of each traveling auxiliary route 43 corresponds to one parking space. The charging pile can move along the main traveling route 42 to a first end of a secondary traveling route 43, and then move from the first end of the secondary traveling route 43 to a second end of the secondary traveling route 43, so as to charge the vehicle to be charged.

It should be understood that one parking space corresponds to one secondary route of travel. As the number of parking spaces provided in each row changes, the number of traveling auxiliary routes also changes. In addition, in order to facilitate the charging pile to move to the position of the vehicle to be charged on the parking space through the advancing auxiliary route, each advancing auxiliary route is required to be arranged at the position corresponding to each parking space. When the parking spaces are consistent in size, a plurality of auxiliary advancing lines are laid at equal intervals; however, when the sizes of the parking spaces are not consistent, the distances between the plurality of auxiliary traveling routes should be correspondingly adjusted. The method can be determined according to actual use requirements, and the embodiment of the application is not limited.

As an alternative example, an induction area for placing a plurality of charging piles is provided at the start end of the main travel route. Further, the induction area may be located at the start of a plurality of travel primary routes for placing different charging piles from the plurality of travel primary routes.

As shown in fig. 7, 4 parking spaces are provided along wall 441 and another 4 parking spaces are provided along wall 442. A summary area is provided at the interface between wall 441 and wall 442, and 8 charging posts are placed in the summary area. If it is required to charge a vehicle in a parking space corresponding to the wall 441, the charging pile may move forward along the main and auxiliary traveling routes 421 and the corresponding auxiliary traveling route, and move to the corresponding vehicle to charge the vehicle. If it is necessary to charge a vehicle in a parking space corresponding to the wall 442, the charging pile may move along the main and auxiliary traveling routes 422 and the corresponding auxiliary traveling route, and move to the corresponding vehicle to charge the vehicle. After the vehicle is charged, each charging post may be sequentially returned to the induction area along the original travel route.

It should be understood that under the condition that the induction area is located at the starting end of a plurality of advancing main routes, a plurality of charging piles from different a plurality of advancing main routes are placed in one induction area, the number of induction areas which are arranged can be reduced, the utilization rate of the induction areas is improved, and a plurality of charging piles can be managed conveniently in a unified mode.

As an alternative example, since the number of parking spaces is usually multiple, the controller may receive charging demands of multiple vehicles to be charged at the same time, and thus the controller needs to allocate corresponding charging piles to each vehicle to be charged respectively, and plan different traveling routes for each allocated charging pile.

The controller may specifically be configured to: respectively planning a driving path for each vehicle to be charged according to the parking space where at least one vehicle to be charged is located; and controlling at least one charging pile in the induction area to respectively move to the parking spaces where the corresponding vehicles to be charged are located along the planned driving path in sequence. Each driving path comprises a main driving path and an auxiliary driving path, and the auxiliary driving paths of different driving paths are different.

Illustratively, as shown in fig. 8 (a), 8 parking spaces are provided on both sides of one travel main route 42. If the controller 40 receives the charging demands of the

vehicles

51, 52, 53 and 54 at the same time, the controller 40 plans four driving paths according to the parking spaces where the 4 vehicles are located: the travel path 1 includes a travel main route and a travel sub route 431, the travel path 2 includes a travel main route and a travel sub route 432, the travel path 3 includes a travel main route and a travel sub route 433, and the travel path 4 includes a travel main route and a travel sub route 434. Assuming that there are 8 charging piles 41 in an uncharged state in the induction area, the controller 40 sequentially transmits a travel path 1 to the charging pile 41-1, a travel path 2 to the charging pile 41-2, a travel path 3 to the charging pile 41-3, and a travel path 4 to the charging pile 41-4. As shown in fig. 8 (b), the charging pile 41-1 moves along the travel path 1 to the position of the vehicle 51, and charges the vehicle 51. The charging pile 41-2 moves to the position of the vehicle 52 along the travel path 2 to charge the vehicle 52. The charging pile 41-3 moves to the position of the vehicle 53 along the traveling path 3 to charge the vehicle 53. The charging pile 41-4 moves to the position of the vehicle 54 along the travel path 4 to charge the vehicle 54.

It should be understood that when a plurality of vehicles to be charged have a charging demand at the same time, because the first end of each auxiliary traveling route is connected with one point in the main traveling route, and the second end of each auxiliary traveling route corresponds to one parking space, by respectively planning a traveling path and allocating charging piles to each vehicle to be charged, the plurality of charging piles can move along the main traveling route first, and then move along the auxiliary traveling route corresponding to each vehicle to be charged respectively. So different fill electric pile can be in different auxiliary routes of marcing, and it has no influence to march each other.

As an optional example, based on the problems of difficulty in traveling and hidden danger of power utilization in the cable drag chain scheme proposed in the third scenario in the foregoing embodiment, the embodiment of the present application provides a power supply scheme for a charging pile: and each charging pile is provided with an electric storage device for providing mobile power.

For example, the electrical storage device may be a battery. The battery can be installed inside filling electric pile, and the surface that fills electric pile is provided with the receipts electricity mouth that charges for the battery.

It should be understood that through improving the cable of traditional mode into power storage device, this power storage device both can reduce the weight that fills electric pile again for filling electric pile provides the power that moves ahead, is convenient for remove, has still improved the power consumption security.

As an alternative example, each charging pile is further provided with a charging port. Accordingly, the charging system may further include: a plurality of power interfaces. Each power interface is arranged at a position corresponding to the second end of the auxiliary traveling route of one parking space. Each charging pile can be used for connecting a power receiving port of the charging pile with a power interface at a corresponding position after the charging pile is moved to the second end of one traveling auxiliary route, and charging the vehicle to be charged and the power storage device.

Optionally, each power interface is connected to an external power grid.

Further, the external power grid may be an ac power grid or a dc power grid, etc.

Alternatively, the main course of travel may be laid on the ground. Each power interface may be specifically arranged at: the ground position corresponding to the second end of the auxiliary traveling route of one parking space, the wall position corresponding to the second end of the auxiliary traveling route of one parking space, or the upper suspension position corresponding to the second end of the auxiliary traveling route of one parking space.

For example, the main traveling route is laid on the ground, and each power interface is disposed at a suspension position above the second end of the auxiliary traveling route in one parking space. Fig. 9 (a) is a schematic diagram illustrating a power interface provided in a parking space according to an embodiment of the present application, and fig. 9 (b) is a partially enlarged view of the power interface in fig. 9 (a). As shown in fig. 9, 8 parking spaces are provided on both sides of one travel main route 42, and each parking space corresponds to one travel auxiliary route. When a vehicle in a certain parking space has a charging demand, one charging pile 41 moves from the summary area to a point a along a traveling main route, then moves from the point a to a point B along a traveling auxiliary route corresponding to the parking space, and stops moving. Since a power interface is suspended above the point B, the charging port of the charging pile 41 is automatically connected to the power interface, and the vehicle to be charged and the power storage device are charged.

It should be understood that this application changes traditional setting of following the electric wire into the circular telegram setting that targets in place, can alleviate the heavy burden when filling the electric pile removal on the one hand. On the other hand, after the charging pile is moved to the corresponding position, the charging port of the charging pile is connected with the power interface of the corresponding position, and charging of the vehicle to be charged can be achieved. In addition, charging power storage device can guarantee to fill the follow-up removal of electric pile.

As an alternative example, after the charging pile moves to the side of the vehicle to be charged, the charging port of the charging pile needs to be connected with the power interface at the corresponding position. In order to make the receipts electric mouth that fills electric pile and the power interface connection who corresponds the position, this application provides following several kinds of butt joint mode:

mode 1, set up image sensor on filling electric pile. Image sensor can rectify the position of filling electric pile through gathering near power source interface's image for fill electric pile and receive electric mouth and accurate butt joint with power source interface.

Mode 2, will fill electric pile receive the electric mouth and power source interface sets up respectively on the rigid component that the cooperation was used. After the charging pile moves in place along the driving path, the charging pile is connected with the power interface through the rigid part under the action of motion inertia. It should be understood that this mode is higher to fill electric pile removal accuracy requirement.

In the mode 3, magnetic adsorbing members are provided near the charging port of the charging pile and near the power supply interface, respectively. When the receipts electric mouth that fills electric pile removed to power source, magnetism adsorptivity part can adsorb together under the magnetic action for fill electric pile and receive electric mouth automatic connection to power source.

It should be understood that after the charging pile moves to the side of the vehicle to be charged, the charging pile can be powered through the accurate butt joint of the charging opening of the charging pile and the power interface of the corresponding position, and then the charging of the vehicle to be charged and the power storage of the power storage device are achieved.

As an alternative example, after the charging post is moved to the side of the vehicle to be charged, the owner of the vehicle may choose to manually insert the charging gun of the charging post into the charging port of the vehicle to be charged to charge the vehicle to be charged, but such manual operation is inconvenient. Therefore, the embodiment of the application provides an automatic charging mode: set up the arm on every fills electric pile, be provided with the sensor on this arm. Wherein the sensor may be used to detect a position of a charging port of a vehicle to be charged.

Specifically, each charging pile can be used for determining a charging port of the vehicle to be charged through a sensor, and the mechanical arm is inserted into the charging port of the vehicle to be charged so as to charge the vehicle to be charged.

Furthermore, each charging pile can be used for pulling out the mechanical arm from a charging port of the vehicle to be charged after the vehicle to be charged is charged, separating a charging port of the charging pile from a power interface, and returning to an induction area along a traveling auxiliary route and a traveling main route.

Illustratively, the sensor provided on the robot arm is an image sensor or a position sensor or the like.

For example, fig. 10 is a schematic diagram illustrating that a charging pile charges a vehicle according to an embodiment of the present application. As shown in fig. 10, it is assumed that a vehicle to be charged in a parking space is located beside a wall 96, and the wall is provided with a fixed power interface 95. Fill electric pile and include body 91, arm 92, set up propulsive electrical interface 93 on body 91, still be provided with image sensor 94 on the arm 92.

After the charging pile moves beside the vehicle to be charged along the traveling main route and the traveling auxiliary route, the propellable electrical interface 93 is automatically connected with the power supply interface 95. The image sensor 94 can collect images of vehicles in real time, and a processor (not shown) of the charging pile can identify the images collected in real time, and after identifying the charging port of the vehicle to be charged, the processor can control the mechanical arm 92 to move, insert into the charging port of the vehicle to be charged, and self-lock, so as to charge the vehicle to be charged. After the charging of the vehicle to be charged is finished, the mechanical arm 92 pulls out the charging port of the vehicle to be charged, and separates the propellable electrical interface 93 from the power supply interface 95. And then the charging pile returns to the induction area along the original traveling auxiliary route and the traveling main route.

In the above embodiments, the image sensor is disposed on the arm as an example, and the image sensor may be disposed on the body. In addition, the above embodiment is described by taking the charging gun as an example of a part of the robot arm, and the charging gun and the robot arm may be two independent components, and the robot arm holds the charging gun to be in butt joint with the charging port of the vehicle to be charged. The application is not limited to this, and can determine according to the actual use demand.

It should be understood that after charging pile moves to waiting to charge the vehicle next door, the mouth that charges of waiting to charge the vehicle is inserted automatically by the arm of charging pile, can reduce the car owner operation, has improved the intelligent degree that the vehicle charges.

As an alternative example, the travel primary route and the plurality of travel secondary routes are induction routes, or the travel primary route and the plurality of travel secondary routes are tracks.

If the main advancing route and the multiple auxiliary advancing routes are tracks, pulleys and motors matched with the tracks for use are arranged on the charging pile. For example, after the charging pile receives the charging pile sent by the controller through the wireless module, or after the charging pile finishes charging, the electric storage device provides electric energy for the motor, and then the motor drives the pulley to roll and slide forwards along the track.

If the main advancing route and the multiple auxiliary advancing routes are induction routes, the charging pile comprises a processor and an electromagnetic induction module. The processor is configured to: acquiring real-time offset according to real-time induction voltage detected by the electromagnetic induction module; and obtaining a control parameter according to the real-time offset; and correcting the deviation amount of the driving path by using the control parameter.

For example, fig. 11 is an exemplary diagram of a corrected travel path provided by an embodiment of the present application. Electromagnetic tracks shown by solid lines in fig. 11 are laid on the ground where the main travel route and the plurality of auxiliary travel routes in the parking lot pass through the location. For example, the electromagnetic track is a conducting wire which is electrified with 20kHz and 100mA alternating current. Fill electric pile and pass through electromagnetic sensor real-time detection induced voltage to infer the electromagnetism track according to voltage. If the charging pile deviates from the electromagnetic track for multiple times in the moving process of the charging pile at the curve segments P1-P2, P2-P3, P3-P4 and P4-P5 as shown by dotted lines in fig. 11, the driving system of the charging pile obtains a real-time offset through real-time induced voltage after the charging pile deviates from the electromagnetic track each time, obtains control parameters such as a steering angle, a moving distance and a moving speed according to the real-time offset, corrects the offset of the driving path by adopting the control parameters, and enables the charging pile deviating from the originally planned driving path to return again and continue to move along the driving path.

It should be understood that track and the structural stability of pulley cooperation use are higher, fill the difficult skew that takes place for the in-process that electric pile marchd along the track, but the guide rail of laying is bulky, and the vehicle or pedestrian of being not convenient for pass through. Compared with a track, the induction route can be directly laid on the ground or buried underground, the occupied volume is smaller, and vehicles or pedestrians can conveniently pass through the induction route.

As an alternative example, after a vehicle is parked to a certain parking space, the vehicle is generally considered to have a charging requirement, so the embodiment of the present application further provides three ways for the controller to determine the vehicle to be charged:

in one way, the controller of the charging system may also be connected to a monitoring device in the parking lot, an automatic gate, and a wireless communication device (e.g., Near Field Communication (NFC) device) disposed near the automatic gate by wire or wirelessly. The controller can plan the parking space and the driving path for the vehicle to be charged according to the information sent by the devices. The monitoring equipment is arranged in different areas of the parking lot, and the view angle range of the image acquisition equipment can cover each parking space of the parking lot; the automatic gate is arranged at the entrance of the parking lot and used for managing vehicles to enter and exit the parking lot; the wireless communication device is used for acquiring vehicle information, such as vehicle model, owner information, terminal equipment bound with the vehicle and the like.

Illustratively, when a vehicle arrives at an automatic gate at the entrance of a parking lot, the automatic gate is opened to release the vehicle in the case of an empty parking space, and the automatic gate is controlled to be closed after the vehicle passes by. The NFC equipment located in the automatic gate can acquire vehicle information such as vehicle models and terminal equipment bound with the vehicles and send the vehicle information to the controller. The controller can plan the parking space for the vehicle to be charged according to the vehicle model and the spare parking space information of the parking lot, and sends the planned parking space to the terminal equipment bound with the vehicle. Therefore, the display screen of the terminal equipment can display the planned parking space in a map form, so that a vehicle owner can determine whether to drive the vehicle to the parking space according to the map.

One condition is that, through the images collected by the monitoring device, the controller confirms that the vehicle owner is driving the vehicle to the planned parking space. Thus, the controller determines that the vehicle is to be charged in the parking space, and plans a driving path for the charging pile to be moved to the parking space.

In another case, the controller confirms that the vehicle owner drives the vehicle to travel to a parking space other than the planned parking space through the image acquired by the monitoring device. Therefore, the controller determines that other parking spaces have vehicles to be charged, and plans a driving path for the charging pile to be moved to the other parking spaces.

Alternatively, a vehicle tag is provided for each parking space, and the tag is in wireless or wired communication with a controller of the charging system.

For example, as shown in fig. 12, after the vehicle owner stops the vehicle to the target parking space, the vehicle owner may operate the vehicle tag of the target parking space, for example, press a "call charging pile" button of the vehicle tag, so that the vehicle tag transmits charging pile request information, which may include an identifier indicating the target parking space, to the controller 40. After the controller receives the charging pile request information, the parking space where the target vehicle is located can be determined according to the identifier of the target parking space, the driving path of the vehicle to be charged is planned, and the target charging pile 41 is allocated to the vehicle to be charged. The controller transmits the target traveling path to the target charging pile 41 so that the target charging pile 41 will move from the induction area to the parking space corresponding to the vehicle to be charged in, and charge the vehicle to be charged, along the direction of the implementation arrow shown in fig. 11.

In another mode, each parking space is provided with a two-dimensional code.

For example, after the vehicle owner stops the vehicle to the target parking space, the vehicle owner can hold the mobile phone to scan the two-dimensional code, and the mobile phone forwards the scanning information to the controller through the network server. After the controller receives the scanning information, the parking space where the vehicle is located can be determined according to the scanning information, the driving path of the vehicle to be charged is planned, and the target charging pile is distributed to the vehicle to be charged. And the controller sends the target driving path to the target charging pile, so that the target charging pile moves to a parking space corresponding to the vehicle to be charged along the target driving path and charges the vehicle to be charged.

It should be understood that no matter what manner is adopted to determine the parking space where the vehicle to be charged is located, the controller can plan the driving path for the vehicle to be charged according to the parking space where the vehicle to be charged is located, and allocate the mobile charging pile for the vehicle to be charged.

As an optional example, the embodiment of the application also provides a charging mode for the charging vehicle.

Specifically, still be provided with the metering module that charges on every fills electric pile, this metering module that charges is used for gathering the metering data that charges. The controller is also used for charging the vehicle to be charged according to the charging metering data acquired from the charging metering module of the charging pile after the charging pile finishes charging the vehicle to be charged.

Optionally, the charge metering data is used to indicate an amount of power consumed by the charging vehicle.

Optionally, the charging includes: parking fee and charging fee. The parking fee is the fee generated when the vehicle stays in one parking space, and the charging fee is the fee generated when the vehicle stays in one parking space and is charged by the charging pile.

For example, each vehicle to be charged may be registered with a user identity in advance at the remote fee control platform, and each registered vehicle corresponds to one payment account. If the controller determines that the vehicle owner stops the target vehicle at the target parking space at 10:00 in an image acquisition mode and the like, the controller starts parking timing and controls the target charging pile to move to the target parking space along the planned traveling route. After the target charging pile starts to charge the target vehicle at the target parking space, the charging metering module of the target charging pile starts to meter the electric quantity. Under the condition that the target charging pile detects that the electric quantity of the target vehicle is full, the charging pile finishes charging and stops metering the electric quantity. And then, the target charging pile sends the electric quantity consumed by the target vehicle to the controller through the wireless module. And then, the controller determines that the target vehicle drives away from the target parking space at 11:00 in an image acquisition mode and the like, and stops parking timing. And finally, the controller calculates the electric quantity consumed by the target vehicle based on the charging metering data acquired by the charging metering module, and calculates the parking time of the target vehicle according to the starting and stopping time of the parking time of the target vehicle.

Then, in one mode, the controller may calculate a fee to be charged according to the electric quantity consumed by the target vehicle and the parking time of the target vehicle, and send the fee to the remote fee control platform, so that the remote fee control platform deducts a fee from the payment account corresponding to the target vehicle. The other mode is that the controller directly sends the electric quantity consumed by the target vehicle and the parking time of the target vehicle to the remote fee control platform, the remote fee control platform calculates the fee to be charged according to the electric quantity consumed by the target vehicle and the parking time of the target vehicle, and the fee is deducted from the payment account corresponding to the target vehicle. The remote fee control platform can also send fee deduction information to the mobile phone carried by the vehicle owner, such as 'the parking fee is deducted 5 yuan and the charging fee is 20 yuan'.

Further, since the charging duration of the vehicle is usually long, the vehicle owner may not wait for a long time by the vehicle, and therefore after the charging pile finishes charging the vehicle, the vehicle still in the parking space may continue to be charged for the parking fee, which may not meet the vehicle owner's expectation. Therefore, the controller can send a message to the car owner along with the mobile phone carried by the car owner through the remote fee control platform, for example, "you've car charging is finished, please confirm whether to continue parking, which causes a fee". Therefore, the vehicle owner can confirm whether to drive the vehicle away from the parking space according to actual requirements.

It should be noted that, the above embodiments are exemplified by taking the parking fee as the fee generated in the whole time period of the vehicle staying in one parking space, and the embodiments of the present application are not limited thereto. The present application provides another example in which the vehicle does not incur parking fees during charging. The method specifically comprises the following steps: under the condition that the electric quantity of the vehicle is detected by the charging pile, the charging pile finishes charging. If the vehicle owner drives the vehicle away from the parking space within the preset time, only charging fee is charged, and parking fee is not charged; and if the vehicle owner does not drive the vehicle out of the parking space within the preset time, starting parking timing, and stopping the parking timing until the vehicle drives out of the parking space, so that the vehicle can be charged with charging cost and parking cost.

It should be understood that the charging system of the embodiment of the application can calculate the parking fee based on the parking time of the vehicle and calculate the charging fee based on the consumed electric quantity, so that the charging of the vehicle can be automatically completed, the intelligent degree is high, and the labor cost is saved.

As shown in fig. 13, an embodiment of the present application provides a charging method. The method may be applied to the charging system as provided in the above embodiments. The method may include S101 and S102.

S101, respectively planning a running path for each vehicle to be charged according to the parking space where at least one vehicle to be charged is located.

Each driving path comprises a main driving path and an auxiliary driving path connected with one point of the main driving path, and the auxiliary driving paths of different driving paths are different.

And S102, controlling at least one charging pile in the induction area, and sequentially moving the charging pile to the parking spaces where the corresponding vehicles to be charged are located along the planned driving path.

According to the charging method provided by the embodiment of the application, when the plurality of vehicles to be charged have charging requirements at the same time, the first end of each traveling auxiliary route is connected with one point in the traveling main route, and the second end of each traveling auxiliary route corresponds to one parking space, so that the plurality of charging piles can move along the traveling main route firstly and then move along the traveling auxiliary route corresponding to each vehicle to be charged respectively by planning the traveling route and distributing the charging piles for each vehicle to be charged respectively. So different fill electric pile can be in different auxiliary routes of marcing, and it has no influence to march each other.

Furthermore, every fills and is provided with the arm on the electric pile, is provided with the sensor on this arm. Correspondingly, as shown in fig. 14, after S102, the charging method provided in the embodiment of the present application may further include S103 described below.

S103, after each charging pile moves to a second end of one auxiliary traveling route, connecting a charging port of the charging pile with a power interface at a corresponding position, determining a charging port of the vehicle to be charged through a sensor of the mechanical arm, and inserting the mechanical arm into the charging port of the vehicle to be charged so as to charge the vehicle to be charged.

According to the charging method provided by the embodiment of the application, the charging port is arranged, so that the charging port can be connected with the power interface of the corresponding position after the charging pile is moved to the corresponding position, and charging of a vehicle to be charged and a storage battery can be achieved. In addition, through setting up the arm for filling electric pile, filling electric pile and removing to waiting to charge vehicle next door after, by the automatic mouth that charges that inserts the vehicle of waiting to charge of the arm of filling electric pile, can reduce car owner's operation, improved the intelligent degree that the vehicle charges.

Further, as shown in fig. 15, after S103, the charging method provided in the embodiment of the present application may further include S104 described below.

And S104, after each charging pile finishes charging the vehicle to be charged, pulling out the mechanical arm from the charging port of the vehicle to be charged, separating the charging port of the charging pile from the charging port at the corresponding position, and returning to the induction area along one traveling auxiliary route and one traveling main route.

According to the charging method provided by the embodiment of the application, after each charging pile finishes charging the vehicles to be charged, the charging pile can return to the induction area along the original route, so that other vehicles to be charged can continue to use the charging pile.

Further, after S104, the charging method provided in the embodiment of the present application may further include S105 and S106 described below.

And S105, after each charging pile finishes charging the vehicles to be charged, respectively acquiring charging metering data corresponding to each vehicle from each charging pile.

And S106, charging each vehicle according to the charging metering data corresponding to each vehicle.

The charging method can calculate the parking fee based on the parking time of the vehicle and calculate the charging fee based on the consumed electric quantity, so that the charging of the vehicle can be automatically completed.

It should be noted that, for the specific implementation of the above S101 to S106, reference may be made to the description of the charging system in the above embodiments, and details are not repeated here.

It should be noted that, in this document, 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 like elements in a process, method, article, or apparatus that comprises the element.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An electrical charging system, comprising: the system comprises a controller, a plurality of charging piles, a traveling main route and a plurality of traveling auxiliary routes; the first end of each auxiliary traveling route is connected with one point in the main traveling route, and the second end of each auxiliary traveling route corresponds to one parking space;

the controller is used for controlling the charging pile to move along the traveling main route and the traveling auxiliary route.

2. The charging system according to claim 1, wherein the controller is specifically configured to plan a driving path for each vehicle to be charged respectively according to a parking space in which at least one vehicle to be charged is located; controlling at least one charging pile located in the induction area to respectively move to the parking spaces where the corresponding vehicles to be charged are located along the planned driving path in sequence; each driving path comprises a main driving path and an auxiliary driving path, and the auxiliary driving paths of different driving paths are different.

3. The charging system according to claim 1, wherein each charging pile is provided with an electricity storage device for providing moving power.

4. The charging system according to claim 3, wherein each charging post is further provided with a charging port; the charging system further includes: the parking space control system comprises a plurality of power interfaces, a plurality of control units and a control unit, wherein each power interface is arranged at a position corresponding to a second end of a traveling auxiliary route of one parking space;

each charging pile is also used for connecting a power receiving port of the charging pile with a power interface at a corresponding position after moving to a second end of one auxiliary traveling route, and charging the vehicle to be charged and the power storage device.

5. The charging system according to claim 4, wherein each charging pile is further provided with a mechanical arm, and a sensor is arranged on the mechanical arm;

each charging pile is specifically used for determining a charging port of a vehicle to be charged through the sensor, and the mechanical arm is inserted into the charging port of the vehicle to be charged so as to charge the vehicle to be charged.

6. The charging system according to claim 5, wherein each charging pile is further configured to, after the charging of the vehicle to be charged is completed, pull out the robot arm from the charging port of the vehicle to be charged, separate the charging port of the charging pile from the power supply interface, and return to the induction area along one of the traveling auxiliary route and the traveling main route.

7. The charging system according to claim 6, wherein each charging pile is further provided with a charging metering module; the controller is also used for charging the vehicle to be charged according to the charging metering data acquired from the charging metering module of the charging pile after the charging pile finishes charging the vehicle to be charged.

8. The charging system according to claim 4, wherein the main travel route is laid on the ground; each power interface is specifically arranged as follows: the ground position corresponding to the second end of the auxiliary traveling route of one parking space, the wall position corresponding to the second end of the auxiliary traveling route of one parking space, or the upper suspension position corresponding to the second end of the auxiliary traveling route of one parking space.

9. The charging system according to claim 1, wherein the primary travel route and the plurality of secondary travel routes are induction routes, or the primary travel route and the plurality of secondary travel routes are tracks.

10. The charging system according to claim 9, wherein the primary travel route and the plurality of secondary travel routes are inductive routes; the charging pile comprises a processor and an electromagnetic induction module;

the processor is used for acquiring real-time offset according to the real-time induction voltage detected by the electromagnetic induction module; obtaining a control parameter according to the real-time offset; and correcting the deviation amount of the driving path by adopting the control parameter.

11. The charging system of claim 1, wherein the secondary path of travel is an arc or a line segment;

if the auxiliary traveling route is an arc line, the curvature center of the arc line is positioned on one side of the arc line close to the induction area or one side of the arc line far away from the induction area;

and if the auxiliary traveling route is a line segment, the line segment is perpendicular to the main traveling route.

12. The charging system according to any one of claims 1 to 11, wherein the plurality of traveling sub routes are provided on one side or both sides of the traveling main route.

13. A charging method applied to the charging system according to any one of claims 1 to 12, the method comprising:

respectively planning a driving path for each vehicle to be charged according to a parking space where at least one vehicle to be charged is located, wherein each driving path comprises a main driving path and an auxiliary driving path connected with one point of the main driving path, and the auxiliary driving paths of different driving paths are different;

and controlling at least one charging pile in the induction area, and sequentially moving the charging piles to parking spaces where corresponding vehicles to be charged are located along the planned driving path.

14. The method of claim 13, wherein each charging post is provided with a robotic arm on which a sensor is provided;

the control method comprises the following steps that at least one charging pile located in the induction area is controlled to sequentially move to a corresponding parking space where a vehicle to be charged is located along a planned driving path, and the method further comprises the following steps:

after each charging pile moves to the second end of one traveling auxiliary route, the charging port of the charging pile is connected with the power interface at the corresponding position, the charging port of the vehicle to be charged is determined through the sensor, and the mechanical arm is inserted into the charging port of the vehicle to be charged so as to charge the vehicle to be charged.

15. The method of claim 14, further comprising:

after each charging pile finishes charging the vehicle to be charged, the mechanical arm is pulled out of a charging port of the vehicle to be charged, a charging port of the charging pile is separated from a charging port at a corresponding position, and the vehicle returns to an induction area along an auxiliary traveling route and the main traveling route.

16. The method of claim 15, further comprising:

after each charging pile finishes charging the vehicles to be charged, respectively acquiring charging metering data corresponding to each vehicle from each charging pile;

each vehicle is charged according to the charge metering data corresponding to each vehicle.