CN114714947A - Unmanned vehicle charging method and device based on automatic driving - Google Patents
Unmanned vehicle charging method and device based on automatic driving Download PDFInfo
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- CN114714947A CN114714947A CN202210564029.7A CN202210564029A CN114714947A CN 114714947 A CN114714947 A CN 114714947A CN 202210564029 A CN202210564029 A CN 202210564029A CN 114714947 A CN114714947 A CN 114714947A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The embodiment of the application provides an unmanned vehicle charging method and device based on automatic driving, and the method comprises the following steps: when the vehicle is charged, firstly, when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value, a charging request is sent to at least one charging station matched with the vehicle; and then when the charging pile position information of at least one charging station is received, controlling the vehicle to run to a charging parking space corresponding to the charging pile position information of at least one charging station, and determining charging port coordinate information of the vehicle on the charging parking space so as to control the charging pile of at least one charging station to charge the vehicle according to the charging port coordinate information of the vehicle. The position information of the charging pile is received, so that the vehicle can be controlled to accurately run to a charging area, the vehicle is rapidly charged by combining the charging port coordinate information of the vehicle, the whole process is free from manual participation, the control precision of vehicle charging is improved, and the vehicle charging efficiency can be guaranteed.
Description
Technical Field
The application belongs to the technical field of automatic driving, and particularly relates to an unmanned vehicle charging method and device based on automatic driving.
Background
With the development and popularization of new energy vehicles, the construction of more vehicle charging stations is becoming the current demand. The charging station of construction at present mainly regards as artifical the operation, charges through artifical head and the connecing electric interface connection of new energy automobile that charges of charging station, and whole process intelligent degree is lower, and influences charge efficiency.
Disclosure of Invention
The embodiment of the application provides an unmanned vehicle charging method and device based on automatic driving, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides an automated driving-based vehicle unmanned charging method, including:
when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value, sending a charging request to at least one charging station matched with the vehicle;
when the charging pile position information of at least one charging station is received, controlling the vehicle to run to a charging parking place corresponding to the charging pile position information of at least one charging station;
and determining the coordinate information of a charging port of the vehicle on the charging parking space, and controlling the charging pile of at least one charging station to charge the vehicle according to the coordinate information of the charging port of the vehicle.
In an alternative of the first aspect, before sending the charging request to at least one charging station matched with the vehicle when the remaining capacity of the vehicle is lower than the preset capacity threshold, the method further includes:
sending a matching request to at least one charging station within a preset distance range from the vehicle;
when receiving a matching confirmation instruction sent by at least one charging station, determining to match with the at least one charging station.
In yet another alternative of the first aspect, controlling the vehicle to travel to a charging spot corresponding to charging post position information of at least one charging station includes:
determining current position information of a vehicle, and generating a first path according to the current position information of the vehicle and charging pile position information of at least one charging station;
and controlling the vehicle to run to a charging parking place corresponding to the charging pile position information of at least one charging station according to the first path.
In yet another alternative of the first aspect, controlling a charging post of at least one charging station to charge a vehicle according to charging port coordinate information of the vehicle includes:
acquiring initial position information corresponding to the charging pile of at least one charging station, and generating a second path according to the charging port coordinate information of the vehicle and the initial position information corresponding to the charging pile of at least one charging station;
controlling the unmanned aerial vehicle to butt joint a charging gun of the charging pile with a charging port of the vehicle according to a second path; the unmanned aerial vehicle is used for clamping a charging gun of the charging pile;
when the charging gun of the charging pile is detected to be successfully butted with the charging port of the vehicle, the charging pile is controlled to charge the vehicle.
In a further alternative of the first aspect, after controlling the drone to dock the charging gun of the charging pile with the charging port of the vehicle according to the second path, the method further includes:
when detecting that a charging gun of a charging pile is in butt joint with a charging port of a vehicle, sending first prompt information to a terminal corresponding to the vehicle; the first prompt information is used for prompting charging failure.
In yet another alternative of the first aspect, when it is detected that the charging gun of the charging pile is successfully docked with the charging port of the vehicle, after controlling the charging pile to charge the vehicle, the method further includes:
when the residual electric quantity of the vehicle meets a preset condition, sending second prompt information to a terminal corresponding to the vehicle; and the second prompt message is used for prompting the completion of charging.
In yet another alternative of the first aspect, when it is detected that the charging gun of the charging pile is successfully docked with the charging port of the vehicle, after controlling the charging pile to charge the vehicle, the method further includes:
according to the initial position information corresponding to the charging pile of at least one charging station, the unmanned aerial vehicle is controlled to return the charging gun of the charging pile to the initial position.
In a second aspect, an embodiment of the present application provides an unmanned vehicle charging device based on automatic driving, including:
the charging system comprises a sending module, a charging module and a charging module, wherein the sending module is used for sending a charging request to at least one charging station matched with a vehicle when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value;
the control module is used for controlling the vehicle to run to a charging parking place corresponding to the charging pile position information of the at least one charging station when the charging pile position information of the at least one charging station is received;
and the charging module is used for determining the coordinate information of a charging port of the vehicle on the charging parking space and controlling the charging pile of at least one charging station to charge the vehicle according to the coordinate information of the charging port of the vehicle.
In an alternative of the second aspect, the apparatus further comprises:
the matching module is used for sending a matching request to at least one charging station within a preset distance range with the vehicle before sending the charging request to at least one charging station matched with the vehicle when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value;
the determining module is used for determining to match with at least one charging station when receiving a matching confirmation instruction sent by the at least one charging station.
In yet another alternative of the second aspect, the control module comprises:
the charging pile management system comprises a first generating unit, a second generating unit and a charging pile management unit, wherein the first generating unit is used for determining the current position information of a vehicle and generating a first path according to the current position information of the vehicle and the charging pile position information of at least one charging station;
and the control unit is used for controlling the vehicle to run to a charging parking space corresponding to the charging pile position information of at least one charging station according to the first path.
In yet another alternative of the second aspect, the charging module includes:
the second generating unit is used for acquiring initial position information corresponding to the charging piles of at least one charging station and generating a second path according to the charging port coordinate information of the vehicle and the initial position information corresponding to the charging piles of at least one charging station;
the docking unit is used for controlling the unmanned aerial vehicle to dock a charging gun of the charging pile with a charging port of the vehicle according to a second path; the unmanned aerial vehicle is used for clamping a charging gun of the charging pile;
and the charging unit is used for controlling the charging pile to charge the vehicle when the charging gun of the charging pile and the charging port of the vehicle are successfully butted.
In yet another alternative of the second aspect, the charging module further comprises:
the first prompting module is used for sending first prompting information to a terminal corresponding to the vehicle when the fact that the charging gun of the charging pile is in butt joint with the charging port of the vehicle is detected after the unmanned aerial vehicle is controlled to butt joint the charging gun of the charging pile with the charging port of the vehicle according to the second path; the first prompt information is used for prompting charging failure.
In yet another alternative of the second aspect, the charging module further comprises:
the second prompting module is used for controlling the charging pile to charge the vehicle when the fact that the charging gun of the charging pile is successfully butted with the charging port of the vehicle is detected, and sending second prompting information to a terminal corresponding to the vehicle when the residual electric quantity of the vehicle meets a preset condition; and the second prompt message is used for prompting the completion of charging.
In yet another alternative of the second aspect, the charging module further comprises:
and the mobile unit is used for controlling the unmanned aerial vehicle to return the charging gun of the charging pile to the initial position according to the initial position information corresponding to the charging pile of at least one charging station after the charging pile is controlled to charge the vehicle when the charging gun of the charging pile is successfully butted with the charging port of the vehicle.
In a third aspect, an embodiment of the present application provides an unmanned vehicle charging device based on automatic driving, including a processor and a memory;
the processor is connected with the memory;
a memory for storing executable program code;
the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the unmanned charging method for the vehicle based on the automatic driving provided by the first aspect of the embodiment of the present application or any one implementation manner of the first aspect.
In a fourth aspect, the present application provides a computer storage medium storing a computer program, where the computer program includes program instructions that, when executed by a processor, may implement the unmanned vehicle charging method based on automatic driving provided by the first aspect of the present application or any one of the implementations of the first aspect.
In the embodiment of the application, when the vehicle is charged, firstly, when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value, a charging request is sent to at least one charging station matched with the vehicle; and then when the position information of the charging pile of at least one charging station is received, controlling the vehicle to run to a charging parking space corresponding to the position information of the charging pile of at least one charging station, and determining the coordinate information of a charging port of the vehicle on the charging parking space so as to control the charging pile of at least one charging station to charge the vehicle according to the coordinate information of the charging port of the vehicle. The position information of the charging pile is received, so that the vehicle can be controlled to accurately run to a charging area, the vehicle can be rapidly charged by combining the coordinate information of the charging port of the vehicle, the whole process is free from manual participation, the control precision of charging the vehicle is improved, and the charging efficiency of the vehicle can be guaranteed.
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 embodiments will be briefly described 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 without creative efforts.
Fig. 1 is a schematic overall flow chart illustrating an automated driving-based vehicle unmanned charging method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram illustrating an unmanned vehicle charging device based on automatic driving according to an embodiment of the present application;
fig. 3 shows a schematic structural diagram of another unmanned vehicle charging device based on automatic driving according to an embodiment of the present application.
Detailed Description
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.
In the following description, the terms "first" and "second" are used for descriptive purposes only and are not intended to indicate or imply relative importance. The following description provides embodiments of the present application, where different embodiments may be substituted or combined, and thus the present application is intended to include all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes feature A, B, C and another embodiment includes feature B, D, then this application should also be construed to include embodiments that include A, B, C, D in all other possible combinations, even though such embodiments may not be explicitly recited in the text that follows.
The following description provides examples, and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For example, the described methods may be performed in an order different than the order described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
Numerous unmanned charging schemes for autonomous vehicles are mentioned in the prior art. One of the methods and systems can be a robot-arm-guided unmanned charging method and system of the reference application No. 202010488998.X, the solution includes: firstly, a system starts a recognition charging function; secondly, the system starts a camera to recognize and receive a sensing signal; step three, the system detects whether the instruction is successful, if not, the step two is carried out; step four, the system processes data; fifthly, the system performs coordinate conversion; step six, the mechanical arm moves according to a preset instruction; step seven, the system checks whether the charging head is jointed with the charging port, and if not, the system goes to step six; and step eight, starting charging. The system comprises: a visual recognition system; a sensor module for obtaining a position of the charging port; the mechanical arm is used for completing butt joint of the charging head and the charging port; and the induction control system is connected with the visual recognition system, the sensor module and the mechanical arm and is used for processing data and controlling the action of the mechanical arm. It can be obvious to see out, above-mentioned technical scheme judges the mouth butt joint mode that charges based on the visual identification mode, and whole interference killing feature is relatively poor, and adopts the arm structure to control the mouth butt joint that charges, easily leads to whole charging process too complicated, and the input cost is also higher.
Another wireless charging device and unmanned vehicle with application number 202010746144.7 can be referred to, and the scheme thereof includes a vehicle body, a lifting mechanism with one end arranged on the vehicle body, a wireless charging transmitting coil assembly connected with the other end of the lifting mechanism, a first controller arranged in the vehicle body, a first wireless module, a power supply module, an alternating current/direct current switch and a first power converter; the first output end of the alternating current-direct current change-over switch is electrically connected with the input end of the power supply module, the input end of the alternating current-direct current change-over switch is used for being connected with an external power supply, the output end of the power supply module is electrically connected with the input end of the first power converter, the output end of the first power converter is electrically connected with the wireless charging transmitting coil assembly, the wireless charging transmitting coil assembly is used for charging the wireless charging receiving coil, the radio frequency end of the first controller is electrically connected with the first wireless module, and the output end of the first controller is electrically connected with the lifting mechanism and the first power converter. It can be obviously seen that, the above technical scheme adopts a wireless charging mode, and the whole charging efficiency is low, so that the wireless charging method is not suitable for an actual charging scene.
To sum up technical defects in various schemes, the embodiment of the application provides an unmanned vehicle charging method and device based on automatic driving, and the specific scheme is as follows:
referring to fig. 1, fig. 1 is a schematic overall flowchart illustrating an automated vehicle charging method according to an embodiment of the present disclosure.
As shown in fig. 1, the unmanned charging method for an automatic driving-based vehicle may include at least the steps of:
and 102, when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value, sending a charging request to at least one charging station matched with the vehicle.
Specifically, when the remaining capacity of the vehicle is detected to be lower than the preset capacity threshold during the driving process of the vehicle, indicating that the current capacity of the vehicle is insufficient, a charging request can be sent to at least one charging station matched with the vehicle. The preset electric quantity threshold may be determined according to a maximum driving range electric quantity of the vehicle, for example, but not limited to, 20% of the maximum driving range electric quantity, and the maximum driving range electric quantity may be adjusted according to a real-time driving condition of the vehicle.
It is understood that, here, before sending the charging request to at least one charging station matched with the vehicle when the remaining capacity of the vehicle is lower than the preset capacity threshold, the method further includes:
sending a matching request to at least one charging station within a preset distance range from the vehicle;
when receiving a matching confirmation instruction sent by at least one charging station, determining to match with the at least one charging station.
Specifically, before the vehicle travels, a plurality of charging stations whose distance from the current position is within a preset distance range can be determined according to the current stop position of the vehicle, and a matching request is sent to the plurality of charging stations, so that the vehicle can go to the plurality of charging stations for unmanned charging when the remaining electric quantity of the vehicle is insufficient. It is understood that when the vehicle receives the matching confirmation command sent by at least one charging station, it indicates that it is possible to drive to the at least one charging station for unmanned charging and to make a matching connection with the at least one charging station. In the embodiment of the present application, the matching connection between the charging station and the autonomous vehicle may be, but is not limited to, V2X communication connection.
And 104, when the charging pile position information of at least one charging station is received, controlling the vehicle to run to a charging parking space corresponding to the charging pile position information of at least one charging station.
Specifically, when the vehicle receives the charging pile position information of at least one charging station, the target position information can be screened out from the charging pile position information pile of the at least one charging station, and the vehicle can be controlled to run to a charging parking space consistent with the target position information. The method of screening out the target location information may be, but is not limited to, determined according to the current road condition information or the driving distance, for example, the charging pile location information with the shortest driving distance may be used as the target location information, or the charging pile location information with the current road condition being not congested may be used as the target location information, which is not limited thereto.
As an optional of this application embodiment, control vehicle and travel to the charging parking stall that corresponds with the stake positional information that fills of at least one charging station, include:
determining current position information of a vehicle, and generating a first path according to the current position information of the vehicle and charging pile position information of at least one charging station;
and controlling the vehicle to run to a charging parking place corresponding to the charging pile position information of at least one charging station according to the first path.
Specifically, the current position information of the vehicle can be determined through a positioning technology, and a driving path is planned according to the current position information and the charging pile position information of at least one charging station, so that the vehicle can be controlled to drive to a charging parking space corresponding to the charging pile position information of at least one charging station according to the driving path. The historical driving record of the vehicle can be referred to when the driving path is planned, for example, but not limited to, the historical driving record of the vehicle is used as part or all of the driving path, so that a more secure charging experience is brought to a user. Or a plurality of driving paths can be recommended according to the road condition information for the user to select, and the path selected by the user is used as the target driving path.
And 106, determining the coordinate information of the charging port of the vehicle on the charging parking space, and controlling the charging pile of at least one charging station to charge the vehicle according to the coordinate information of the charging port of the vehicle.
Specifically, after the vehicle travels to the designated charging slot, the charging port coordinate information of the vehicle in the charging slot may be determined, and the charging port coordinate information may be determined according to, but not limited to, a spatial rectangular coordinate system established with the first charging slot of the charging station, and the charging port orientation of the vehicle may also be determined by a visual algorithm such as a camera, without being limited thereto.
Further, initial position information corresponding to the charging pile of the current charging station can be acquired, and a second path is generated according to the charging port coordinate information of the vehicle and the initial position information corresponding to the charging pile of the charging station. Wherein, the stake of charging station can be corresponding to the parking stall that charges that the vehicle stops, in other words every parking stall that charges in the charging station all can be corresponding to there being stake of charging (the position of filling the stake can set up the assigned position corresponding to the parking stall that charges), and can but not be restricted to one and fill a plurality of parking stalls that charge.
It can be understood that the second path can be understood as a traveling path along which the charging gun on the charging pile moves to the charging port of the vehicle, and the traveling path can effectively prevent the charging gun from causing damage to the vehicle.
Further, can send the route of traveling of this generation to unmanned aerial vehicle can dock the mouth that charges of rifle and vehicle according to this route of traveling. Here unmanned aerial vehicle can be provided with the fixed arm that is used for this rifle that charges of centre gripping, and can control earlier according to the coordinate information of the mouth that charges of this vehicle and charge the height unanimity of rifle with this mouthful, and the central abscissa of steerable this rifle that charges is unanimous with the abscissa of the mouth that charges of this vehicle afterwards, moves until this rifle and the mouthful completion of the butt joint that charges of this vehicle to the mouth direction that charges that is close to this vehicle through controlling this rifle that charges.
It should be noted that, here fills electric pile still can carry out unmanned charging to this unmanned aerial vehicle to further ensure the intellectuality of car charging process.
Further, when the charging gun of the charging pile is determined to be successfully butted with the charging port of the vehicle, the charging pile is controlled to charge the vehicle.
As another optional of this application embodiment, after control unmanned aerial vehicle will fill electric pile's the rifle that charges and the mouth that charges of vehicle according to the second route and dock, still include:
when detecting that a charging gun of a charging pile is in butt joint with a charging port of a vehicle, sending first prompt information to a terminal corresponding to the vehicle; the first prompt message is used for prompting charging failure.
Specifically, when detecting that the charging gun of the charging pile and the charging port of the vehicle are in butt joint failure, the charging gun is indicated to be incapable of being inserted into the charging port of the vehicle, a user is required to check the reason by himself, and prompt information representing charging failure can be sent to a terminal corresponding to the vehicle. The connection mode of the terminal and the vehicle can be, but is not limited to, bluetooth communication connection.
As another optional option of this application embodiment, when detecting that the rifle that charges of filling electric pile and the mouth that charges of vehicle dock successfully, control after filling electric pile and charging the vehicle, still include:
when the residual electric quantity of the vehicle meets a preset condition, sending second prompt information to a terminal corresponding to the vehicle; and the second prompt message is used for prompting the completion of charging.
Specifically, when the remaining capacity of the vehicle reaches more than 90% of the maximum driving range electric capacity, a prompt message indicating that charging is completed may be sent to the terminal corresponding to the vehicle to prompt the user that the vehicle may be returned to continue driving.
As another optional option of this application embodiment, when detecting that the rifle that charges of filling electric pile and the mouth that charges of vehicle dock successfully, control after filling electric pile and charging the vehicle, still include:
according to the initial position information corresponding to the charging pile of at least one charging station, the unmanned aerial vehicle is controlled to return the charging gun of the charging pile to the initial position.
Specifically, after the vehicle is determined to be charged, the unmanned aerial vehicle is controlled to return the charging gun of the charging pile to the initial position according to the initial position information of the charging pile, so that subsequent charging of other vehicles is facilitated.
It should be noted that, the above-mentioned scheme for controlling the drone can also be implemented by controlling the drone by the charging station, and is not limited to controlling the drone by a vehicle, and the present application is not limited thereto.
Referring to fig. 2, fig. 2 is a schematic structural diagram illustrating an unmanned vehicle charging device based on automatic driving according to an embodiment of the present application.
As shown in fig. 2, the unmanned vehicle charging device based on automatic driving may include at least a transmitting module 201, a control module 202, and a charging module 203, wherein:
the sending module 201 is configured to send a charging request to at least one charging station matched with the vehicle when the remaining power of the vehicle is lower than a preset power threshold;
the control module 202 is configured to control the vehicle to travel to a charging parking space corresponding to the charging pile position information of the at least one charging station when the charging pile position information of the at least one charging station is received;
and the charging module 203 is used for determining the charging port coordinate information of the vehicle on the charging parking space and controlling the charging pile of at least one charging station to charge the vehicle according to the charging port coordinate information of the vehicle.
In some possible embodiments, the apparatus further comprises:
the matching module is used for sending a matching request to at least one charging station within a preset distance range with the vehicle before sending the charging request to at least one charging station matched with the vehicle when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value;
the determining module is used for determining to match with at least one charging station when receiving a matching confirmation instruction sent by the at least one charging station.
In some possible embodiments, the control module comprises:
the charging pile management system comprises a first generating unit, a second generating unit and a charging pile management unit, wherein the first generating unit is used for determining the current position information of a vehicle and generating a first path according to the current position information of the vehicle and the charging pile position information of at least one charging station;
and the control unit is used for controlling the vehicle to run to a charging parking space corresponding to the charging pile position information of at least one charging station according to the first path.
In some possible embodiments, the charging module comprises:
the second generating unit is used for acquiring initial position information corresponding to the charging piles of at least one charging station and generating a second path according to the charging port coordinate information of the vehicle and the initial position information corresponding to the charging piles of at least one charging station;
the docking unit is used for controlling the unmanned aerial vehicle to dock a charging gun of the charging pile with a charging port of a vehicle according to a second path; the unmanned aerial vehicle is used for clamping a charging gun of the charging pile;
and the charging unit is used for controlling the charging pile to charge the vehicle when the charging gun of the charging pile is successfully butted with the charging port of the vehicle.
In some possible embodiments, the charging module further comprises:
the first prompting module is used for sending first prompting information to a terminal corresponding to the vehicle when the fact that the charging gun of the charging pile is in butt joint with the charging port of the vehicle is detected after the unmanned aerial vehicle is controlled to butt joint the charging gun of the charging pile with the charging port of the vehicle according to the second path; the first prompt information is used for prompting charging failure.
In some possible embodiments, the charging module further comprises:
the second prompting module is used for controlling the charging pile to charge the vehicle when the charging gun of the charging pile is successfully butted with the charging port of the vehicle and sending second prompting information to a terminal corresponding to the vehicle when the residual electric quantity of the vehicle meets a preset condition; and the second prompt message is used for prompting the completion of charging.
In some possible embodiments, the charging module further comprises:
and the mobile unit is used for controlling the unmanned aerial vehicle to return the charging gun of the charging pile to the initial position according to the initial position information corresponding to the charging pile of at least one charging station after the charging pile is controlled to charge the vehicle when the charging gun of the charging pile is successfully butted with the charging port of the vehicle.
It is clear to a person skilled in the art that the solution according to the embodiments of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), or the like.
Each processing unit and/or module in the embodiments of the present application may be implemented by an analog circuit that implements the functions of the embodiments of the present application, or may be implemented by software that executes the functions of the embodiments of the present application.
Referring to fig. 3, fig. 3 is a schematic structural diagram illustrating another unmanned vehicle charging device based on automatic driving according to an embodiment of the present application.
As shown in fig. 3, the unmanned charging device for an automatic driving-based vehicle may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.
The communication bus 302 may be used to implement the connection communication of the above components.
The user interface 303 may comprise keys, and the optional user interface may further comprise a standard wired interface or a wireless interface.
The network interface 304 may include, but is not limited to, a bluetooth module, an NFC module, a Wi-Fi module, and the like.
The memory 305 may include a RAM or a ROM. Optionally, the memory 305 includes a non-transitory computer readable medium. The memory 305 may be used to store instructions, programs, code sets, or instruction sets. The memory 305 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 305 may alternatively be at least one storage device located remotely from the processor 301. As shown in fig. 3, the memory 305, which is a type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an autonomous vehicle unmanned charging application program.
Specifically, processor 301 may be configured to invoke an autonomous-based vehicle unmanned charging application stored in memory 305 and specifically perform the following operations:
when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value, sending a charging request to at least one charging station matched with the vehicle;
when the charging pile position information of at least one charging station is received, controlling the vehicle to run to a charging parking place corresponding to the charging pile position information of the at least one charging station;
and determining the coordinate information of a charging port of the vehicle on the charging parking space, and controlling the charging pile of at least one charging station to charge the vehicle according to the coordinate information of the charging port of the vehicle.
In some possible embodiments, before sending the charging request to at least one charging station matched with the vehicle when the remaining capacity of the vehicle is lower than the preset capacity threshold, the method further includes:
sending a matching request to at least one charging station within a preset distance range from the vehicle;
when receiving a matching confirmation instruction sent by at least one charging station, determining to match with the at least one charging station.
In some possible embodiments, controlling the vehicle to travel to a charging slot corresponding to the charging post position information of the at least one charging station includes:
determining current position information of a vehicle, and generating a first path according to the current position information of the vehicle and charging pile position information of at least one charging station;
and controlling the vehicle to run to a charging parking space corresponding to the charging pile position information of at least one charging station according to the first path.
In some possible embodiments, controlling the charging post of at least one charging station to charge the vehicle according to the charging port coordinate information of the vehicle includes:
acquiring initial position information corresponding to the charging pile of at least one charging station, and generating a second path according to the charging port coordinate information of the vehicle and the initial position information corresponding to the charging pile of at least one charging station;
controlling the unmanned aerial vehicle to butt joint a charging gun of the charging pile with a charging port of the vehicle according to a second path; the unmanned aerial vehicle is used for clamping a charging gun of the charging pile;
when the charging gun of the charging pile is detected to be successfully butted with the charging port of the vehicle, the charging pile is controlled to charge the vehicle.
In some possible embodiments, after controlling the drone to dock the charging gun of the charging pile with the charging port of the vehicle according to the second path, the method further includes:
when detecting that a charging gun of a charging pile is in butt joint with a charging port of a vehicle, sending first prompt information to a terminal corresponding to the vehicle; the first prompt information is used for prompting charging failure.
In some possible embodiments, when it is detected that the charging gun of the charging pile is successfully docked with the charging port of the vehicle, after controlling the charging pile to charge the vehicle, the method further includes:
when the residual electric quantity of the vehicle meets a preset condition, sending second prompt information to a terminal corresponding to the vehicle; and the second prompt message is used for prompting the completion of charging.
In some possible embodiments, when it is detected that the charging gun of the charging pile is successfully docked with the charging port of the vehicle, after controlling the charging pile to charge the vehicle, the method further includes:
according to the initial position information corresponding to the charging pile of at least one charging station, the unmanned aerial vehicle is controlled to return the charging gun of the charging pile to the initial position.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above-described method. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some service interfaces, devices or units, and may be an electrical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
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.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, and the memory may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above are merely exemplary embodiments of the present disclosure, and the scope of the present disclosure should not be limited thereby. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. An automatic driving-based unmanned vehicle charging method is characterized by comprising the following steps:
when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value, sending a charging request to at least one charging station matched with the vehicle;
when the charging pile position information of at least one charging station is received, controlling the vehicle to run to a charging parking space corresponding to the charging pile position information of at least one charging station;
and determining the coordinate information of the charging port of the vehicle on the charging parking space, and controlling the charging pile of at least one charging station to charge the vehicle according to the coordinate information of the charging port of the vehicle.
2. The method of claim 1, wherein before sending the charging request to at least one charging station matched with the vehicle when the remaining capacity of the vehicle is lower than the preset capacity threshold, the method further comprises:
sending a matching request to at least one charging station within a preset distance range from the vehicle;
when a matching confirmation command sent by at least one charging station is received, the charging station is determined to be matched with the at least one charging station.
3. The method of claim 1, wherein the controlling the vehicle to travel to a charging slot corresponding to charging post location information of at least one of the charging stations comprises:
determining the current position information of the vehicle, and generating a first path according to the current position information of the vehicle and the charging pile position information of at least one charging station;
and controlling the vehicle to run to a charging parking place corresponding to the charging pile position information of at least one charging station according to the first path.
4. The method of claim 1, wherein the controlling a charging post of at least one of the charging stations to charge the vehicle according to the charging port coordinate information of the vehicle comprises:
acquiring initial position information corresponding to the charging pile of at least one charging station, and generating a second path according to the charging port coordinate information of the vehicle and the initial position information corresponding to the charging pile of at least one charging station;
controlling an unmanned aerial vehicle to butt joint a charging gun of the charging pile with a charging port of the vehicle according to the second path; the unmanned aerial vehicle is used for clamping a charging gun of the charging pile;
and when the charging gun of the charging pile is successfully butted with the charging port of the vehicle, controlling the charging pile to charge the vehicle.
5. The method of claim 4, wherein after the controlling the drone to interface the charging gun of the charging post with the charging port of the vehicle according to the second path, further comprising:
when detecting that a charging gun of the charging pile is in butt joint with a charging port of the vehicle, sending first prompt information to a terminal corresponding to the vehicle; the first prompt message is used for prompting charging failure.
6. The method of claim 5, wherein after controlling the charging post to charge the vehicle when it is detected that the charging gun of the charging post is successfully docked with the charging port of the vehicle, the method further comprises:
when the residual electric quantity of the vehicle meets a preset condition, sending second prompt information to a terminal corresponding to the vehicle; and the second prompt message is used for prompting the completion of charging.
7. The method of claim 4, wherein after controlling the charging post to charge the vehicle when it is detected that the charging gun of the charging post is successfully docked with the charging port of the vehicle, the method further comprises:
and controlling the unmanned aerial vehicle to return a charging gun of the charging pile to the initial position according to the initial position information corresponding to the charging pile of at least one charging station.
8. An unmanned vehicle charging device based on automatic driving, comprising:
the charging system comprises a sending module, a charging module and a charging module, wherein the sending module is used for sending a charging request to at least one charging station matched with a vehicle when the residual electric quantity of the vehicle is lower than a preset electric quantity threshold value;
the control module is used for controlling the vehicle to run to a charging parking place corresponding to the charging pile position information of at least one charging station when the charging pile position information of at least one charging station is received;
and the charging module is used for determining the coordinate information of a charging port of the vehicle on the charging parking space and controlling a charging pile of at least one charging station to charge the vehicle according to the coordinate information of the charging port of the vehicle.
9. An unmanned vehicle charging device based on automatic driving is characterized by comprising a processor and a memory;
the processor is connected with the memory;
the memory for storing executable program code;
the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for performing the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115330286A (en) * | 2022-10-17 | 2022-11-11 | 国网浙江省电力有限公司宁波供电公司 | Charging pile power distribution scheduling method and system, electronic equipment and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115330286A (en) * | 2022-10-17 | 2022-11-11 | 国网浙江省电力有限公司宁波供电公司 | Charging pile power distribution scheduling method and system, electronic equipment and readable storage medium |
| CN115330286B (en) * | 2022-10-17 | 2023-04-07 | 国网浙江省电力有限公司宁波供电公司 | Charging pile power distribution scheduling method and system, electronic equipment and readable storage medium |
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