CN116442830A - Automatic charging method, device, equipment and chargeable equipment - Google Patents
Automatic charging method, device, equipment and chargeable equipment Download PDFInfo
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- CN116442830A CN116442830A CN202310701270.4A CN202310701270A CN116442830A CN 116442830 A CN116442830 A CN 116442830A CN 202310701270 A CN202310701270 A CN 202310701270A CN 116442830 A CN116442830 A CN 116442830A
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- 238000004590 computer program Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 16
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- 238000010586 diagram Methods 0.000 description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—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
Abstract
The application provides an automatic charging method, an automatic charging device, equipment and chargeable equipment, wherein the method comprises the steps of receiving charging request information; when the laser scanning device is at the first position and the second position, the laser scanning device is respectively controlled to scan the laser receiving devices on the object to be charged, and the light emitting directions when the laser scanning device scans at least three laser receiving devices are marked when the laser scanning device is at the first position and the second position; and calculating the distance between the charging interface and the charging equipment and the angle of the plane of the charging interface, and controlling the charging equipment to be in butt joint with the object to be charged. The full-process automatic charging can be realized, the user only needs to send out instructions to the charging equipment, and the interface is in butt joint to position in a laser scanning mode, so that the accuracy is higher.
Description
Technical Field
The application belongs to the technical field of charging, and particularly relates to an automatic charging method, device and equipment and chargeable equipment.
Background
At present, manual operation is generally required for charging equipment such as electric automobiles, and the operation is complex, tedious, time-consuming, labor-consuming and low in efficiency. It is therefore desirable to invent a method and apparatus that can be automatically charged.
Disclosure of Invention
The embodiment of the application provides an automatic charging method, an automatic charging device, automatic charging equipment and chargeable equipment, which can realize automatic charging of an object to be charged.
In a first aspect, the present application provides an automatic charging method, including the steps of:
receiving charging request information;
responding to a signal entering a charging area, and controlling the laser scanning device to scan a laser receiving device on an object to be charged when the laser scanning device is at a first position; the charging area entering signal indicates that an object to be charged enters a charging area of the charging equipment, and at least three laser receiving devices are arranged on a charging interface of the object to be charged; the laser scanning device is arranged on the charging equipment;
marking the light emitting directions when the laser scanning device scans at least three laser receiving devices when the laser scanning device is positioned at a first position;
when the laser scanning device is at the second position, controlling the laser scanning device to scan the laser receiving device;
marking the light emitting directions when the laser scanning device scans at least three laser receiving devices when the laser scanning device is positioned at the second position respectively;
calculating the distance and the direction between a charging interface of an object to be charged and the charging equipment and the angle of a plane where the charging interface of the object to be charged is located according to at least three light emitting directions of the laser scanning device when the laser scanning device is at a first position and at least three light emitting directions when the laser scanning device is at a second position;
controlling the charging equipment to move to a position corresponding to the charging interface and adjusting to a corresponding angle;
and controlling the charging equipment to be connected with a charging interface of the object to be charged and charging.
Further, in the step of "responding to the signal of entering the charging area, when the laser scanning device is at the first position, controlling the laser scanning device to scan the laser receiving device on the object to be charged", the method specifically includes the following steps:
the object to be charged sends a charging area entering signal to the charging equipment, and the charging equipment responds to the charging area entering signal and controls a laser scanning device on the charging equipment to scan a laser receiving device on the object to be charged; or the charging equipment receives a signal sent by the detection device and entering the charging area, and controls the laser scanning device on the charging equipment to scan the laser receiving device on the object to be charged at the first position.
Further, in the step of calculating the distance and direction between the charging interface of the object to be charged and the charging device and the angle of the plane where the charging interface of the object to be charged is located according to at least three light emitting directions of the laser scanning device at the first position and at least three light emitting directions of the laser scanning device at the second position, the method specifically includes the following steps:
establishing a space rectangular coordinate system by taking any point in space as an origin;
in a space rectangular coordinate system, respectively calculating the function expressions fa1, fa2, fa3, fan of n light emergent directions at the first position, and n functional expressions fb1 of light emitting directions at the second position fb2, fb3 fbn;
specific coordinates of the first laser receiving device, the second laser receiving device, the third laser receiving device and the nth laser receiving device are respectively determined according to the intersection point of the functions fa1 and fb1, the intersection point of the functions fa2 and fb2, and the intersection point of the functions fa3 and fb 3;
and calculating the angle of the plane of the charging interface, the distance and the direction between the charging interface and the charging equipment according to the specific coordinates of the first laser receiving device, the second laser receiving device, the third laser receiving device and the nth laser receiving device.
In a second aspect, the present application provides an automatic charging device comprising:
the charging request receiving module is used for receiving charging request information sent by an object to be charged;
the charging preparation module is used for receiving a signal that an object to be charged enters a charging area;
a laser scanning device for emitting laser;
the scanning control module is used for controlling the laser scanning device to scan the laser receiving device on the object to be charged when the laser scanning device is at the first position and the second position;
the computing module is used for computing the distance and the direction between the object to be charged and the charging equipment and the angle of the plane where the charging interface of the object to be charged is located according to the data scanned by the scanning control module;
and the charging execution module is used for controlling the charging equipment to move and be in butt joint with the charging interface.
Furthermore, the laser scanning device can be controlled by the scanning control module to freely rotate for adjusting the angle.
Further, at least three laser receiving devices are arranged on the charging interface of the object to be charged, and the laser receiving devices are used for sending signals to the scanning control module when receiving laser irradiation.
In a third aspect, the application provides an automatic charging device, including controlling means, laser scanning device and charging execution device, controlling means is used for controlling laser scanning device scans the position of treating the object that charges, fixes a position according to the scanning result, and control charging execution device drive charging device charges with waiting to charge the interface connection on the object.
In a fourth aspect, the present application provides a rechargeable device comprising the laser light receiving means in the automatic charging device as described in the second aspect, the laser light receiving means being provided in at least three.
In a fifth aspect, the present application provides a computer readable storage medium storing a computer program which when executed performs any of the methods of the first aspect.
Compared with the prior art, the embodiment of the application has the beneficial effects that: firstly, the automatic charging can be realized, the charging equipment can automatically position the position of the charging interface through laser scanning, and the charging equipment can be automatically docked with the charging interface after being positioned to realize the charging; second, the second is a method of manufacturing a semiconductor device. The positioning accuracy of the charging interface is higher; thirdly, the method, the device and the equipment provided by the application can be suitable for various application scenes, and the installation positions of the laser receiving devices can be adaptively selected according to different equipment to be charged because the spatial position relations between the laser receiving devices and the charging interfaces are known.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method provided by an embodiment of the present application;
fig. 2 is a schematic diagram showing a positional relationship between a charging device and an object to be charged;
FIG. 3 is a schematic diagram of a laser scanning device scanning a laser receiving device at different positions according to the present application;
FIG. 4 is a block diagram of a system provided herein;
fig. 5 is a schematic structural diagram of an automatic charging device provided in the present application.
Description of the embodiments
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should 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, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the 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 application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The technical scheme provided by the embodiment of the application will be described through a specific embodiment.
Example 1
The embodiment provides an automatic charging method, which can be used for automatically charging electric automobiles, robots for various purposes and the like, as shown in fig. 1, and comprises the following steps:
s1: receiving charging request information;
s2: responding to a signal entering a charging area, and controlling the laser scanning device to scan a laser receiving device on an object to be charged when the laser scanning device is at a first position; the charging area entering signal indicates that an object to be charged enters a charging area of the charging equipment, and at least three laser receiving devices are arranged on a charging interface of the object to be charged; the laser scanning device is arranged on the charging equipment;
s3: marking the light emitting directions when the laser scanning device scans at least three laser receiving devices when the laser scanning device is positioned at a first position;
s4: when the laser scanning device is at the second position, controlling the laser scanning device to scan the laser receiving device;
s5: marking the light emitting directions when the laser scanning device scans at least three laser receiving devices when the laser scanning device is positioned at the second position respectively;
s6: calculating the distance and the direction between a charging interface of an object to be charged and the charging equipment and the angle of a plane where the charging interface of the object to be charged is located according to at least three light emitting directions of the laser scanning device when the laser scanning device is at a first position and at least three light emitting directions when the laser scanning device is at a second position;
s7: controlling the charging equipment to move to a position corresponding to the charging interface and adjusting to a corresponding angle;
s8: and controlling the charging equipment to be connected with a charging interface of the object to be charged.
Taking an electric automobile as an object to be charged as an example, a charging interface is arranged on the automobile body of the electric automobile, and when a user stops the automobile in a charging area and opens a cover outside the interface, an automatic charging step can be performed.
In step S1, the charging request information may be sent for the object to be charged, or may be sent for the intelligent terminal associated with the object to be charged. For example, the object to be charged is an electric automobile, the charging request information can be a mobile phone app, a user binds with the electric automobile through the mobile phone app, inputs information such as a model, parameters and the like of the electric automobile through the mobile phone app, and performs operations such as reserved charging and payment through the mobile phone app.
In an alternative embodiment, the laser scanning device may be a laser emitting device with a rotatable angle, for example, one end of the laser scanning device may be connected to the charging device through a universal shaft, and the other end may be controlled by two electric push rods to move, so that the light outlet of the laser emitting device may move in both the transverse and longitudinal directions, thereby completing the scanning operation. It should be noted that the structure of the laser scanning device is only an example, and any structure capable of implementing scanning by the laser emitting device is within the scope of the present application.
Fig. 2 is a top view of a positional relationship between a charging device and an object to be charged, and fig. 3 is a schematic diagram showing a scanning of a laser receiving device by a laser scanning device when the laser scanning device is at two different positions. The laser receiving device 201 may be a device capable of converting an optical signal into an electrical signal, such as a photoelectric sensor, where the laser receiving device 201 is generally referred to as a first laser receiving device, a second laser receiving device, an nth laser receiving device, and at least 3 laser receiving devices are disposed on one object to be charged, so that in a laser scanning process, a plane can be determined through at least 3 positioning points, and an angle of the plane where a charging interface of the object to be charged is located is calculated.
The working principle of the method provided by the embodiment is that when an object to be charged enters a charging area, the position of a laser receiving device is scanned through a laser scanning device, when laser irradiates the laser receiving device, the laser receiving device sends a signal to a charging device, when the charging device receives the signal, the current light emitting direction of the laser scanning device can be recorded, 3 signals can be obtained when the charging device scans at a first position, three angles are recorded, when the charging device scans at a second position, three directions can be obtained again, namely, each laser receiving device can correspond to two light emitting directions, and the intersection point of the two light emitting angles in space is the coordinate of the laser receiving device, so that the coordinate of the 3 laser receiving devices is determined.
In particular, in the step of controlling the charging device to move to a position corresponding to the charging interface and adjust to a corresponding angle, the charging device may be implemented by any component having a moving function. For example, in one embodiment, the charging device is movable as a whole (not shown in fig. 2), and the charging device moves on a preset track, or may directly move on the ground, and the preset track may be disposed underground or erected above a parking lot. Taking the track setting in the ground as an example, charging equipment wholly can follow the track and remove, simultaneously, charging equipment divide into body portion and components of a whole that can function independently portion, and body portion sets up on the track and can remove on the track, and components of a whole that can function independently portion that can remove in the direction of perpendicular to track with body portion (i.e. towards the direction of waiting to charge the object), further, the planar angle in components of a whole that can adjust wantonly of components of a whole that can function independently portion, for example can connect components of a whole that can function independently portion and body portion through four telescopic links, controls the removal and the angular adjustment of components of a whole that can function independently portion through controlling the expansion and contraction of telescopic link. The laser scanning device may be provided on the split part or the body part. In addition, a lifting mechanism (not shown in the figure) may be further disposed on the body portion, for adjusting the heights of the body portion and the split portion, and after the position coordinates of the laser receiving device are calculated, the position of the charging terminal on the split portion may be adjusted to a height corresponding to the charging interface by the lifting mechanism. The lifting mechanism can be any type of mechanism, and only the stroke data meeting the lifting requirement can be acquired in real time, such as a hydraulic mechanism, a connecting rod mechanism, an electric push rod mechanism and the like, and the specific form and structure of the lifting mechanism are not limited in the embodiment. The specific technical solution provided in the embodiment is only one possible example, and it should be understood that any technical solution capable of enabling the body portion and the split portion to move and lift is within the scope of protection of the present application.
In the step of controlling the charging device to be connected with the charging interface of the object to be charged and charging, the charging device is already informed of the accurate position coordinates of the object to be charged, so that the charging interface on the split part can be moved to the corresponding position through the movement of the body part and the split part.
In an alternative embodiment, in the step of "responding to the signal of entering the charging area, when the charging device is at the first position, controlling the laser scanning device on the charging device to scan the laser receiving device on the object to be charged at the first position", the method specifically includes the following steps:
the method comprises the steps that an object to be charged sends a charging area entering signal to charging equipment, and the charging equipment responds to the charging area entering signal and controls a laser scanning device on the charging equipment to scan a laser receiving device on the object to be charged; or, the method can further comprise the following steps:
the charging equipment receives the signal that the object to be charged enters the charging area and is sent by the detection device, and the laser scanning device on the charging equipment is controlled to scan the laser receiving device on the object to be charged.
Specifically, the signal that the object to be charged enters the charging area can be actively sent by the object to be charged or automatically detected by the charging device, for example, when the object to be charged is an electric car, after a driver starts the car into a parking space, the signal can be sent to the charging device through the mobile phone app, or the detecting device can be a ground induction coil, an RFID module and other devices, and the charging device can detect whether a vehicle enters through the ground induction coil, the RFID and other detecting devices.
In an alternative embodiment, in the step of calculating the distance between the charging interface of the object to be charged and the charging device and the angle of the plane of the charging interface of the object to be charged according to at least three light emitting directions of the laser scanning device in the first position and at least three light emitting directions of the laser scanning device in the second position, the method specifically includes the following steps:
establishing a space rectangular coordinate system by taking any point in space as an origin;
in the space orthogonal coordinate system, respectively calculating a function expression fa1 according to n light emitting directions of the laser scanning device when the laser scanning device is at the first position fa2, fa3 fan, and n functional expressions fb1 of light emitting directions at the second position fb2 fb3·····fbn; wherein n is a positive integer greater than or equal to 3;
specific coordinates of the first laser receiving device, the second laser receiving device, the third laser receiving device, the nth laser receiving device are respectively determined according to the intersection point of the functions fa1 and fb1, the intersection point of the functions fa2 and fb2, and the intersection point of the functions fa3 and fb 3;
and calculating the angle of the plane of the charging interface, the distance and the direction between the charging interface and the charging equipment according to the specific coordinates of the first laser receiving device, the second laser receiving device and the third laser receiving device.
Specifically, in the above steps, a space rectangular coordinate system may be established with any point in space as an origin, and when a signal sent by the laser receiving device is received, since the light emitting direction of the laser scanning device is known at this time, a functional expression of the laser in the space rectangular coordinate system may be accurately calculated. The first position and the second position may be any misaligned positions as long as the positions can ensure that the laser scanning device can scan the laser receiving device.
After the space rectangular coordinate system is established, the charging equipment can be driven to move towards the charging interface according to the angle of the plane where the charging interface is located and the distance between the charging interface and the charging equipment, and after the charging equipment moves to the corresponding position and the angle is adjusted, the charging terminal on the charging equipment is controlled to move towards the charging interface and achieve connection. According to the embodiment, the position coordinates of the laser receiving device are positioned through the intersection points of different lasers received by the same laser receiving point in the space rectangular coordinate system, the charging equipment is controlled to be automatically charged according to the positioning result, a user only needs to move an object to be charged into the charging area, and after the charging is finished, the charging equipment can be automatically pulled out, so that the utilization rate of the charging equipment is improved.
In an optional embodiment, the charging request information in step S1 further includes a positional relationship between all the laser receiving devices and the charging interface on the object to be charged. For example, the distance between the first laser receiving device and the reference point in the charging interface (the reference point may be any one point in the charging interface) is 5cm, the angle is 75 °, the distance between the second laser receiving device and the reference point in the charging interface is 6cm, the angle is 130 °, and the distance between the third laser receiving device and the reference point in the charging interface is 6cm, the angle is 270 °. After the charging device receives the information, according to the position relation between the laser receiving device and the charging interface, how the split part determines the specific position coordinates of the charging interface according to the position coordinates of the laser receiving device when the charging step is executed can be determined. It should be noted that, in this embodiment, step S7 further needs to include controlling the charging device to move to a position corresponding to the charging interface and adjusting to a corresponding angle according to the distance between the object to be charged and the charging device, the angle of the plane where the charging interface of the object to be charged is located, and the positional relationship between all the laser receiving devices on the object to be charged and the charging interface. The method provided by the embodiment can be suitable for various application scenes, and the installation positions of the laser receiving devices can be adaptively selected according to different equipment to be charged because the spatial position relation between the laser receiving devices and the charging interface is known.
Example 2
The embodiment provides an automatic charging device, which can be used for automatically charging an electric automobile, an intelligent robot and the like. As shown in fig. 4, includes:
a charging request receiving module 101, configured to receive charging request information sent by an object to be charged;
a charging preparation module 102, configured to receive a signal that an object to be charged enters a charging area;
a laser scanning device 103 for emitting laser light;
the scanning control module 104 is configured to control the laser scanning device to scan the laser receiving device on the object to be charged when the laser scanning device is at the first position and the second position;
a calculating module 105, configured to calculate, according to the data scanned by the scanning control module, a distance between the object to be charged and the charging device and an angle of a plane where the charging interface of the object to be charged is located;
and the charging execution module 106 is used for controlling the charging equipment to move and be in butt joint with the charging interface according to the distance between the object to be charged and the charging equipment and the angle of the plane of the charging interface of the object to be charged.
Specifically, the scan control module 104 may be composed of at least one processor and at least one memory, where the processor executes computer software in the memory to control the action of the laser scanning device, for example, to control the laser scanning device to sequentially select a node on the Y axis to move along the X axis direction, so as to scan the preset spatial range.
The computing module 104 may be configured to include at least one processor and a memory, the computing module being communicatively coupled to the scan control module.
The charging execution module 106 may be configured to include a body portion and a split portion, in one embodiment, the body portion is disposed on a track and can move on the track, the split portion is disposed on the body portion and can move with the body portion in a direction towards an object to be charged, and further, an angle of a plane where the split portion is located can be adjusted at will, for example, the split portion and the body portion can be connected through four telescopic rods, and movement and angle adjustment of the split portion are controlled by controlling expansion and contraction of the telescopic rods. The laser scanning device may be provided on the split part or the body part. When the charging execution module works, the body part can be controlled to move to the corresponding position of the charging interface according to the position coordinates of the charging interface on the object to be charged, which are obtained by the calculation module, and the split part is controlled to move to the charging interface, so that the charging terminal is inserted into the charging interface.
In addition, a lifting mechanism (not shown in the figure) may be further disposed on the body portion, for adjusting the heights of the body portion and the split portion, and after the position coordinates of the laser receiving device are calculated, the position of the charging terminal on the split portion may be adjusted to a height corresponding to the charging interface by the lifting mechanism. The lifting mechanism can be any type of mechanism, and only the stroke data meeting the lifting requirement can be acquired in real time, such as a hydraulic mechanism, a connecting rod mechanism, an electric push rod mechanism and the like, and the specific form and structure of the lifting mechanism are not limited in the embodiment. The specific technical solution provided in the embodiment is only one possible example, and it should be understood that any technical solution capable of enabling the body portion and the split portion to move and lift is within the scope of protection of the present application.
In an alternative embodiment, the laser scanning device 103 may be controlled by the scanning control module 104 to freely rotate to adjust the angle. The laser scanning device 103 may be provided on the body portion or the separate body portion.
In an alternative embodiment, at least three laser receiving devices 201 are disposed on the charging interface of the object to be charged, and the laser receiving devices 201 are configured to send signals to the scan control module 104 when receiving laser irradiation. Specifically, the laser receiving device 201 may be configured as a device capable of converting an optical signal into an electrical signal, for example, a photoelectric sensor, and a wireless communication unit is further disposed on the laser receiving device, for transmitting the electrical signal to the charging device. In another alternative embodiment, the laser receiving device 201 may be a light reflecting member, and reflect the received laser light to the charging device, and the charging device receives the reflected laser light, so as to determine whether the laser light hits the laser receiving device.
In one embodiment, the locations of at least 3 laser receiving devices are not collinear.
The embodiment further provides an automatic charging device, as shown in fig. 5, which includes a control device 301, a laser scanning device 302, and a charging executing device 303, where the control device is configured to control the laser scanning device 302 to scan a position of an object to be charged, locate the position according to a scanning result, and control the charging executing device 303 to drive the charging device to be charged to be connected with a charging interface on the object to be charged.
The present embodiment also provides a chargeable device, as shown in fig. 4, including the laser receiving apparatus 201 as described in any one of embodiments 1 and 2, and the signal transmitting unit 202, on one chargeable device, the laser receiving apparatus being provided in at least three, and the signal transmitting unit 202 being capable of transmitting a signal to the chargeable device after receiving the laser irradiation. For example, the chargeable device may be an electric car, or an intelligent robot, or the like.
The present embodiment also provides a computer readable storage medium storing a computer program which when executed performs the method according to any one of the above embodiments.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Those skilled in the art will appreciate that the processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage may in some embodiments be an internal storage unit of the device, such as a hard disk or a memory. The memory may also be an external memory device, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), etc. in other embodiments. Further, the memory may also include an external storage device. The memory is used to store an operating system, application programs, boot loader (BootLoader), data, and other programs, etc., such as program code for the computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Embodiments of the present application provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that may be performed in the various method embodiments described above.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
1. An automatic charging method, comprising the steps of:
receiving charging request information;
responding to a signal entering a charging area, and controlling the laser scanning device to scan a laser receiving device on an object to be charged when the laser scanning device is at a first position; the charging area entering signal indicates that an object to be charged enters a charging area of the charging equipment, and at least three laser receiving devices are arranged on a charging interface of the object to be charged; the laser scanning device is arranged on the charging equipment;
marking the light emitting directions when the laser scanning device scans at least three laser receiving devices when the laser scanning device is positioned at a first position;
when the laser scanning device is at the second position, controlling the laser scanning device to scan the laser receiving device;
marking the light emitting directions when the laser scanning device scans at least three laser receiving devices when the laser scanning device is positioned at the second position respectively;
calculating the distance and the direction between a charging interface of an object to be charged and the charging equipment and the angle of a plane where the charging interface of the object to be charged is located according to at least three light emitting directions of the laser scanning device when the laser scanning device is at a first position and at least three light emitting directions when the laser scanning device is at a second position;
controlling the charging equipment to move to a position corresponding to the charging interface and adjusting to a corresponding angle;
and controlling the charging equipment to be connected with a charging interface of the object to be charged.
2. The method according to claim 1, wherein in the step of "responsive to the signal to enter the charging area, when the laser scanning device is in the first position, the laser scanning device is controlled to scan the laser receiving device on the object to be charged", the method specifically comprises the steps of:
the object to be charged sends a charging area entering signal to the charging equipment, and the charging equipment responds to the charging area entering signal and controls a laser scanning device on the charging equipment to scan a laser receiving device on the object to be charged; or the charging equipment receives a signal sent by the detection device and entering the charging area, and controls the laser scanning device on the charging equipment to scan the laser receiving device on the object to be charged at the first position.
3. The method according to claim 1, wherein in the step of calculating the distance and direction between the charging interface of the object to be charged and the charging device and the angle of the plane of the charging interface of the object to be charged according to at least three light emitting directions of the laser scanning device in the first position and at least three light emitting directions of the laser scanning device in the second position, the method specifically comprises the following steps:
establishing a space rectangular coordinate system by taking any point in space as an origin;
in the space orthogonal coordinate system, functional expressions fa1 of n light emitting directions at the first position are calculated respectively fa2, fa3 fan, and n functional expressions fb1 of light emitting directions at the second position fb2 fb3·····fbn;
specific coordinates of the first laser receiving device, the second laser receiving device, the third laser receiving device, the nth laser receiving device are respectively determined according to the intersection point of the functions fa1 and fb1, the intersection point of the functions fa2 and fb2, and the intersection point of the functions fa3 and fb 3;
and calculating the angle of the plane of the charging interface, the distance and the direction between the charging interface and the charging equipment according to the specific coordinates of the first laser receiving device, the second laser receiving device, the third laser receiving device and the nth laser receiving device.
4. An automatic charging device, comprising:
the charging request receiving module is used for receiving charging request information sent by an object to be charged;
the charging preparation module is used for receiving a signal that an object to be charged enters a charging area;
a laser scanning device for emitting laser;
the scanning control module is used for controlling the laser scanning device to scan the laser receiving device on the object to be charged when the laser scanning device is at the first position and the second position;
the computing module is used for computing the distance and the direction between the object to be charged and the charging equipment and the angle of the plane where the charging interface of the object to be charged is located according to the data scanned by the scanning control module;
and the charging execution module is used for controlling the charging equipment to move and be in butt joint with the charging interface.
5. The apparatus of claim 4, wherein the laser scanning device is controlled by the scanning control module to freely rotate an adjustment angle.
6. The device according to claim 4, wherein at least three laser receiving devices are arranged on the charging interface of the object to be charged, and the laser receiving devices are used for sending signals to the scanning control module when receiving laser irradiation.
7. The automatic charging equipment is characterized by comprising a control device, a laser scanning device and a charging execution device, wherein the control device is used for controlling the laser scanning device to scan the position of an object to be charged, positioning according to a scanning result and controlling the charging execution device to drive the charging equipment to be connected with a charging interface on the object to be charged for charging.
8. A chargeable device comprising the laser light receiving means in the automatic charging device according to any one of claims 4 to 6, the laser light receiving means being provided in at least three.
9. A computer readable storage medium, characterized in that a computer program is stored, which computer program, when executed, performs the method of any of claims 1 to 3.
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| CN202310701270.4A CN116442830A (en) | 2023-06-14 | 2023-06-14 | Automatic charging method, device, equipment and chargeable equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310701270.4A CN116442830A (en) | 2023-06-14 | 2023-06-14 | Automatic charging method, device, equipment and chargeable equipment |
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| CN202310701270.4A Pending CN116442830A (en) | 2023-06-14 | 2023-06-14 | Automatic charging method, device, equipment and chargeable equipment |
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