CN116691426B - Control method and system of charging robot - Google Patents

Control method and system of charging robot Download PDF

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Publication number
CN116691426B
CN116691426B CN202310964105.8A CN202310964105A CN116691426B CN 116691426 B CN116691426 B CN 116691426B CN 202310964105 A CN202310964105 A CN 202310964105A CN 116691426 B CN116691426 B CN 116691426B
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Prior art keywords
charging
robot
charging robot
robots
electric quantity
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CN116691426A (en
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王建国
陈庆宽
臧珂
张晶
满孝龙
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Shandong Tongyun New Energy Technology Co ltd
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Shandong Tongyun New Energy Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/68—Off-site monitoring or control, e.g. remote control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The embodiment of the application relates to the field of control automation, and provides a control method and a control system of a charging robot; when the charging robots cannot meet the charging requirement or the charging abnormality of the electric automobile, the charging amount and the switching time of the first charging robot can be estimated according to the charging progress, then a second charging robot is matched for the target electric automobile according to the continuous charging amount and the switching time, and the second charging robot is controlled to switch the first charging robot at the switching time so that the second charging robot charges the target electric automobile; the scheme can automatically replace the charging robot in time without user intervention, is simple and convenient to operate, and can greatly improve the charging efficiency.

Description

Control method and system of charging robot
Technical Field
The application relates to the field of control automation, in particular to a control method and a control system of a charging robot.
Background
In recent years, the sales of new energy automobiles such as electric automobiles are increasing under the initiative of energy greening. Although the advantages of the electric automobile are all obvious, many practical problems such as fewer charging piles, troublesome charging and the like are wound around people.
In order to solve the problem of difficult charging of electric automobiles, the prior art provides charging robot services. The charging robot is just like a large battery with wheels, and can charge the electric automobile anytime and anywhere. In the prior art, a vehicle owner can reserve a charging robot in an application program, after reservation is successful, the charging robot can stop at a parking space with a designated number to wait, and when the vehicle owner drives to reach the parking space with the designated number, the charging robot can be used for charging an electric vehicle.
In the research and use process of the prior art, the inventor of the invention finds that the situation that the charging robot cannot be fully charged or is abnormally charged at one time often occurs because the battery capacity of the electric automobile is different and the residual electric quantity is also different and the situation of the charging robot is also uncertain, and in the situation, an owner often needs to reserve another charging robot for charging through an application program, so that the operation is inconvenient; moreover, if the owner does not schedule another charging robot in time, the charging robot cannot be replaced in time, and the charging efficiency is greatly affected.
Disclosure of Invention
The embodiment of the invention provides a control method and a control system for a charging robot, which are convenient to operate and can improve the charging efficiency.
The embodiment of the invention provides a control method of a charging robot, which comprises the following steps:
when a first charging robot is connected into a target electric automobile to charge, determining whether the residual electric quantity of the first charging robot meets the charging requirement of the target electric automobile;
if yes, marking the state of the first charging robot as busy;
if the state of the first charging robot cannot be met, marking the state of the first charging robot as needing to be replaced;
monitoring a charging process when the first charging robot charges the target electric automobile;
if the charging abnormality is monitored, estimating a continuous charging amount and switching time of the first charging robot according to a charging process;
if the charging is monitored to be normal, when the state is that the residual electric quantity of the first charging robot to be replaced reaches a preset threshold value, estimating the charging quantity and the switching time of the first charging robot according to the charging progress;
matching a second charging robot for the target electric automobile according to the continuous charging amount and the switching time;
and controlling the second charging robot to switch the first charging robot at the switching time so that the second charging robot charges the target electric automobile.
Optionally, in some embodiments of the present application, the estimating the continuous charging amount and the switching time of the first charging robot according to the charging process includes:
calculating the actual average charging efficiency of the first charging robot when the target electric automobile is charged according to the charging process;
calculating the switching time of the first charging robot according to the residual electric quantity of the first charging robot and the actual average charging efficiency;
and estimating a continuous charge amount based on the actual average charge efficiency and the switching time.
Optionally, in some embodiments of the present application, the matching a second charging robot for the target electric vehicle according to the continuous charging amount and the switching time includes:
acquiring current position information of a first charging robot;
determining whether other charging robots which do not return to the configuration station exist in a preset range according to the position information;
if other charging robots which do not return to the configuration station exist, acquiring the charging completion time of the other charging robots and the electric quantity redundancy when the charging is completed, adding the charging robots with the charging completion time earlier than the switching time and the electric quantity redundancy larger than the continuous charging quantity to a first candidate set, and selecting the charging robots from the first candidate set as second charging robots according to a preset first strategy;
And if no other charging robots which do not return to the configuration station exist or the charging robots in the first candidate set are zero, selecting the charging robot meeting the continuous charging amount and the switching time from the configuration station as a second charging robot according to a preset second strategy.
Optionally, in some embodiments of the present application, the selecting, according to a preset first policy, the charging robot from the first candidate set as the second charging robot includes:
selecting a charging robot with the shortest path reaching the target electric automobile from the first candidate set as a second charging robot; or alternatively, the process may be performed,
selecting a charging robot with the maximum electric quantity redundancy from the first candidate set as a second charging robot; or alternatively, the process may be performed,
selecting a charging robot with a time difference between the charging completion time and the switching time meeting a preset condition from the first candidate set as a second charging robot; or alternatively, the process may be performed,
sequencing the charging robots in the first candidate set according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the first candidate set according to the electric quantity redundancy to obtain a second sequence; sequencing the charging robots in the first candidate set according to the morning and evening of the charging completion time to obtain a third sequence; and scoring the charging robots in the first candidate set according to the first sequence, the second sequence and the third sequence, and taking the charging robot with the highest score as a second charging robot.
Optionally, in some embodiments of the present application, the matching a second charging robot for the target electric vehicle according to the continuous charging amount and the switching time includes:
acquiring the state and electric quantity redundancy of other charging robots except the first charging robot at the switching time;
adding a charging robot with idle state and electric quantity redundancy larger than the continuous charging quantity into a second candidate set;
and selecting the charging robot from the second candidate set as a second charging robot according to a third strategy.
Optionally, in some embodiments of the present application, the determining whether the remaining power of the first charging robot meets the charging requirement of the target electric vehicle includes:
acquiring charging completion time set by a user, and calculating electric quantity requirements reaching the charging completion time from the current moment;
if the residual electric quantity of the first charging robot is larger than or equal to the electric quantity demand, determining that the residual electric quantity meets the charging demand of the target electric automobile;
if the residual electric quantity of the first charging robot is smaller than the electric quantity demand, determining that the residual electric quantity cannot meet the charging demand of the target electric automobile.
Optionally, in some embodiments of the present application, when the charging abnormality is monitored, the method may further include:
acquiring charging abnormality information, and analyzing the charging abnormality information;
if the analysis result indicates that the abnormal charging is caused by the electric automobile, generating automobile condition detection reminding information;
and acquiring user information bound with the target electric automobile, and sending the automobile condition detection reminding information to a user according to the user information.
Optionally, in some embodiments of the present application, the method may further include:
acquiring user demand information, wherein the user demand information comprises a charger robot type set by a user;
and matching a second charging robot for the target electric automobile according to the continuous charging quantity, the switching time and the user demand information.
Optionally, in some embodiments of the present application, the method may further include:
after the first charging robot finishes charging the target electric automobile, acquiring current position information of the first charging robot and electric quantity redundancy of the first charging robot;
determining whether other charging robots with states to be replaced exist in a preset range according to the position information, wherein the continuous charging quantity is smaller than the electric quantity redundancy of the first charging robot;
And if so, selecting a target charging robot from the other charging robots according to a preset fourth strategy, and controlling the first charging robot to replace the target charging robot to charge the electric automobile.
Correspondingly, the embodiment of the application also provides a control system of the charging robot, which comprises a control device of the charging robot and a plurality of charging robots, wherein:
the control device of the charging robot is used for executing any control method of the charging robot provided by the embodiment of the application;
the charging robot is used for charging the target electric automobile when reaching a preset position under the control of the control device.
When the first charging robot is connected to the target electric automobile for charging, whether the residual electric quantity of the first charging robot meets the charging requirement of the target electric automobile can be determined, if so, the state of the first charging robot is marked as busy, if not, the state of the first charging robot is marked as needed to be replaced, then, when the first charging robot charges the target electric automobile, the charging progress is monitored, if abnormal charging is monitored, the continuous charging quantity and the switching time of the first charging robot are estimated according to the charging progress, and if normal charging is monitored, when the residual electric quantity of the first charging robot which needs to be replaced reaches a preset threshold value, the continuous charging quantity and the switching time of the first charging robot are estimated according to the charging progress, then, the second charging robot is controlled to switch the first charging robot at the switching time according to the continuous charging quantity and the switching time, and the second charging robot is controlled to charge the target electric automobile; according to the embodiment of the application, when the charging robot cannot meet the charging requirement or the charging abnormality of the electric automobile, the charging robot can be timely and automatically replaced for the electric automobile without the need of the user to reserve another charging robot for replacement through an application program, so that the operation is simple and convenient, the condition of untimely charging caused by the fact that the user does not reserve to replace the charging robot in time can be avoided, and the charging efficiency is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments 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 flowchart of a control method of a charging robot according to an embodiment of the present application.
Fig. 2 is a flowchart of a control method of a charging robot according to an embodiment of the present application.
Fig. 3 is a schematic view of a control method of a charging robot according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a control system of a charging robot according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
The embodiment of the application provides a control method and a control system of a charging robot. The following will describe in detail.
The present embodiment will be described in terms of a control device (simply referred to as a control device) of a charging robot, which may be a personal computer (Personal Computer) or a server or the like in a specific implementation.
A control method of a charging robot, comprising: when a first charging robot is connected to a target electric automobile for charging, determining whether the residual electric quantity of the first charging robot meets the charging requirement of the target electric automobile, if so, marking the state of the first charging robot as busy, and if not, marking the state of the first charging robot as to be replaced; when the first charging robot charges the target electric automobile, monitoring a charging process, and if the charging process is abnormal, estimating a charging amount and switching time of the first charging robot according to the charging process; if the charging is monitored to be normal, when the state is that the residual electric quantity of the first charging robot to be replaced reaches a preset threshold value, estimating the charging quantity and the switching time of the first charging robot according to the charging progress; and matching a second charging robot for the target electric automobile according to the continuous charging quantity and the switching time. And controlling the second charging robot to switch the first charging robot at the switching time so that the second charging robot charges the target electric automobile.
As shown in fig. 1, the specific flow of the control method of the charging robot may be as follows:
101. when the first charging robot is connected to the target electric automobile for charging, determining whether the residual electric quantity of the first charging robot meets the charging requirement of the target electric automobile, and if so, executing step 102; if not, step 103 is performed.
For example, specifically, when the first charging robot accesses the target electric automobile to charge, the charging completion time set by the user is obtained, and the electric quantity demand reaching the charging completion time from the current moment is calculated, if the residual electric quantity of the first charging robot is greater than or equal to the electric quantity demand, the residual electric quantity is determined to meet the charging demand of the target electric automobile, otherwise, if the residual electric quantity of the first charging robot is less than the electric quantity demand, the residual electric quantity is determined to not meet the charging demand of the target electric automobile.
For example, when the first charging robot is connected to the target electric automobile to charge, the first charging robot is used for detecting the electric quantity of the target electric automobile and obtaining the charging electric quantity set by the user, and the electric quantity demand of the target electric automobile is calculated according to the detected electric quantity of the target electric automobile and the charging electric quantity set by the user.
Optionally, before the first charging robot accesses the target electric vehicle to charge, the control method of the charging robot may further include:
and receiving a charging instruction, wherein the charging instruction can also carry the vehicle type information of the target electric vehicle, then determining a first charging robot matched with the target electric vehicle according to the vehicle type information, controlling the first charging robot to reach a preset position, and charging the target electric vehicle at the preset position.
For example, charging configuration information such as a charging interface style and a charging parameter of the target electric vehicle may be determined according to the vehicle type information, and then a charging robot matched with the charging configuration information is selected as the first charging robot in the configuration station, and so on.
Optionally, the charging instruction may further carry other information, such as electric quantity information and/or user information, if the charging instruction carries other information, such as electric quantity information, etc., then when the charging instruction matches the charging robot with the target electric automobile, the information, such as electric quantity information, etc., may also be used as one of the matching conditions, for example, taking the charging instruction carries vehicle type information and electric quantity information as an example, then step "determining the first charging robot matched with the target electric automobile according to the vehicle type information" may specifically be as follows:
And determining a first charging robot matched with the target electric automobile according to the automobile type information and the electric quantity information.
The vehicle type information, the electric quantity information and/or the user information and the like can be obtained through detection by a vehicle-to-machine system of the target electric vehicle, and can also be filled by a user (such as a vehicle owner) for reporting.
It should be noted that, although the electric quantity information of the target electric vehicle may be used as one of the reference factors when the first charging robot is matched with the target electric vehicle, it cannot be guaranteed that the electric quantity of the matched first charging robot can meet the charging requirement of the target electric vehicle, because:
firstly, the electric quantity information of the target electric automobile acquired by the control device is not necessarily accurate (for example, the user fills in the situation with errors); secondly, the electric quantity carried by the charging robot such as the first charging robot also needs to be used for running, and the consumed electric quantity is different when running on different paths, so that when the first charging robot reaches a target electric vehicle, the actual residual electric quantity can be estimated to come in and go out; furthermore, it is possible to configure the amount of power of the charging robot that the station can currently provide, which itself is smaller than the charging demand of the target electric car, and so on.
Because the matched first charging robot can not necessarily meet the charging requirement of the target electric automobile, for example, the target electric automobile can not necessarily be charged fully at one time, when the first charging robot is connected into the target electric automobile to charge, it is necessary to determine whether the residual electric quantity of the first charging robot meets the charging requirement of the target electric automobile, and further determine whether the subsequent charging robot needs to be prepared for replacement so as to continuously charge the target electric automobile.
102. The status of the first charging robot is marked as busy and then step 104 is performed.
For example, in the case where the states (also referred to as state information) of all the charging robots in the configuration station are stored in the state record table and the number of the first charging robot is 00001, the state of the charging robot with the number 00001 in the state record table may be specifically marked as "busy", see table one.
Table one:
sequence number Charging robot numbering Status of ……
1 00001 Busy with a memory ……
2 00002 Idle mode ……
3 00003 Need to be replaced ……
4 00004 In matching ……
…… …… …… ……
The state of "busy" indicates that the charging robot is currently charging the electric vehicle, and the remaining power thereof can meet the charging requirement of the electric vehicle.
The state of "idle" indicates that the charging robot is not matched with an electric automobile at present and is in an idle state.
The state of "need replace" indicates that the charging robot is currently charging the electric vehicle, but the remaining power of the charging robot cannot meet the charging requirement of the electric vehicle, and another charging robot needs to be prepared subsequently so as to perform continuous charging for the electric vehicle.
The state of "matching" indicates that the charging robot has a matched electric car at present, but has not been connected to the electric car, has not been used for charging the electric car, for example, the charging robot is going to a path for charging the electric car, and so on.
It should be noted that, the specific style of the state record table, the specific expression of each state, and the like may be set according to the requirements of practical applications, and it should be understood that the above expression is only an example and is not a limitation of the scheme of the present application.
103. The status of the first charging robot is marked as needing replacement and then step 104 is performed.
For example, if the states of all the charging robots in the configuration station are stored in the state record table and the number of the first charging robot is 00001, then the state of the charging robot with the number 00001 in the state record table may be specifically marked as "to be replaced", see table two.
And (II) table:
sequence number Charging robot numbering Status of ……
1 00001 Need to be replaced ……
2 00002 Idle mode ……
3 00003 Need to be replaced ……
…… …… …… ……
104. When the first charging robot charges the target electric automobile, monitoring a charging process, if the charging process is monitored to be abnormal, executing step 105, otherwise, if the charging process is monitored to be normal, executing step 105 when the residual electric quantity of the first charging robot with the state of needing to be replaced reaches a preset threshold value.
That is, if it is monitored that the charging is normal, but the state of the first charging robot is "to be replaced" (i.e., the remaining power of the first charging robot cannot meet the charging requirement of the target electric vehicle), step 105 may be executed when the remaining power of the first charging robot is equal to the preset threshold, so as to match the second charging robot with the target electric vehicle in advance, replace the first charging robot at the switching time, and continue to charge the target electric vehicle, thereby reducing the time consumed for replacing the charging robot, realizing seamless switching as much as possible, and improving the charging efficiency.
The preset threshold may be set according to the actual application requirement, for example, may be set to "10% of the electric quantity of the charging robot", or may be set to a specific electric quantity value such as 10 kwh or 20 kwh, or the like.
Optionally, if it is monitored that the charging is normal and the state of the first charging robot is busy (i.e. the remaining capacity of the first charging robot can meet the charging requirement of the target electric automobile), the first charging robot continues to charge the target electric automobile until the charging requirement of the target electric automobile is met, for example, the charging is completed, and the process is ended.
Optionally, in order to facilitate the user to know the abnormal situation of the electric automobile in time, improve the security of the electric automobile, when the charging abnormality is monitored, the abnormal situation can also be given to the user, that is, when the charging abnormality is monitored, the control method of the charging robot can further include:
and acquiring the charging abnormality information, analyzing the charging abnormality information, generating vehicle condition detection reminding information if the analysis result indicates that the charging abnormality is caused by the electric vehicle, acquiring user information bound by the target electric vehicle, and sending the vehicle condition detection reminding information to a user according to the user information.
Alternatively, if the analysis result of the charging abnormality information indicates that the charging abnormality is caused by the electric vehicle, step 105 may not be executed at this time, and the process ends, and step 105 is executed only when the analysis result of the charging abnormality information indicates that the charging abnormality is not caused by the electric vehicle, that is, at this time:
Step "if a charging abnormality is monitored, the step 105" may specifically be: if the charging abnormality is monitored and the analysis result of the charging abnormality information indicates that the charging abnormality is not caused by the electric vehicle, step 105 is performed.
Or alternatively, even if the analysis result of the charging abnormality information indicates that the charging abnormality is caused by the electric vehicle, the step 105 may be continuously performed, that is, the step 105 may be performed as long as the charging abnormality is monitored, and after the first charging robot is replaced, whether the charging abnormality exists is determined, if the charging abnormality still exists, and the analysis result of the charging abnormality information indicates that the charging abnormality is caused by the electric vehicle, the process may be terminated, and at the same time, the vehicle condition detection reminding information may be sent to the user.
105. And estimating the continuous charging quantity and the switching time of the first charging robot according to the charging process.
For example, the actual average charging efficiency of the first charging robot when charging the target electric vehicle may be specifically calculated according to the charging process, then the switching time of the first charging robot may be calculated according to the remaining power of the first charging robot and the actual average charging efficiency, and the continuous charging amount may be estimated based on the actual average charging efficiency and the switching time.
For example, the quotient of the remaining capacity of the first charging robot and the actual average charging efficiency can be calculated to obtain the maximum charging duration, and the switching time of the first charging robot can be obtained by adding the maximum charging duration on the basis of the current time, wherein the specific formula is as follows:
T max =Q a /η avg ；
T r =T n +T max ；
wherein T is max For maximum charge duration, Q a Is the residual electric quantity eta of the first charging robot avg The actual average charging efficiency T when the first charging robot charges the target electric automobile r For the switching time of the first charging robot, T n Is the current time.
For example, if the maximum charging period T is calculated max Is 1 hour, and the current time T n If the first charging robot is 12:00, the target electric vehicle can be charged to 13:00 theoretically, so that the switching time T of the first charging robot can be calculated at this time r 13:00.
Optionally, since the first charging robot needs to consume a certain amount of electricity during the return, in order to facilitate the return of the first charging robot, enough electricity can be available, and the maximum charging time T is calculated max In the process, the electric quantity Q required to be consumed in the return of the first charging robot can be deducted c . That is, the step of "calculating the switching time of the first charging robot from the remaining capacity of the first charging robot and the actual average charging efficiency" may also include:
Obtaining the electric quantity required to be consumed during the return of the first charging robot, calculating the difference between the residual electric quantity of the first charging robot and the electric quantity required to be consumed during the return of the first charging robot, then calculating the quotient of the difference and the actual average charging efficiency to obtain the maximum charging duration, and calculating the switching time of the first charging robot according to the current time and the maximum charging duration, wherein the specific formula can be as follows:
T max =（Q a -Q c ）/η avg ；
T r =T n +T max ；
wherein, the electric quantity Q required to be consumed during the return of the first charging robot c The information may be calculated according to the load, the running speed, the path length of the return path, etc. of the first charging robot, which is not described herein.
Optionally, in order to give the first charging robot a sufficient switching time, an adjustment parameter may be further set when calculating the switching time, so that the switching time may be properly advanced, that is, the switching time of the first charging robot may be calculated according to the current time, the maximum charging time and a preset adjustment parameter.
Wherein the adjustment parameter is positive, and can be set according to the actual application requirement, for example, taking the adjustment parameter as a as an example, the first charging robot has a sufficient switching time T r The method comprises the following steps:
T r =T n +T max - a；
for example, if the maximum charging period T is calculated max Is 1 hour, and the current time T n At 12:00, the first charging robot can theoretically charge the target electric vehicle to 13:00, and at this time, in order to give the first charging robot a sufficient switching time, the switching time can be suitably advanced by a, for example, 10 minutes, so that the first charging robot has a sufficient switching time T r Should be 12:50 minutes.
After the switching time is calculated, the continuous charge amount can be estimated based on the actual average charging efficiency and the switching time, for example, the actual electric quantity of the target electric vehicle can be calculated at the switching time according to the actual average charging efficiency, and then the difference between the charging requirement of the target electric vehicle and the actual electric quantity is calculated, so that the continuous charge amount can be estimated.
Or, the difference between the charging requirement of the target electric automobile and the current electric quantity of the target electric automobile can be calculated to obtain the current required electric quantity, then the current time to the switching time is calculated according to the actual average charging efficiency, the electric quantity which can be obtained by the target electric automobile is calculated, the difference between the current required electric quantity and the electric quantity which can be obtained by the target electric automobile is calculated, the continuous charging quantity can be estimated, and the like.
It should be noted that, the above manner of estimating the continuous charging amount is merely an example, and it should be understood that other manners may be adopted, and the method may be specifically determined according to the actual application requirement and will not be described herein.
106. And matching a second charging robot for the target electric automobile according to the continuous charging quantity and the switching time.
The second charging robot may be matched with the target electric vehicle according to the continuous charging amount and the switching time in various manners, for example, any one of the following manners may be specifically adopted:
mode one: the other charging robots in the vicinity of the target electric vehicle are preferentially considered as optional matching objects, and the other charging robots in the configuration station are considered as optional matching objects.
For example, the current position information of the first charging robot may be obtained, whether other charging robots which have not returned to the configuration station exist in a preset range is determined according to the position information, if the other charging robots which have not returned to the configuration station exist, the charging completion time of the other charging robots and the electric quantity redundancy when the charging is completed are obtained, the charging robots with the charging completion time earlier than the switching time and the electric quantity redundancy greater than the continuous charging amount are added to a first candidate set, and the charging robots are selected from the first candidate set as second charging robots according to a preset first strategy; if there are no other charging robots that have not returned to the configuration station, or the charging robots in the first candidate set are zero (i.e., although there are other charging robots that have not returned to the configuration station, the charging completion times of these charging robots are all later (including equal to) the switching time, or the charge robots whose electric quantity redundancy is equal to or less than the continuous charge amount), then the charging robots satisfying the continuous charge amount and the switching time are selected from the configuration station as the second charging robots according to a preset second policy.
The first policy and the second policy may be set according to the requirements of practical applications, for example, the "length of the path reaching the target electric vehicle" may be used as a selection basis, or the electric redundancy may be used as a selection basis, or the relationship between the charging completion time and the switching time may be used as a selection basis, or multiple kinds of the foregoing bases may be combined arbitrarily to be comprehensively considered, and so on. That is, for example, the step of "selecting a charging robot from the first candidate set as the second charging robot according to the preset first policy" may specifically be as follows:
and selecting the charging robot with the shortest path reaching the target electric automobile from the first candidate set as a second charging robot.
Or selecting the charging robot with the largest electric quantity redundancy from the first candidate set as the second charging robot.
Or selecting a charging robot with a time difference between the charging completion time and the switching time meeting a preset condition from the first candidate set as the second charging robot. The preset condition may be set according to the requirement of the practical application, for example, the preset condition may be set as follows: the difference between the time difference (i.e., the time difference between the charging completion time and the switching time) and the time taken for the charging robot to reach the location of the target electric vehicle is smaller than a set value, which may also be set according to the actual application requirement, such as 1 minute, 2 minutes, or 5 minutes, etc.
Or sequencing the charging robots in the first candidate set according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the first candidate set according to the electric quantity redundancy to obtain a second sequence; sequencing the charging robots in the first candidate set according to the morning and evening of the charging completion time to obtain a third sequence; and scoring the charging robots in the first candidate set according to the first sequence, the second sequence and the third sequence, and taking the charging robot with the highest score as a second charging robot.
Or sequencing the charging robots in the first candidate set according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the first candidate set according to the electric quantity redundancy to obtain a second sequence; and scoring the charging robots in the first candidate set according to the first sequence and the second sequence, and taking the charging robot with the highest score as the second charging robot.
Or sequencing the charging robots in the first candidate set according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the first candidate set according to the morning and evening of the charging completion time to obtain a third sequence; and scoring the charging robots in the first candidate set according to the first sequence and the third sequence, and taking the charging robot with the highest score as a second charging robot.
Or sequencing the charging robots in the first candidate set according to the electric quantity redundancy to obtain a second sequence; sequencing the charging robots in the first candidate set according to the morning and evening of the charging completion time to obtain a third sequence; and scoring the charging robots in the first candidate set according to the second sequence and the third sequence, and taking the charging robot with the highest score as a second charging robot.
Similarly, the step of "selecting the charging robot satisfying the subsequent charge amount and the switching time from the configuration station as the second charging robot according to the preset second policy" may specifically be as follows:
and selecting the charging robot with the shortest path reaching the target electric automobile from the configuration station as a second charging robot.
Alternatively, the charging robot having the greatest electric power redundancy is selected as the second charging robot from the configuration station.
Alternatively, a charging robot whose time difference between the charging completion time and the switching time satisfies a preset condition is selected as the second charging robot from the configuration station. The preset condition may be set according to the requirement of the practical application, for example, the preset condition may be set as follows: the difference between the time difference (i.e., the time difference between the charging completion time and the switching time) and the time taken for the charging robot to reach the location of the target electric vehicle is smaller than a set value, which may also be set according to the actual application requirement, such as 1 minute, 2 minutes, or 5 minutes, etc.
Or sequencing the charging robots in the configuration station according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the configuration station according to the electric quantity redundancy to obtain a second sequence; sequencing the charging robots in the configuration station according to the morning and evening of the charging completion time to obtain a third sequence; and scoring the charging robots in the configuration station according to the first sequence, the second sequence and the third sequence, and taking the charging robot with the highest score as a second charging robot.
Or sequencing the charging robots in the configuration station according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the configuration station according to the electric quantity redundancy to obtain a second sequence; and scoring the charging robots in the configuration station according to the first sequence and the second sequence, and taking the charging robot with the highest score as a second charging robot.
Or sequencing the charging robots in the configuration station according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the configuration station according to the morning and evening of the charging completion time to obtain a third sequence; and scoring the charging robots in the configuration station according to the first sequence and the third sequence, and taking the charging robot with the highest score as a second charging robot.
Or sequencing the charging robots in the configuration station according to the electric quantity redundancy to obtain a second sequence; sequencing the charging robots in the configuration station according to the morning and evening of the charging completion time to obtain a third sequence; and scoring the charging robots in the configuration station according to the second sequence and the third sequence, and taking the charging robot with the highest score as a second charging robot.
Therefore, the first charging robot can give priority to other charging robots which are nearby the first charging robot and not returned to the configuration station, so that the time for the second charging robot to reach the target electric automobile can be reduced, the number of times that the charging robot goes to and from the configuration station can be reduced, and the utilization rate of the charging robot can be improved.
Mode two: and taking other charging robots inside and outside the configuration station as optional matching objects.
For example, the state and the electric quantity redundancy of the other charging robots except the first charging robot at the switching time may be specifically obtained, the charging robot whose state is idle and whose electric quantity redundancy is greater than the continuous charging amount is added to the second candidate set, and the charging robot is selected from the second candidate set as the second charging robot according to the third policy.
The third policy may be set according to the requirements of the actual application, for example, the "length of the path reaching the target electric vehicle" may be used as a basis for selection, or the electric redundancy may be used as a basis for selection, or both the above two modes may be comprehensively considered, and so on. That is, the step of selecting the charging robot from the second candidate set as the second charging robot according to the third policy may specifically be as follows:
and selecting the charging robot with the shortest path reaching the target electric automobile from the second candidate set as a second charging robot.
Or selecting the charging robot with the largest electric quantity redundancy from the second candidate set as the second charging robot.
Or, the charging robots in the configuration station can be sequenced according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the second candidate set according to the electric quantity redundancy to obtain a second sequence; and scoring the charging robots in the second candidate set according to the first sequence and the second sequence, and taking the charging robot with the highest score as a second charging robot.
Mode three: the needs of the user are also taken as one of consideration.
For example, the control method of the charging robot may further include:
and obtaining user demand information.
Then, at this time, a second charging robot is matched for the target electric vehicle according to the continuous charging amount, the switching time and the user demand information.
The user demand information includes a type of the charging robot set by a user, such as a brand, a model or an outline dimension of the charging robot, and/or an electric quantity. Optionally, the user requirement information may further include information such as a matching manner and/or a matching range, which are not described herein.
When the matching is performed in the third mode, the matching can be performed in a similar mode to the first and second modes, that is, other charging robots near the target electric automobile can be preferentially considered as the matching object, and then other charging robots in the configuration station can be considered as the matching object, or all the charging robots can be directly considered as the matching objects. For example, the following may be specifically mentioned:
acquiring current position information of a first charging robot, determining whether other charging robots which do not return to a configuration station and meet the user requirements exist in a preset range according to the position information and the user requirement information, if so, acquiring charging completion time of the other charging robots and electric quantity redundancy when charging is completed, adding the charging robots with the charging completion time earlier than the switching time and the electric quantity redundancy larger than the continuous charging quantity to a first candidate set, and selecting the charging robots from the first candidate set as second charging robots according to a preset first strategy; if there is no charging robot or the charging robots in the first candidate set are zero (i.e. although there are other charging robots which have not returned to the configuration station and meet the user requirement, the charging completion time of the charging robots is later than the switching time, or the electric quantity redundancy is less than or equal to the charging robots of the continuous charging quantity), selecting the charging robots meeting the continuous charging quantity and the switching time from the configuration station as a second charging robot according to a preset second strategy.
For another example, the state and the electric quantity redundancy of other charging robots meeting the user requirement at the switching time are obtained according to the user requirement information, the charging robots with the state being idle and the electric quantity redundancy being larger than the continuous charging quantity are added into the second candidate set, and the charging robots are selected from the second candidate set to serve as the second charging robots according to the third strategy.
The first policy, the second policy, and the third policy may specifically refer to the foregoing embodiments, and are not described herein.
107. And controlling the second charging robot to switch the first charging robot at the switching time so that the second charging robot charges the target electric automobile.
For example, the current position information of the second charging robot and the position information of the target electric automobile can be obtained respectively, a path is planned according to the current position information of the second charging robot and the position information of the target electric automobile, the second charging robot is controlled to reach the position of the target electric automobile through the path, then the first charging robot is controlled to be separated from a charging interface with the target electric automobile, and the second charging robot is controlled to be connected into the charging interface of the target electric automobile at the switching time, so that the second charging robot charges the target electric automobile.
Optionally, in order to further improve the utilization ratio of the charging robot, after the first charging robot finishes charging the target electric automobile, if the electric quantity is still rich, the charging robot can be actively inquired to determine whether the charging robot needing to be replaced exists around, if the charging robot needing to be replaced exists, and the first charging robot can meet the continuous charging requirement of the charging robot, the first charging robot can replace the charging robot in advance without waiting for the switching time, and then the charging robot is replaced. That is, optionally, the control method of the charging robot may further include:
after the first charging robot finishes charging the target electric automobile, acquiring current position information of the first charging robot and electric quantity redundancy of the first charging robot; determining whether other charging robots with the state to be replaced and the continuous charging quantity smaller than the electric quantity redundancy of the first charging robot exist in a preset range according to the position information; and if the target charging robot exists, selecting the target charging robot from the other charging robots according to a preset fourth strategy, and controlling the first charging robot to replace the target charging robot to charge the electric automobile.
The fourth policy may be set according to the requirements of the actual application, for example, the "length of the path reaching the target electric vehicle" may be used as a basis for selection, or the electric redundancy may be used as a basis for selection, or both the above two modes may be comprehensively considered, and so on. Namely, the step of selecting the target charging robot from the other charging robots according to the preset fourth policy may specifically be:
and selecting a charging robot with the shortest path from the first charging robot from the other charging robots as a target charging robot.
Or selecting the charging robot with the smallest electric quantity redundancy from the other charging robots as the target charging robot.
Alternatively, the charging robot having the greatest electric power redundancy is selected as the target charging robot from among the other charging robots.
Or, the other charging robots may be further sequenced according to the distance from the first charging robot path to obtain a third sequence, sequenced according to the magnitude of the electric quantity redundancy to obtain a fourth sequence, and then the other charging robots are scored according to the third sequence and the fourth sequence, the charging robot with the highest score is used as the target charging robot, and the like, which will not be described herein.
As can be seen from the above, when the charging robot cannot meet the charging requirement or the charging abnormality of the electric vehicle, the embodiment of the application can predict the charging amount and the switching time of the first charging robot according to the charging progress, then match the second charging robot for the target electric vehicle according to the continuous charging amount and the switching time, and control the second charging robot to switch the first charging robot at the switching time, so that the second charging robot charges the target electric vehicle, in the process, the user does not need to operate, such as presetting another charging robot for replacement by an application program, so that the operation is simple and convenient, and the occurrence of untimely charging caused by the fact that the user does not preset the replacement charging robot in time can be avoided, thereby greatly improving the charging efficiency.
Optionally, after the first charging robot in this embodiment is charged, other nearby charging robots with replacement requirements may be actively replaced in advance, so that the number of times that the charging robot makes a round trip to configure a station may be greatly reduced, and the utilization rate of the charging robot may be improved.
The method described in the previous examples is described in further detail below by way of example.
In this embodiment, taking the control device as a server as an example, as shown in fig. 2, the control method of the charging robot may specifically be as follows:
201. the server receives a charging instruction sent by a user through an APP (Application) or a vehicle machine system, wherein the charging instruction can also carry the vehicle type information of the target electric vehicle.
For example, other information, such as power information, user information, and/or user demand information, may also be carried in the charging instruction.
202. And the server determines a first charging robot matched with the target electric automobile according to the charging instruction, controls the first charging robot to reach a preset position and charges the target electric automobile at the preset position.
For example, the server may specifically determine charging configuration information such as a charging interface style and a charging parameter of the target electric vehicle according to the vehicle type information, and then select, as the first charging robot, a charging robot that is in an idle state and matches with the charging configuration information in the configuration station.
For example, if the charging command is further carried with the electric quantity information, the user demand information, and the like, then the server may determine charging configuration information such as a charging interface style and a charging parameter of the target electric vehicle and the electric quantity demand according to the vehicle type information and the electric quantity information, then select, in the configuration station, a charging robot that matches the charging configuration information and the electric quantity demand, meets the user demand information, and is in an idle state as the first charging robot, and so on.
The user demand information includes a type of a charging robot set by a user, such as a brand, a model, or an external dimension of the charging robot (for example, only a small charging robot can be set beside some parking spaces, and at this time, the user can designate the charging robot with a smaller external dimension), and/or an electric quantity. Optionally, the user requirement information may further include information such as a matching manner and/or a matching range, which are not described herein.
After the first charging robot is determined, the server can generate a path for the first charging robot to reach a preset position, and then control the first charging robot to travel to the preset position through the path so that the target electric automobile can be charged at the preset position after reaching the preset position.
The preset position can be specified by a user according to requirements, and can be determined by a server according to the current parking condition of the parking lot and a preset parking strategy.
The preset parking policy may be set according to the requirement of practical application, for example, if a parking space closest to the current position of the target electric vehicle is preferentially designated as the parking policy, if the parking space currently only has the 135 th parking space in the area a closest to the current position of the target electric vehicle and the 322 th parking space in the area C farther from the current position of the target electric vehicle, then the server preferentially determines the 135 th parking space in the area a as the preset position, and sends the position information of the preset position to the user corresponding to the target electric vehicle.
It should be noted that, alternatively, in the embodiment of the present invention, the location information may be coordinates, longitude and latitude information, or may also be navigation information, etc., which are not described herein.
203. When a first charging robot is connected to a target electric automobile for charging, a server determines whether the residual electric quantity of the first charging robot meets the charging requirement of the target electric automobile, and if so, the server marks the state of the first charging robot as busy; if the state of the first charging robot cannot be met, the server marks the state of the first charging robot as needing replacement.
For example, when a charging connector of a first charging robot is connected to a charging port of a target electric automobile, the server may obtain charging completion time set by a user, calculate an electric quantity demand reaching the charging completion time from a current moment, then compare a remaining electric quantity of the first charging robot with the electric quantity demand, if the remaining electric quantity of the first charging robot is greater than or equal to the electric quantity demand, determine that the remaining electric quantity meets the charging demand of the target electric automobile, and mark a state of the first charging robot as busy by the server; otherwise, if the remaining capacity of the first charging robot is smaller than the electric capacity requirement, determining that the remaining capacity cannot meet the charging requirement of the target electric automobile, and marking the state of the first charging robot as needing to be replaced by the server.
For example, when the charging connector of the first charging robot is connected to the charging port of the target electric automobile, detecting the electric quantity of the target electric automobile through the first charging robot, acquiring the charging electric quantity set by a user, calculating the electric quantity demand of the target electric automobile according to the detected electric quantity of the target electric automobile and the charging electric quantity set by the user, comparing the residual electric quantity of the first charging robot with the electric quantity demand, and if the residual electric quantity of the first charging robot is greater than or equal to the electric quantity demand, determining that the residual electric quantity meets the charging demand of the target electric automobile, and marking the state of the first charging robot as busy by the server; otherwise, if the remaining capacity of the first charging robot is smaller than the electric capacity requirement, determining that the remaining capacity cannot meet the charging requirement of the target electric automobile, and marking the state of the first charging robot as needing to be replaced by the server.
204. The server monitors the charging process when the first charging robot charges the target electric automobile, if the charging process is monitored to be abnormal, the step 205 is executed, otherwise, if the charging process is monitored to be normal, the step 205 is executed when the residual electric quantity of the first charging robot with the state of needing to be replaced reaches a preset threshold value.
The preset threshold may be set according to the actual application requirement, for example, taking the preset threshold as "10% of the electric quantity of the charging robot" as an example, when the charging process is monitored to be normal, the server may determine whether the remaining electric quantity of the first charging robot is 10% of the total electric quantity of the first charging robot according to the charging process, if yes, execute step 205, otherwise, if the remaining electric quantity of the first charging robot is still greater than 10% of the total electric quantity of the first charging robot, continue to monitor the charging process until the remaining electric quantity of the first charging robot is 10% of the total electric quantity of the first charging robot, and trigger to execute step 205.
Optionally, when the charging abnormality is monitored, the server may further obtain charging abnormality information, analyze the charging abnormality information, if the analysis result indicates that the charging abnormality is caused by the electric vehicle, generate vehicle condition detection reminding information, then obtain user information bound to the target electric vehicle, and send the vehicle condition detection reminding information to the user according to the user information, so that the user can timely learn about the abnormality of the electric vehicle, and improve the safety of the electric vehicle.
205. The server predicts a continuous charging amount and a switching time of the first charging robot according to the charging progress.
For example, the server may calculate the actual average charging efficiency of the first charging robot when charging the target electric vehicle according to the charging process, then calculate the switching time of the first charging robot according to the remaining capacity of the first charging robot and the actual average charging efficiency, and estimate the continuous charging amount based on the actual average charging efficiency and the switching time.
For example, taking the battery capacity of the target electric vehicle as 100kwh and the user's requirement as an example to fill up the electric quantity, if the switching time is calculated to be 12:00, and the first charging robot can increase the electric quantity of the target electric vehicle to 70 kwh at the switching time of 12:00, then the continuous charging amount can be determined to be 30kwh (i.e., 100-70=30 kwh).
206. And the server matches a second charging robot for the target electric automobile according to the continuous charging quantity and the switching time.
The specific matching manner may be referred to the previous embodiments, and will not be described herein.
For example, if the switching time is calculated to be 12:00 and the continuous charging amount is calculated to be 30kwh in step 205, then, in the matching method using the "method one", the preset range is set to be "the range within the radius 50M centered on the position of the target electric vehicle", for example, the following is taken:
Referring to fig. 3, other charging robots (i.e., charging robots located outside the configuration station) in the parking lot that have not returned to the configuration station at present include a charging robot a, a charging robot B, a charging robot C, and a charging robot D, wherein a charging robot a, a charging robot B, and a charging robot C located within a square circle 50M of the target electric vehicle (i.e., within a range within a radius 50M centered on the position of the target electric vehicle), the charging completion times of the three charging robots, and the redundancy of electric power at the time of the completion of the charging are specifically as follows:
charging robot a: the charging completion time is 11:40, and the electric quantity redundancy is 40 kwh when the charging is completed;
charging robot B: the charging completion time is 12:30, and the electric quantity redundancy is 50kwh when the charging is completed;
charging robot C: the charging completion time is 11:50, and the electric quantity redundancy when the charging is completed is 20 kwh.
Based on the above information, since the charge robot C has a charge redundancy of "20 kwh" smaller than the charge continuation amount of "30 kwh" at the time of completion of charging, and is not fully charged with the target electric vehicle, the charge robot C is not suitable as the second charge robot.
Although the charge robot B can fully charge the target electric vehicle when the charge redundancy "50kwh" is greater than the charge continuation amount "30 kwh" at the time of the completion of the charge, the charge completion time of the charge robot B is 12:30, which is later than the switching time "12:00", and the first charge robot cannot be replaced in time, so the charge robot B is also unsuitable as the second charge robot.
The charging robot A not only has the charging completion time earlier than the switching time, but also has the electric quantity redundancy of '40 kwh' when the charging is completed larger than the continuous charging quantity of '30 kwh', and is suitable for replacing the first charging robot to continue the charging for the target electric automobile, so the charging robot A can be used as a second charging robot.
For another example, if the charge completion time of the electric robot a is 11:40, but the electric quantity redundancy at the time of completion of the charge is 20 kwh and is smaller than the subsequent charge quantity "30 kwh", it is indicated that there is no suitable charging robot in the target electric vehicle square 50M, and at this time, the server may select a charging robot satisfying the subsequent charge quantity and the switching time from the arrangement station as the second charging robot.
207. The server controls the second charging robot to switch the first charging robot at the switching time so that the second charging robot charges the target electric automobile.
For example, the server may obtain current position information of the second charging robot and position information of the target electric vehicle, plan a path according to the current position information of the second charging robot and the position information of the target electric vehicle, control the second charging robot to reach a position where the target electric vehicle is located through the path, then control the first charging robot to be separated from a charging interface with the target electric vehicle, and control the second charging robot to be connected to the charging interface of the target electric vehicle at a switching time, so that the second charging robot charges the target electric vehicle.
Optionally, in order to further improve the utilization ratio of the charging robots, after a certain charging robot charges an electric automobile, if the electric quantity is still surplus, the charging robots can be actively inquired to determine whether the charging robots needing to be replaced exist around, and if other charging robots needing to be replaced exist, and the charging robots can meet the continuous charging requirement, the charging robots can replace the charging robots in advance.
For example, referring to fig. 3, taking an example that after the charging robot D charges an electric vehicle at 11:00, there is 70kwh, and the continuous charging amount of the first charging robot at 11:00 is 50 kwh, at this time, the charging robot D may acquire current position information and electric quantity redundancy of the charging robot D, and then determine whether other charging robots with a state of replacement in a preset range, for example, in a square circle 60m, and a continuous charging amount smaller than the electric quantity redundancy of the charging robot D, namely, 70kwh, are present according to the position information; since the state of the first charging robot is "to replace", the current charging continuation amount is 50 kwh and is just located in the square circle 60m of the charging robot D, the charging robot D may travel to the position of the first charging robot in advance, replace the first charging robot, continue charging the target electric vehicle, and at the same time, update the state of the charging robot D to "busy" and update the state of the first charging robot to "idle".
It should be noted that, if the charging robot D replaces the first charging robot in advance, the second charging robot need not be matched with the first charging robot in the following steps.
As can be seen from the above, when the charging robot cannot meet the charging requirement or the charging abnormality of the electric vehicle, the server of the embodiment of the application can predict the charging amount and the switching time of the first charging robot according to the charging progress, then match the second charging robot with the target electric vehicle according to the continuous charging amount and the switching time, and control the second charging robot to switch the first charging robot at the switching time so that the second charging robot charges the target electric vehicle.
Optionally, after the first charging robot in this embodiment is charged, other nearby charging robots with replacement requirements may be actively replaced in advance, so that the number of times that the charging robot makes a round trip to configure a station may be greatly reduced, and the utilization rate of the charging robot may be improved.
Correspondingly, the embodiment of the application also provides a control system of the charging robot, as shown in fig. 4, the control system of the charging robot may include a control device (simply referred to as a control device) 301 of the charging robot and a plurality of charging robots 302; wherein:
the control device 301 of the charging robot is used for controlling the charging robot 301 and executing any control method of the charging robot provided by the embodiment of the application.
The charging robot 302 is configured to reach a preset position to charge the target electric vehicle under the control of the control device 301 of the charging robot.
The control method of the charging robot can be specifically referred to the foregoing embodiments, and details are not described herein.
The control system of the charging robot is simple and convenient to operate, high in charging efficiency, suitable for various scenes, such as places where charging piles are inconvenient to build, old communities, public markets, new houses and the like with high requirements on space utilization, and capable of improving the utilization rate of the charging robot and saving resources.
The above describes the control method and system of the charging robot provided by the embodiment of the present application in detail, and specific examples are applied to describe the principle and implementation of the present application, and the description of the above embodiments is only used to help understand the method and core idea of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, the present description should not be construed as limiting the present application.

Claims (9)

1. A control method of a charging robot, comprising:
when a first charging robot is connected into a target electric automobile to charge, determining whether the residual electric quantity of the first charging robot meets the charging requirement of the target electric automobile;
if yes, marking the state of the first charging robot as busy;
if the state of the first charging robot cannot be met, marking the state of the first charging robot as needing to be replaced;
monitoring a charging process when the first charging robot charges the target electric automobile;
if the charging abnormality is monitored, estimating a continuous charging amount and switching time of the first charging robot according to a charging process;
if the charging is monitored to be normal, when the state is that the residual electric quantity of the first charging robot to be replaced reaches a preset threshold value, estimating the charging quantity and the switching time of the first charging robot according to the charging progress;
matching a second charging robot for the target electric automobile according to the continuous charging amount and the switching time;
controlling the second charging robot to switch the first charging robot at the switching time so that the second charging robot charges the target electric automobile;
the matching of the second charging robot for the target electric vehicle according to the continuous charging amount and the switching time includes:
Acquiring current position information of a first charging robot;
determining whether other charging robots which do not return to the configuration station exist in a preset range according to the position information;
if other charging robots which do not return to the configuration station exist, acquiring the charging completion time of the other charging robots and the electric quantity redundancy when the charging is completed, adding the charging robots with the charging completion time earlier than the switching time and the electric quantity redundancy larger than the continuous charging quantity to a first candidate set, and selecting the charging robots from the first candidate set as second charging robots according to a preset first strategy;
and if no other charging robots which do not return to the configuration station exist or the charging robots in the first candidate set are zero, selecting the charging robot meeting the continuous charging amount and the switching time from the configuration station as a second charging robot according to a preset second strategy.
2. The method of claim 1, wherein predicting the continuous charge amount and the switching time of the first charging robot according to the charging progress comprises:
calculating the actual average charging efficiency of the first charging robot when the target electric automobile is charged according to the charging process;
Calculating the switching time of the first charging robot according to the residual electric quantity of the first charging robot and the actual average charging efficiency;
and estimating a continuous charge amount based on the actual average charge efficiency and the switching time.
3. The method of claim 1, wherein selecting the charging robot from the first candidate set as the second charging robot according to the preset first strategy comprises:
selecting a charging robot with the shortest path reaching the target electric automobile from the first candidate set as a second charging robot; or alternatively, the process may be performed,
selecting a charging robot with the maximum electric quantity redundancy from the first candidate set as a second charging robot; or alternatively, the process may be performed,
selecting a charging robot with a time difference between the charging completion time and the switching time meeting a preset condition from the first candidate set as a second charging robot; or alternatively, the process may be performed,
sequencing the charging robots in the first candidate set according to the length of the path reaching the target electric automobile to obtain a first sequence; sequencing the charging robots in the first candidate set according to the electric quantity redundancy to obtain a second sequence; sequencing the charging robots in the first candidate set according to the morning and evening of the charging completion time to obtain a third sequence; and scoring the charging robots in the first candidate set according to the first sequence, the second sequence and the third sequence, and taking the charging robot with the highest score as a second charging robot.
4. The method of claim 1, wherein the matching a second charging robot for the target electric vehicle according to the continuous charging amount and the switching time comprises:
acquiring the state and electric quantity redundancy of other charging robots except the first charging robot at the switching time;
adding a charging robot with idle state and electric quantity redundancy larger than the continuous charging quantity into a second candidate set;
and selecting the charging robot from the second candidate set as a second charging robot according to a third strategy.
5. The method of any one of claims 1 to 4, wherein determining whether the remaining power of the first charging robot meets the charging requirement of the target electric vehicle comprises:
acquiring charging completion time set by a user, and calculating electric quantity requirements reaching the charging completion time from the current moment;
if the residual electric quantity of the first charging robot is larger than or equal to the electric quantity demand, determining that the residual electric quantity meets the charging demand of the target electric automobile;
if the residual electric quantity of the first charging robot is smaller than the electric quantity demand, determining that the residual electric quantity cannot meet the charging demand of the target electric automobile.
6. The method according to any one of claims 1 to 4, further comprising, when a charging abnormality is monitored:
acquiring charging abnormality information, and analyzing the charging abnormality information;
if the analysis result indicates that the abnormal charging is caused by the electric automobile, generating automobile condition detection reminding information;
and acquiring user information bound with the target electric automobile, and sending the automobile condition detection reminding information to a user according to the user information.
7. The method according to any one of claims 1 to 4, further comprising:
acquiring user demand information, wherein the user demand information comprises a charger robot type set by a user;
the matching of the target electric automobile with a second charging robot according to the continuous charging amount and the switching time is specifically as follows: and matching a second charging robot for the target electric automobile according to the continuous charging quantity, the switching time and the user demand information.
8. The method according to any one of claims 1 to 4, further comprising:
after the first charging robot finishes charging the target electric automobile, acquiring current position information of the first charging robot and electric quantity redundancy of the first charging robot;
Determining whether other charging robots with states to be replaced exist in a preset range according to the position information, wherein the continuous charging quantity is smaller than the electric quantity redundancy of the first charging robot;
and if so, selecting a target charging robot from the other charging robots according to a preset fourth strategy, and controlling the first charging robot to replace the target charging robot to charge the electric automobile.
9. The control system of the charging robot is characterized by comprising a control device of the charging robot and a plurality of charging robots;
control means of the charging robot for performing the control method of the charging robot according to any one of claims 1 to 8;
the charging robot is used for charging the target electric automobile when reaching a preset position under the control of the control device.
CN202310964105.8A 2023-08-02 2023-08-02 Control method and system of charging robot Active CN116691426B (en)

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Application Number Priority Date Filing Date Title
CN202310964105.8A CN116691426B (en) 2023-08-02 2023-08-02 Control method and system of charging robot

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CN101369735A (en) * 2007-08-03 2009-02-18 阿尔斯通运输股份有限公司 Method of powering emergency auxiliary loads, auxiliary converter and railway vehicle for this method
CN102064578A (en) * 2010-12-20 2011-05-18 中国电力科学研究院 Battery charging and replacing station for electric vehicles
CN103182948A (en) * 2011-12-31 2013-07-03 比亚迪股份有限公司 Electric automobile and power system capable of being switched between charge-discharge function and drive function
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