WO2020199871A1 - 一种用于控制移动充电装置的方法及系统 - Google Patents

一种用于控制移动充电装置的方法及系统 Download PDF

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Publication number
WO2020199871A1
WO2020199871A1 PCT/CN2020/078726 CN2020078726W WO2020199871A1 WO 2020199871 A1 WO2020199871 A1 WO 2020199871A1 CN 2020078726 W CN2020078726 W CN 2020078726W WO 2020199871 A1 WO2020199871 A1 WO 2020199871A1
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Prior art keywords
charging
user
mobile
charging device
location
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PCT/CN2020/078726
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English (en)
French (fr)
Inventor
徐欣雨
杜栋
胡洋
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远景能源有限公司
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Priority to EP20784303.8A priority Critical patent/EP3950410A4/en
Priority to SG11202110587WA priority patent/SG11202110587WA/en
Priority to US17/600,116 priority patent/US20220169134A1/en
Publication of WO2020199871A1 publication Critical patent/WO2020199871A1/zh

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Definitions

  • the present invention generally relates to the field of motor vehicle charging in the field of Internet of Things, and in particular to a method for controlling a mobile charging device.
  • the present invention also relates to a system for controlling a mobile charging device.
  • the task of the present invention is to provide a method and system for controlling a mobile charging device.
  • the mobile charging device can be intelligently dispatched according to user needs and allowed to autonomously travel to and charge the user’s electric vehicle , Thereby greatly optimizing the charging resources of electric vehicles, so that there is no phenomenon that vehicles that do not need to be charged occupy the charging position, and it is greatly convenient for users, so that users do not need to find and drive to the charging position by themselves.
  • this task is solved by a method for controlling a mobile charging device, and the method includes the following steps:
  • the order information including the charging location where the electric vehicle is to be charged;
  • electric vehicles include electric vehicles, electric motorcycles, and electric bicycles.
  • the charging interface can be either a charging auxiliary connection device, that is, a fixed or movable charging pile, where the mobile charging device can be docked with the charging pile and the user's electric vehicle can be connected to the charging pile through the charging gun. Connected for charging; the charging interface can also be directly a charging interface on a motor vehicle, wherein the mobile charging device can be docked with the charging interface.
  • the method further includes: docking the mobile charging device with the charging interface.
  • automatic docking between the mobile charging device and the charging interface can be realized.
  • Automatic docking can be realized by an automatic docking device.
  • the claws of the automatic docking device can be extended to lock with the charging interface to achieve docking.
  • Reliable docking can be achieved without the need for accurate alignment of plugs and sockets. Because the jaws can achieve a larger capture range and easy locking, and the jaws have better flexibility and maneuverability.
  • the present invention is also applicable to manual docking scenarios, that is, a worker or user docks the mobile charging device with the charging interface.
  • receiving order information from a user includes:
  • Receive order information from the user the order information including the mobile charging device selected by the user and the charging location.
  • the power of each mobile charging device can be additionally displayed in the form of a percentage of power, for example.
  • the method further includes:
  • the user can be guided to the target location for charging operation.
  • the user's navigation can be implemented by, for example, a third-party navigation software, where the system displays the navigation information output by the navigation software to the user in real time.
  • the above navigation can also be implemented using the navigation module of the system.
  • navigating the mobile charging device to the charging position according to the navigation route includes:
  • the mobile charging device can autonomously avoid obstacles in the navigation route to reach the designated charging position.
  • the navigation route determination process is, for example: through GPS or electronic map programs, the (optimal) route from the current position of the charging device to the device to be charged can be calculated, or various electronic signs, such as radio frequency tags or The wireless signal transmission point allows the charging device to accurately find the corresponding parking space.
  • the real-time update process of driving operation or route is, for example, the lidar sensor and/or ultrasonic radar sensor equipped on the mobile charging device can obtain radar images of the surroundings or on the route; then, by analyzing the radar images, it can be known whether the route exists Obstacles, such as people, mobile or temporary obstacles, etc.; in the case of obstacles that cannot be bypassed, use GPS or electronic map programs to calculate other routes from the current location of the charging device to the device to be charged; or In the case of passing obstacles, determine additional or alternative driving operations such as steering and parking waiting. Obstacles that cannot be bypassed include, for example, fixed obstacles that block most roads, while obstacles that can be bypassed include, for example, pedestrians, obstacles in movement, and the like. Through this preferred solution, real-time update of the route can be achieved, thereby obtaining better robustness and fault tolerance.
  • the method further includes the following steps:
  • User credentials include, for example, character passwords, voice passwords, fingerprints, SMS verification codes, facial features, and so on.
  • the charging interface is a charging auxiliary connection device equipped with a two-dimensional code, and the method further includes:
  • a charging instruction is sent to the mobile charging device.
  • charging the electric vehicle through the charging interface includes:
  • a user-requested charging suspension request can be safely executed.
  • the charging state is lower than a certain threshold, for example, the electric vehicle may not be able to drive or the battery life is too low. At this time, the user can be reminded or the suspension is not allowed. In other cases, other charging state conditions can also be set to ensure safety.
  • charging the electric vehicle through the charging interface includes:
  • the mobile charging device is instructed to end charging.
  • the charging state is lower than a certain threshold, for example, the electric vehicle may not be able to drive or the battery life is too low. At this time, the user can be reminded or the charging is not allowed to end early . In other cases, other charging state conditions can also be set to ensure safety.
  • the method further includes:
  • the charging fee is calculated according to the user's charging status and/or charging duration and/or charging capacity and/or user classification.
  • the charging fee can be calculated remotely and the need for on-site manpower input can be greatly reduced.
  • the charging fee can be determined by multiplying the charging time or the charging amount by the charging rate or according to the user level.
  • the amount of charge can be determined, for example, by a smart meter that measures electrical energy.
  • the aforementioned task is solved by a method executed in a mobile application, and the method includes the following steps:
  • the order information including the mobile charging device selected by the user and the charging location;
  • the navigation route between the mobile charging device and the charging location and the current location of the mobile charging device are displayed to the user.
  • the method further includes the following steps:
  • charging starts after the mobile charging device is docked with the charging interface.
  • the method further includes the following steps:
  • the charging fee can be calculated remotely and the need for on-site manpower input can be greatly reduced.
  • the charging fee can be determined by multiplying the charging time or the charging amount by the charging rate or according to the user level.
  • the amount of charge can be determined, for example, by a smart meter that measures electrical energy.
  • a system for controlling a mobile charging device including:
  • Mobile application which is configured to perform the following actions:
  • the order information including the charging location to charge the electric vehicle
  • the server is configured to perform the following actions:
  • the navigation route is sent to the mobile charging device; the mobile charging device is configured to perform the following actions:
  • the mobile charging device is further configured to perform the following actions:
  • the mobile charging device can autonomously avoid obstacles in the navigation route to reach the designated charging position.
  • the mobile charging device is further configured to perform the following actions: docking with the charging interface at the charging position.
  • automatic docking between the mobile charging device and the charging interface can be realized.
  • Automatic docking can be realized by an automatic docking device.
  • the claws of the automatic docking device can be extended to lock with the charging interface to achieve docking.
  • Reliable docking can be achieved without the need for accurate alignment of plugs and sockets.
  • the jaws can achieve a larger capture range and easy locking, and the jaws have better flexibility and maneuverability.
  • the present invention is also applicable to manual docking scenarios, that is, a worker or user docks the mobile charging device with the charging interface.
  • the mobile charging device is further configured to perform the following actions:
  • the mobile charging device can be automatically returned to the parking position after the charging is completed to wait for the next charging task.
  • the server is also configured to perform the following actions:
  • the mobile application is also configured to perform the following actions:
  • the charging fee can be automatically calculated and settled remotely without on-site manpower input.
  • the mobile charging device includes:
  • An automatic traveling module which is configured to travel to the device to be charged according to the route between the mobile charging device and the device to be charged;
  • Power module which is configured to store and provide electrical energy
  • An automatic docking and separation device configured to perform docking and separation between a first connector and a second connector capable of making electrical contact with the first connector, wherein the first connector and the second connector are used for transmitting electric energy; as well as
  • the remote communication module is configured to communicate with the server remotely.
  • the claws of the automatic docking device can be extended to lock with the charging interface to achieve docking, and reliable docking can be achieved without the need for accurate alignment of the plug and socket, because the claws can achieve a larger capture range And easy locking, and the jaws have better flexibility and maneuverability.
  • the present invention has at least the following beneficial effects: (1) The present invention solves the problem that it is difficult for owners of electric vehicles to find charging piles or mobile charging devices, because the present invention can intelligently schedule mobile charging devices according to user needs and make them autonomous The vehicle is charged at the same time, thereby greatly optimizing the charging resources of the electric vehicle; (2) The present invention solves the problem that the vehicle that does not need to be charged occupies the charging position, because the mobile charging device can be moved to the charging position designated by the user, and it is greatly convenient Therefore, the user does not need to find and drive to the charging position by himself; (3) The present invention solves the problem that the owner of the electric vehicle needs to wait for the end of the electric vehicle charging or passively move the vehicle, because in the present invention, the owner of the electric vehicle is moving the electric vehicle After connecting to the charging port, you can leave, and then the system will start and end the charging process.
  • the mobile charging device can be automatically separated from the charging port to charge other electric vehicles; (4)
  • the present invention solves the extremely low utilization rate of fixed charging piles. (About 3%). Because the present invention uses a mobile charging device to charge, each mobile charging device can travel to a designated charging position for charging at any time, thus greatly improving each charging device (mobile charging device). ) Utilization rate.
  • Figure 1 shows a schematic diagram of a system for controlling a mobile charging device
  • Figure 2 shows the flow of a method for controlling a mobile charging device.
  • the quantifiers "one” and “one” do not exclude the scenario of multiple elements.
  • the number of the steps of each method of the present invention does not limit the execution order of the method steps. Unless otherwise specified, the method steps can be performed in a different order.
  • the present invention is shown as an electric vehicle charging scene, the present invention is not limited to this, but can also be used for charging other electric vehicles, such as electric bicycles and electric motorcycles.
  • the present invention is described with a mobile charging vehicle as an example, the present invention is also applicable to other mobile charging devices, drone charging devices, and so on.
  • Fig. 1 shows a schematic diagram of a system 100 for controlling a mobile charging device.
  • a system 100 for controlling a mobile charging device includes a mobile charging device 101, a mobile application 103 on a user's mobile device 102, and a server 105.
  • the mobile charging device 101 can access the Internet 104 through a wireless access device, such as a Wi-Fi router 106, so as to communicate with the server 105.
  • the mobile charging device 101 may also communicate with the server 105 through other wireless access devices, or directly communicate with the server 105, such as through a cellular wireless connection.
  • the user equipment 102 also accesses the Internet 104 to communicate with the server 105.
  • the communication between the user equipment 102 and the server 105 and between the mobile charging device 101 and the server 105 may be encrypted communication.
  • the user equipment 102 may be a mobile device such as a smart phone, a tablet computer, or a laptop computer, or a fixed device such as a desktop computer.
  • the communication between the server 105, the mobile charging device 101, and the user equipment 102 is implemented through an enterprise network, a dedicated network, a local area network, and the like.
  • ⁇ Automatic charging device 101 including:
  • An automatic travel module (not shown), which is configured to travel to the device to be charged according to a navigation route between the automatic charging device 101 and the device to be charged, such as an electric vehicle.
  • the navigation route may be calculated by the server 105 based on the current location of the mobile charging device 101 and the charging location selected by the user, for example.
  • the automatic driving module includes, for example, an automatic driving module, a vehicle chassis, a lidar sensor and/or an ultrasonic radar sensor, wherein the automatic driving module is configured to determine a driving operation according to the route, and the vehicle chassis is configured to perform the driving operation, And the automatic driving module determines obstacles in the route according to the sensor signal of the lidar sensor and/or the ultrasonic radar sensor to re-determine the driving operation and/or update the route.
  • the real-time update process of the driving operation or the route is, for example, the lidar sensor and/or the ultrasonic radar sensor can obtain radar or ultrasonic images of the surroundings or on the route; then, by analyzing the images, it can be known whether there are obstacles on the route, Such as personnel, mobile or temporary obstacles, etc.; in the case of obstacles that cannot be bypassed, use GPS or electronic map programs to calculate other routes from the current location of the charging device to the device to be charged; or when the obstacle can be bypassed In the case of, determine additional or alternative driving operations such as steering and parking waiting. Obstacles that cannot be bypassed include, for example, fixed obstacles that block most roads, while obstacles that can be bypassed include, for example, pedestrians, obstacles in movement, and the like.
  • the automatic driving module may include, for example, a positioning and navigation module, a path planning module, and a control execution module.
  • the positioning navigation module performs positioning and navigation, for example, through the following steps a-e:
  • the positioning and navigation module uses lidar point cloud data and assists with other sensor information such as odometer during movement to determine the position and heading of the vehicle body, and create a map for real-time update.
  • the magnetic line is preset on the ground of the garage, and the positioning and navigation module detects the travel route through magnetic sensors, and assists other environmental sensing operations with sensors such as lidar, camera, and ultrasonic radar.
  • the positioning navigation module calculates the real-time position information of the vehicle through the geometric relationship between the fixed radio frequency tag and the mobile radio frequency tag, and assists with sensors such as lidar, camera, and ultrasonic radar Perform other environmental awareness operations.
  • the lane markings here are not limited to lane markings on traditional highways, but should include other continuous and discrete ones. , Regular and irregular marks that can provide navigation information.
  • the rails are not limited to rails laid on the ground, and should include other wall hangings that can be connected to mobile charging piles and provide movement guidance Type, hanging type guide rail.
  • the positioning and navigation module senses the surrounding environment image and point cloud data from the camera and lidar, and transmits it to the control center through the wireless communication device.
  • the control center remotely controls the intelligent mobile charging pile to the reference position according to the received environmental information.
  • the positioning and navigation module performs positioning and navigation based on the position information provided by GPS and electronic maps, and assists other environmental sensing operations with sensors such as lidar, camera, and ultrasonic radar.
  • the path planning module may include, for example:
  • the global path decision module based on the prior map information provided by the positioning and navigation sub-module, plans a passable path that avoids known obstacles and connects the starting point and the target point;
  • the local path decision module uses sensors such as lidar, camera, ultrasonic radar, millimeter wave radar, and infrared rangefinder to sense obstacles and other information during driving in real time, and perform obstacle avoidance operating. Obstacle avoidance operations include: decelerate, stop, modify the path provided by the global path plan, discard the path provided by the global path plan and re-plan a new path.
  • sensors such as lidar, camera, ultrasonic radar, millimeter wave radar, and infrared rangefinder to sense obstacles and other information during driving in real time, and perform obstacle avoidance operating.
  • Obstacle avoidance operations include: decelerate, stop, modify the path provided by the global path plan, discard the path provided by the global path plan and re-plan a new path.
  • the power module is configured to store and provide electrical energy.
  • a single electric energy conversion unit can be used to realize both charging and discharging, and a single port can be used for charging and discharging.
  • the mobile charging device 101 can have both AC/DC and DC/DC bidirectional converter modules. Therefore, the charging device 101 can supplement electricity from the grid or from an energy storage system installed in a parking lot. Since the energy storage system has the functions of peak-to-valley arbitrage and dynamic capacity reduction, the charging device 101 can use the energy stored in the valley to improve economy on the one hand, and on the other hand, it can also avoid customer power consumption due to concentrated charging demand. The load suddenly increased.
  • the power in the charging device 101 can also interact with the power grid. Under normal circumstances, the charging device 101 will supplement power from the power grid. Under special circumstances, the charging device 101 can also discharge to the power grid as a regulation customer. A means of electric load to realize the function of V2X.
  • the automatic docking and separation device is configured to perform docking and separation between the first connector and the second connector capable of making electrical contact with the first connector, wherein the first connector and the second connector are used for transmitting electric energy.
  • the automatic docking and separation device of the present invention adopts claws to realize accurate and reliable docking and separation.
  • the remote communication module is configured to communicate with the server 105 remotely.
  • the remote communication module may be, for example, a wireless communication module, such as a cellular communication module, Wi-Fi module, Bluetooth module, ZigBee module, infrared communication module, and so on.
  • An optional billing module which is configured to bill the charges generated by the charging of the device to be charged.
  • the billing module may include, for example, a smart meter.
  • the charging module can send the charging data to the server 105 to generate a bill, that is, the charging module measures charging data such as charging time and charging amount and sends the charging data to the server 105.
  • the server 105 records and generates the fee information and sends it to the mobile application 103, and then the mobile application 103 displays the fee information to the user for the user to pay.
  • the display is, for example, configured to display the current charging status and estimated service time. Of course, this information can also be displayed in a mobile application on the user equipment 102.
  • the input device is configured for the user to input instructions, such as suspending or ending charging early, for the server 105 to perform processing and execution.
  • the mobile application 103 on the user equipment 102 which is configured to perform the following actions:
  • user credentials such as character passwords, voice passwords, fingerprints, SMS verification codes, facial features, scanned QR codes, etc. from the user.
  • the user credential can be directly authenticated by the user device 102 (for example, through an Apple Touch ID or the facial recognition function of the mobile device), or it can be sent by the mobile application 103 to the server 105 or a third-party authentication agency for authentication.
  • the user is allowed to log in or perform charging operations.
  • the user can download the mobile application 103 from the cloud to the user equipment 102 via the network and install the application locally on the user equipment 102, or the mobile application 103 is pre-installed on the user equipment 102 of the user.
  • the user equipment 102 is, for example, a mobile device, such as a smart phone, a tablet computer, a laptop computer, a personal digital assistant PDA, etc., or the user equipment 102 may also be a fixed device, such as a desktop computer.
  • the user's current location information is received from the user, and the available mobile charging device 101 and the available charging location are displayed to the user according to the user's current location information.
  • the order information is received from the user, the order information includes the mobile charging device 101 selected by the user and the charging location.
  • the navigation information for navigating the user to the charging location is displayed to the user.
  • the user can activate the positioning function of the user equipment 102 to determine its own location, and guide the user to find the target parking location through the navigation function of the user equipment 102.
  • the user uses the positioning function of the user device 102 to determine the user's current location; makes the user device 102 search for nearby charging requests and sends the searched data to the cloud; the cloud computing charging service displays the operation strategy and transmits the operation strategy to the operation strategy center
  • the operation strategy center determines the strategy and transmits the finalized strategy to the cloud; the cloud sends the charging service location information to the user equipment 102; activates the navigation function of the user equipment 102.
  • the present invention may further include a canceling step, which allows the user to cancel the order within a certain time according to actual needs, and the canceling step may occur at any stage in the above control method.
  • the operation strategy center can also take the initiative to cancel, so that when the system determines that the user does not meet certain conditions or the user has not arrived after a predetermined time, the operation strategy center can cancel or terminate the use through the cloud.
  • the navigation route between the mobile charging device and the charging location and the current location of the mobile charging device are displayed to the user.
  • a request to suspend charging or a request to end the charging is received from the user and the instruction is sent to the server 105 for processing.
  • ⁇ Server 105 which is configured to perform the following actions:
  • the user credentials are optionally authenticated to allow the user to log in or perform charging operations.
  • the available mobile charging device 101 and the available charging location are sent to the mobile application 103 for the mobile application 103 to display to the user.
  • the available mobile charging device 101 can be determined by the server 105 in the following manner, for example: determining one or more mobile charging devices 101 closest to the charging location according to the charging location selected by the user; determining whether the mobile charging device 101 is available, Such as whether it is idle or whether the battery is sufficient (such as whether the power is higher than the power to charge an ordinary vehicle, such as whether the power is higher than 20%).
  • the available charging location may be determined by the server 105 in the following manner, for example: according to the current location of the user, the nearest available parking space is displayed to the user for the user to select. Then, the server 105 generates an order according to the order information such as the charging location and the optional mobile charging device selected by the user.
  • the order is transmitted to the corresponding mobile charging device 101.
  • the server 105 can either directly send an order to the mobile charging device 101, or it can send specific parameters, such as the charging location of the device to be charged, the charging time, and the charging degree (such as charging to 50%, 80%, or 100%). and many more.
  • the navigation route between the mobile charging device 101 and the charging location is determined according to the order information, and the navigation route is sent to the mobile charging device 101.
  • the route determination can either be performed by a dedicated service provider or calculated by the server 105.
  • the route determination process is, for example, through GPS or an electronic map program, the (optimal) route from the current position of the charging device 101 to the charging position or the device to be charged can be calculated, or various electronic markers can be set in the parking lot, For example, a radio frequency tag or a wireless signal transmission point, so that the charging device 101 can accurately find the corresponding parking space by identifying the electronic mark.
  • the server 105 sends the navigation route to the mobile charging device 101.
  • the mobile charging device 101 itself has the calculation capability for calculating the navigation route, so the navigation route calculation can be completed by the mobile charging device 101 itself.
  • Optionally perform a charging suspension operation including: receiving a request for suspension of charging from the mobile application 103; querying the charging status of the mobile charging device; instructing the mobile charging device to suspend charging when the charging status meets the requirements; receiving a continuation from the mobile application 103 Charging request; and instructing the mobile charging device to continue charging.
  • a certain threshold for example, the electric vehicle may not be able to drive or the endurance is too low. At this time, the user may be reminded or the suspension may not be allowed. In other cases, other charging state conditions can also be set to ensure safety.
  • Optionally performing an early termination of charging operation includes: receiving an early termination of charging request from the mobile application 103; querying the charging state of the mobile charging device 101; and instructing the mobile charging device to end charging if the charging state meets the requirements. For example, when the state of charge is lower than a certain threshold, for example, the electric vehicle may not be able to drive or the endurance is too low. At this time, the user may be reminded or the suspension may not be allowed. In other cases, other charging state conditions can also be set to ensure safety.
  • FIG. 2 shows the flow of a method 200 for controlling a mobile charging device, where the dashed boxes represent optional steps.
  • the available mobile charging devices and available charging locations are displayed to the user according to user input information.
  • the system 100 searches for available charging device 101 information (including but not limited to the picture, type, configuration, etc.) of the charging device 101 near the location designated by the user according to the user's input information (such as destination, area code, etc.), and The status of each charging device 101 is displayed on the user equipment 102.
  • the user can select a charging place to reserve within the range of available charging devices 101 displayed.
  • the user equipment 102 sends the user's confirmation information to the cloud, and the cloud identifies the charging device 101 has been reserved by the user, an order is generated, and the order is sent to the user device 102 for the user to view and confirm.
  • step 204 order information is received from the user, the order information includes the mobile charging device selected by the user and the charging location.
  • the user can select the corresponding mobile charging device and charging location on the mobile application 103.
  • the mobile application 103 then sends this information to the server 105.
  • a navigation route between the mobile charging device 101 and the charging location is determined according to the order information.
  • the navigation route determination process is, for example: through GPS or electronic map program, the route from the current position of the charging device to the device to be charged (optimum, such as the shortest or the most smooth) route can be calculated, or various electronic routes can also be set in the parking lot. Marks, such as radio frequency tags or wireless signal transmission points, enable the charging device to accurately find the corresponding parking space.
  • the real-time update process of driving operation or route is, for example, the lidar sensor and/or ultrasonic radar sensor equipped on the mobile charging device 101 can obtain radar images of the surroundings or on the route; then, by analyzing the radar images, it can be known whether the route is There are obstacles, such as people, moving or temporary obstacles; in the case of obstacles that cannot be bypassed, use GPS or electronic map programs to calculate other routes from the current location of the charging device to the device to be charged; or In the case of bypassing obstacles, determine additional or alternative driving operations such as steering, parking and waiting. Obstacles that cannot be bypassed include, for example, fixed obstacles that block most roads, while obstacles that can be bypassed include, for example, pedestrians, obstacles in movement, and the like.
  • the mobile charging device is navigated to the charging position according to the navigation route and the mobile charging device is docked with the charging interface. For example, after reaching the target location, the user can find the nearest auxiliary charging connection device according to the prompts, place the auxiliary charging connection device near the charging plug of the vehicle, and dock the charging plug of the vehicle with the auxiliary charging connection device, and then scan the QR code or input verification
  • the mobile communication device sends the charging request and charging auxiliary connection device information to the server 105 or the cloud.
  • the server 105 or the cloud sends the charging instruction directly to the charging device 101. Charge the car electronic equipment, and then the charging car will dock with the charging auxiliary connection device and start charging, and the cloud will send the charging status information feedback to the mobile communication device.
  • the electric vehicle is charged through the charging interface.
  • the charging module can send the charging data to the server 105 to generate a bill, that is, the charging module measures the charging data such as charging time and the charging amount and sends the charging data to the server 105, and the server 105
  • the fee information is recorded and generated and sent to the mobile application 103, and then the mobile application 103 displays the fee information to the user for the user to pay.
  • a pause operation is performed.
  • the operation of suspending charging includes, for example: receiving a request to suspend charging from the mobile application 103; querying the charging status of the mobile charging device; instructing the mobile charging device to suspend charging if the charging status meets the requirements; receiving a request to continue charging from the mobile application 103; and Instruct the mobile charging device to continue charging. For example, when the state of charge is lower than a certain threshold, for example, the electric vehicle may not be able to drive or the endurance is too low. At this time, the user may be reminded or the suspension may not be allowed. In other cases, other charging state conditions can also be set to ensure safety.
  • an early end charging operation is performed. Ending the charging operation early includes, for example, receiving an early end charging request from the mobile application 103; querying the charging state of the mobile charging device 101; and instructing the mobile charging device to end charging if the charging state meets the requirements. For example, when the state of charge is lower than a certain threshold, for example, the electric vehicle may not be able to drive or the endurance is too low. At this time, the user may be reminded or the suspension may not be allowed. In other cases, other charging state conditions can also be set to ensure safety.
  • the present invention has at least the following beneficial effects: (1) The present invention solves the problem that it is difficult for owners of electric vehicles to find charging piles or mobile charging devices, because the present invention can intelligently schedule mobile charging devices according to user needs and make them autonomous The vehicle is charged at the same time, thereby greatly optimizing the charging resources of the electric vehicle; (2) The present invention solves the problem of the vehicle that does not need to be charged to occupy the charging position, because the mobile charging device can be moved to the charging position designated by the user, and it is greatly convenient Therefore, the user does not need to find and drive to the charging position by himself; (3) The present invention solves the problem that the owner of the electric vehicle needs to wait for the end of the electric vehicle charging or passively move the vehicle, because in the present invention, the electric vehicle owner is moving the electric vehicle After connecting to the charging port, you can leave, and then the system will start and end the charging process.
  • the mobile charging device can be automatically separated from the charging port to charge other electric vehicles; (4)
  • the present invention solves the extremely low utilization rate of fixed charging piles. (About 3%). Because the present invention uses a mobile charging device to charge, each mobile charging device can travel to a designated charging position for charging at any time, thus greatly improving each charging device (mobile charging device). ) Utilization rate.

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Abstract

一种用于控制移动充电装置（101）的方法，包括：从用户接收订单信息，订单信息包括要对电动车辆进行充电的充电位置；根据订单信息确定移动充电装置（101）与充电位置之间的导航路线；根据导航路线将移动充电装置（101）导航到充电位置并且使移动充电装置（101）与充电接口进行对接；以及通过充电接口对电动车辆进行充电。还涉及一种在移动应用（103）中执行的方法以及一种用于控制移动充电装置的系统（100）。可以根据用户需求智能地调度移动充电装置（101）并使其自主行进到用户电动车辆并进行充电，从而极大地优化了电动车的充电资源，使得不存在无需充电的车辆占据充电位置的现象，并且极大地方便了用户，使得用户无需自行寻找并行驶到充电位置。

Description

一种用于控制移动充电装置的方法及系统 技术领域
本发明总的来说涉及物联网领域中的机动车充电领域，具体而言涉及一种用于控制移动充电装置的方法。此外，本发明还涉及一种用于控制移动充电装置的系统。
背景技术
随着电动汽车技术的飞速发展和近年来绿色出行、低碳环保、健康生活等理念的不断深入，在政府相关部门的各类补贴政策引导下，越来越多的人开始选择电动汽车。然而，充电难已经成为困扰广大电动汽车车主的突出问题。目前，电动汽车的充电主要通过充换电站或各类充电桩来完成，即电动汽车需要行驶到充换电站以进行电池的充电或者更换，或者可以通过设置在路边、小区或停车场的固定充电桩进行充电。由于充换电站或者充电桩都是建设在固定场地的固定装置，因此需要电动汽车行驶到指定的充换电站或者充电桩处进行充电，这无法满足日益增长的电动汽车充电需求。
近来，市场上出现了一些移动充电车产品，但现有的移动充电车大都以救急的应急充换电车为主，体积大，数量少，呼叫不方便，且在多个存放点之间、存放点和充电车之间、充电车和充电车之间无法实现通信和信息共享，也没有专门的充电车管理平台来统一对某一区域的存放点和充电车进行管理和资源调配，因此不能高效且合理地分配有限的充电车资源。
此外，用户在使用此类充电车时，常会遇到例如不能方便地找到目的地附近的可用充电车、服务地域有限制、在使用过程中不能实时获知充电状态等问题，这些问题给用户带来了极大的不便，这些限制了电动汽车的进一步推广。
因此，迫切需要一种更高效、智能的用于控制移动充电装置的方法及系统。
发明内容
本发明的任务是，提供一种用于控制移动充电装置的方法及系统，通过该方法和/或系统，可以根据用户需求智能地调度移动充电装置并使其自主行进到用户电动车辆并进行充电，从而极大地优化了电动车的充电资源，使得不存在无需充电的车辆占据充电位置的现象，并且极大地方便了用户，使得用户无需自行寻找并行驶到充电位置。
在本发明的第一方面，该任务通过一种用于控制移动充电装置的方法来解决，该方法包括下列步骤：
从用户接收订单信息，所述订单信息包括要对电动车辆进行充电的充电位置；
根据所述订单信息确定移动充电装置与所述充电位置之间的导航路线；
根据所述导航路线将移动充电装置导航到所述充电位置；以及
通过充电接口对电动车辆进行充电。
在本发明中，电动车辆涵盖了电动汽车、电动摩托车、以及电动自行车等用电交通工具。此外，在本发明中，充电接口既可以是充电辅助连接装置、即固定或可移动的充电桩，其中移动充电装置可以与该充电桩对接并且用户的电动车辆可以通过充电枪与所述充电桩连接以进行充电；充电接口也可以直接是机动车辆上的充电接口，其中移动充电装置可以与所述充电接口对接。
在本发明的一个优选方案中该规定，该方法还包括：使移动充电装置与充电接口进行对接。通过该优选方案，可以实现移动充电装置与充电接口的自动对接。自动对接可以通过自动对接装置来实现，例如，可以通过自动对接装置的卡爪伸出以与充电接口卡锁，从而实现对接，可以在无需插头和插座准确对准的情况下实现可靠的对接，因为卡爪可以实现较大的捕获范围和容易的卡锁，并且卡爪具有更好的灵活性和机动性。但是在此应当指出，本发明同样适用于人工对接场景，即由工作人员或用户将移动充电装置与充电接口对接。
在本发明的一个优选方案中规定，从用户接收订单信息包括：
根据用户输入信息向用户显示可用移动充电装置以及可用充电位置；以及
从用户接收订单信息，所述订单信息包括用户选择的移动充电装置以及充电位置。
通过该优选方案，可以方便用户在所推荐的移动充电装置以及可用充电位置中自由地选择，从而给用户提供便利。这尤其是在如下场景中是有利的，用户还未到达该充电位置，但是希望在某个特定充电位置进行充电，或者用户的充电汽车需要补充较多电量，因此需要剩余电量较多的移动充电装置来进行充电。在此，可以附加地例如以电量百分比的形式显示每个移动充电装置的电量。
在本发明的另一优选方案中规定，该方法还包括：
从用户接收用户当前位置信息；
根据用户当前位置信息将用户导航到充电位置。
通过该优选方案，可以将用户引导至目标位置以进行充电操作。用户的导航例如可以采用第三方的导航软件来实现，其中系统将导航软件输出的导航信息实时地显示给用户。上述导航也可以使用系统的导航模块来实现。
在本发明的又一优选方案中规定，根据所述导航路线将移动充电装置导航到所述充电位置包括：
识别导航路线中的障碍物并确定障碍物的类型，其中所述障碍物的类型包括行人、固定状态以及临时障碍物；以及
根据障碍物的类型以及移动性确定是否重新规划导航路线。
通过该优选方案，使得移动充电装置能够在导航路线中存在障碍物的情况下自主地避开障碍物以到达指定充电位置。导航路线确定流程例如为：通过GPS或电子地图程序，可计算从充电装置当前位置到待充电装置辆的(最优)路线，或者在停车场内也可以设置各种电子标记、如射频标签或无线信号发射点，使得充电装置可以精确地找到相应车位。行驶操作或路线的实时更新流程例如为：通过移动充电装置上配备的激光雷达传感器和/或超声波雷达传感器例如可以获得四周或路线上的雷达图像；然后通过分析雷达图像可以得知路线上是否存在障碍物、如人员、移动或临时障碍物等；在存在不可绕过的障碍物的情况下，通过GPS或电子地图程序计算从充电装置当前位置到待充电装置辆的其它路线；或者在可绕过障碍物的情况下，确定转向、停车等待等附加或替换的行驶操作。不可绕过的障碍物例如包括阻塞大部分道路的固定障碍物，而可绕过障碍物例如包括行人、移动中的障碍物等等。通过该优选方案，可以实现路线的实时更新，从而获得更好的鲁棒性和容错性。
在本发明的一个扩展方案中规定，该方法还包括下列步骤：
从用户接收用户凭证；以及
对用户凭证进行认证。
通过该扩展方案，可以保证合法用户以及合法操作，从而提高安全性。用户凭证例如包括：字符口令、语音口令、指纹、短信验证码、面部特征等等。
在本发明的一个优选方案中规定，所述充电接口是配备有二维码的充电辅助连接装置，并且其中该方法还包括：
在用户扫描所述二维码以后对用户进行认证；以及
在认证成功的情况下向移动充电装置发送充电指令。
通过该优选方案，可以有效且便捷地保证对合法用户进行充电，其中扫描二维码对用户而言是便捷且安全的。
在本发明的一个扩展方案中规定，通过充电接口对电动车辆进行充电包括：
从用户接收暂停充电请求；
查询并显示移动充电装置的充电状态；
在所述充电状态满足要求的情况下指示移动充电装置暂停充电；
从用户接收继续充电请求；以及
指示移动充电装置继续充电。
通过该扩展方案，可以安全地执行用户请求的暂停充电请求，其中当充电状态例如低于某个阈值时，电动车辆可能无法行驶或续航过低，此时可以提醒用户或者不允许暂停。在其它情况下，也可以设置其它充电状态条件，以保证安全性。
在本发明的另一扩展方案中规定，通过充电接口对电动车辆进行充电包括：
从用户接收提前结束充电请求；
查询并显示移动充电装置的充电状态；以及
在所述充电状态满足要求的情况下指示移动充电装置结束充电。
通过该扩展方案，可以安全地执行用户请求的提前结束充电请求，其中当充电状态例如低于某个阈值时，电动车辆可能无法行驶或续航过低，此时可以提醒用户或者不允许提前结束充电。在其它情况下，也可以设置其它充电状态条件，以保证安全性。
在本发明的又一扩展方案中规定，该方法还包括：
记录用户充电的充电状态和/或充电时长和/或充电量；以及
根据用户的充电状态和/或充电时长和/或充电量和/或用户分类计算充电费用。
通过该扩展方案，可以远程地计算充电费用并极大减少现场人力投入的需要。充电费用可以通过将充电时长或充电量乘以费率或者依据用户等级来确定。充电量例如可以通过计量电能的智能电表来确定。
在本发明的第二方面，前述任务通过一种在移动应用中执行的方法来解决，该方法包括下列步骤：
从用户接收用户当前位置信息；
根据用户当前位置信息向用户显示可用移动充电装置以及可用充电位置；
从用户接收订单信息，所述订单信息包括用户选择的移动充电装置以及充电位置；
向用户显示将用户导航到所述充电位置的导航信息；以及
向用户显示移动充电装置与所述充电位置之间的导航路线以及移动充电装置的当前位置。
在本发明的一个扩展方案中规定，该方法还包括下列步骤：
从用户接收用户凭证和/或扫描的二维码信息；
对所述用户凭证和/或二维码信息进行认证；以及
在认证成功的情况下，在移动充电装置与充电接口对接以后开始充电。
通过该扩展方案，可以有效保证对合法用户进行充电，其中扫描二维码对用户而言是便捷且安全的。当然其它认证方式也是可能的，例如近场通信NFC、射频识别等等。
在本发明的另一扩展方案中规定，该方法还包括下列步骤：
向用户显示充电费用和充电状态；
从用户接收支付信息；以及
根据所述支付信息提交支付请求并引导用户完成支付。
通过该扩展方案，可以远程地计算充电费用并极大减少现场人力投入的需要。充电费用可以通过将充电时长或充电量乘以费率或者依据用户等级来确定。充电量例如可以通过计量电能的智能电表来确定。
在本发明的第三方面，前述任务通过一种用于控制移动充电装置的系统来解决，该系统包括：
移动应用，其被配置为执行下列动作：
从用户接收订单信息，所述订单信息包括要对电动车辆进行充电的充电位置；以及
将所述订单信息发送给服务器；服务器，其被配置为执行下列动作：
根据所述订单信息确定移动充电装置与所述充电位置之间的导航路线；以及
将所述导航路线发送给移动充电装置；移动充电装置，其被配置为执行下列动作：
根据所述导航路线行驶到所述充电位置；以及
通过充电接口对电动车辆进行充电。
在本发明的一个优选方案中规定，移动充电装置还被配置为执行下列动作：
识别导航路线中的障碍物并确定障碍物的类型，其中所述障碍物的类型包括行人、固定状态以及临时障碍物；以及
根据障碍物的类型以及移动性确定是否重新规划导航路线。
通过该优选方案，使得移动充电装置能够在导航路线中存在障碍物的情况下自主地避开障碍物以到达指定充电位置。
在本发明的另一优选方案中规定，移动充电装置还被配置为执行下列动作：在充电位置处与充电接口对接。通过该优选方案，可以实现移动充电装置与充电接口的自动对接。自动对接可以通过自动对接装置来实现，例如，可以通过自动对接装置的卡爪伸出以与充电接口卡锁，从而实现对接，可以在无需插头和插座准确对准的情况下实现可靠的对接，因为卡爪可以实现较大的捕获范围和容易的卡锁，并且卡爪具有更好的灵活性和机动性。但是在此应当指出，本发明同样适用于人工对接场景，即由工作人员或用户将移动充电装置与充电接口对接。
在本发明的另一优选方案中规定，移动充电装置还被配置为执行下列动作：
在充电结束后与充电接口分离；以及
行进到停放位置或指定位置。
通过该优选方案，可以在充电结束后时使移动充电装置自动回到停放位置以等待下次充电任务。
在本发明的另一优选方案中规定：
服务器还被配置为执行下列动作：
记录用户充电的充电状态和/或充电时长和/或充电量；以及
根据用户的充电状态和/或充电时长和/或充电量和/或用户分类计算充电费用；以及
将充电费用发送给移动应用；以及
移动应用还被配置为执行下列动作：
向用户显示充电费用；
从用户接收支付信息；以及
根据所述支付信息提交支付请求并引导用户完成支付。
通过该优选方案，可以远程地自动计算和结算充电费用而无需现场人力投入。
在本发明的又一优选方案中规定，移动充电装置包括：
自动行进模块，其被配置为根据移动充电装置与待充电设备之间的路线行进到待充电设备；
电源模块，其被配置为储存和提供电能；
自动对接和分离装置，其被配置为执行第一连接器与能够与第一连接器电接触的第二连接器之间的对接和分离，其中第一连接器和第二连接器用于传输电能；以及
远程通信模块，其被配置为与服务器远程地通信。
通过该优选方案，可以实现自动行进和自动对接以及自动充电，由此极大地减少人力投入。例如，可以通过自动对接装置的卡爪伸出以与充电接口卡锁，从而实现对接，可以在无需插头和插座准确对准的情况下实现可靠的对接，因为卡爪可以实现较大的捕获范围和容易的卡锁，并且卡爪具有更好的灵活性和机动性。
本发明至少具有下列有益效果：(1)本发明解决了电动车辆车主寻找充电桩或移动充电装置困难的问题，因为本发明可以根据用户需求智能地调度移动充电装置并使其自主行进到用户电动车辆并进行充电，从而极大地优化了电动车的充电资源；(2)本发明解决了无需充电的车辆占据充电位置的问题，因为移动充电装置可以移动到用户指定的充 电位置，且极大地方便了用户，使得用户无需自行寻找并行驶到充电位置；(3)本发明解决了电动车辆车主需等待电动汽车充电结束或者被动移车的问题，因为在本发明中，电动车辆车主在将电动车辆连接至充电接口以后即可离开，之后由系统来开始和结束充电过程，其中移动充电装置可以自动与充电接口分离以便给其它电动车辆充电；(4)本发明解决了固定充电桩利用率极低(3％左右)的问题，因为本发明采用移动充电装置来充电，因此每个移动充电装置在任何时候都可以行进到指定充电位置进行充电，因此极大地提高了每个充电装置(移动充电装置)的利用率。
附图说明
下面结合附图参考具体实施例来进一步阐述本发明。
图1示出了用于控制移动充电装置的系统的示意图；以及
图2示出了用于控制移动充电装置的方法的流程。
具体实施方式
应当指出，各附图中的各组件可能为了图解说明而被夸大地示出，而不一定是比例正确的。在各附图中，给相同或功能相同的组件配备了相同的附图标记。
在本发明中，除非特别指出，“布置在…上”、“布置在…上方”以及“布置在…之上”并未排除二者之间存在中间物的情况。此外，“布置在…上或上方”仅仅表示两个部件之间的相对位置关系，而在一定情况下、如在颠倒产品方向后，也可以转换为“布置在…下或下方”，反之亦然。
在本发明中，各实施例仅仅旨在说明本发明的方案，而不应被理解为限制性的。
在本发明中，除非特别指出，量词“一个”、“一”并未排除多个元素的场景。
在此还应当指出，在本发明的实施例中，为清楚、简单起见，可能示出了仅仅一部分部件或组件，但是本领域的普通技术人员能够理解，在本发明的教导下，可根据具体场景需要添加所需的部件或组件。
在此还应当指出，在本发明的范围内，“相同”、“相等”、“等 于”等措辞并不意味着二者数值绝对相等，而是允许一定的合理误差，也就是说，所述措辞也涵盖了“基本上相同”、“基本上相等”、“基本上等于”。
另外，本发明的各方法的步骤的编号并未限定所述方法步骤的执行顺序。除非特别指出，各方法步骤可以以不同顺序执行。
最后，还应当指出，尽管本发明是以电动汽车充电的场景示出的，但是本发明不限于此，而是还可以用于其它电动交通工具、如电动单车、电动摩托等的充电。此外，尽管本发明是以移动充电车为例说明的，但是本发明同样适用于其它移动充电装置、无人机充电装置等等。
图1示出了用于控制移动充电装置的系统100的示意图。
如图1所示，用于控制移动充电装置的系统100包括移动充电装置101、用户移动设备102上的移动应用103、以及服务器105。移动充电装置101可以通过无线接入设备、如Wi-Fi路由器106接入因特网104，从而与服务器105通信。移动充电装置101也可可以通过其它无线接入设备、与服务器105通信，或者直接与服务器105通信、如通过蜂窝无线连接。用户设备102也接入因特网104以便与服务器105通信。为了提高安全性，用户设备102与服务器105之间以及移动充电装置101与服务器105之间的通信可以是加密通信。用户设备102可以是诸如智能手机、平板计算机、膝上型计算机之类的移动设备，也可以是台式机等固定设备。在其它实施例中，服务器105、移动充电装置101和用户设备102之间的通信通过企业网、专用网络、局域网等来实现。
下面阐述系统100的各组件(注意一些组件和步骤为可选的)：
·自动充电装置101，包括：
自动行进模块(未示出)，其被配置为根据自动充电装置101与待充电设备、如电动车辆之间的导航路线行进到待充电设备。导航路线例如可以由服务器105根据移动充电装置101的当前位置以及用户选择的充电位置来计算。自动行进模块例如包括自动驾驶模块、整车底盘以及激光雷达传感器和/或超声波雷达传感器，其中自动驾驶模块被配置为根据所述路线确定行驶操作，整车底盘被配置为执行所述行驶操作，并且自动驾驶模块根据所述激光雷达传感器和/或超声波雷达传感器的传感器信号确定所述路线中的障碍物重新确定行驶操作和/或更新所述路线。行驶操作或路线的实时更 新流程例如为：通过激光雷达传感器和/或超声波雷达传感器例如可以获得四周或路线上的雷达或超声图像；然后通过分析所述图像可以得知路线上是否存在障碍物、如人员、移动或临时障碍物等；在存在不可绕过的障碍物的情况下，通过GPS或电子地图程序计算从充电装置当前位置到待充电装置辆的其它路线；或者在可绕过障碍物的情况下，确定转向、停车等待等附加或替换的行驶操作。不可绕过的障碍物例如包括阻塞大部分道路的固定障碍物，而可绕过障碍物例如包括行人、移动中的障碍物等等。所述自动驾驶模块例如可以包括定位导航模块、路径规划模块、以及控制执行模块。
所述定位导航模块例如通过下列步骤a-e来执行定位导航：
a.定位导航模块在运动过程中利用激光雷达点云数据、并辅助以里程计等其他传感器信息，进行车体位置和航向的确定，并创建地图进行实时更新。
b.在车库地面预设磁线，定位导航模块通过磁性传感器检测行进线路，并辅助以激光雷达、摄像头、超声波雷达等传感器进行其他环境感知操作。
c.在车库预设多个无线信号发射点，定位导航模块通过固定射频标签与移动射频标签之间距离的几何关系，推算车辆的实时位置信息，并辅助以激光雷达、摄像头、超声波雷达等传感器进行其它环境感知操作。
d.在车库地面预设车道线标记，定位导航模块通过摄像头感知车道线位置，进行路径跟踪操作，此处的车道线标记不局限于传统公路上的车道线，应当包括其他连续的、离散的、规则的、不规则的能提供导航信息的标记。
e.在车库预设轨道，充电装置通过导轨架、滚轮等装置在导轨上移动，此处的导轨不局限于铺设在地面的导轨，应当包括其他可与移动充电桩连接并提供移动指引的壁挂式、悬挂式导轨。
f.定位导航模块从摄像头、激光雷达感知周围环境图像、点云数据，并通过无线通信装置将其传输至控制中心，控制中心根据所接收的环境信息，远程遥控智能移动充电桩至参考位置。
g.定位导航模块根据GPS提供的位置信息以及电子地图进行定位导航，并辅助以激光雷达、摄像头、超声波雷达等传感器进行其他环境感知操作。路径规划模块例如可以包括：
全局路径决策模块，其根据定位导航子模块提供的先验地图信息，规划出一条避开已知障碍物，连接起始点与目标点的可通行路径；
局部路径决策模块，其根据全局路径规划提供的路径信息，通过激光雷达、摄像头、超声波雷达、毫米波雷达、红外测距仪等传感器，实时感知行驶途中出现的障碍物等信息，并执行避障操作。避障操作包括：减速、停车、修改全局路径规划提供的路径，舍弃全局路径规划提供的路径并重新规划新的路径。
电源模块，其被配置为储存和提供电能。通过本发明的电源模块，可以采用单个电能变换单元来实现充放电二者，并且可以使用单个端口来进行充放电。移动充电装置101可以同时具备AC/DC和DC/DC的双向变流模块，因此充电装置101既可以从电网补电，也可以从安装在停车场内的储能系统补电。由于储能系统具备峰谷套利和动态减容的功能，所以充电装置101一方面可以利用储能在谷时的电量以提高经济性，另一方面，也可以避免因充电需求集中造成客户用电负荷突然增大。在另一种场景下，充电装置101内的电量也可以与电网进行互动，正常情况下，充电装置101会从电网补电，在特殊情况下，充电装置101也可以向电网放电，作为调节客户用电负荷的一种手段，实现V2X的功能。
自动对接和分离装置，其被配置为执行第一连接器与能够与第一连接器电接触的第二连接器之间的对接和分离，其中第一连接器和第二连接器用于传输电能。本发明的自动对接和分离装置采用卡爪实现准确和可靠的对接和分离。
远程通信模块，其被配置为与服务器105远程地通信。远程通信模块例如可以是无线通信模块、如蜂窝通信模块、Wi-Fi模块、蓝牙模块、ZigBee模块、红外通信模块等等。
可选的计费模块，其被配置为对因待充电设备的充电产生的费 用进行计费，计费模块例如可以包括智能电表。在一个优选方案中，计费模块可以将计费数据发送给服务器105以生成账单，也就是说，由计费模块测量充电时间、充电量等计费数据并将计费数据发送给服务器105，由服务器105记录并生成费用信息并发送给移动应用103，然后移动应用103再向用户显示所述费用信息以供用户进行支付。
可选的显示器以及可选的输入设备。显示器例如被配置为显示当前充电状态、预计服务时间，当然这些信息也可以在用户设备102上的移动应用中显示。输入设备被配置为供用户输入指令、如暂停或提前结束充电，以供服务器105进行处理执行。
·用户设备102上的移动应用103，其被配置为执行下列动作：
可选地从用户接收用户凭证、如字符口令、语音口令、指纹、短信验证码、面部特征、扫描的二维码等。用户凭证可以直接由用户设备102进行认证(例如通过Apple Touch ID或移动设备的面部识别功能)，也可以由移动应用103发送给服务器105或第三方认证机构进行认证。在认证成功的情况下允许用户登录或者执行充电操作。用户可以通过网络从云端下载移动应用103到用户设备102并且将该应用本地安装到用户设备102，或者，用户的用户设备102上已经预装了移动应用103。用户在第一次使用该移动应用103时，需要在线注册并填写必要的用户信息。例如，在登录步骤中，用户启动用户设备102上的移动应用103，输入用户凭证，然后使该用户设备102与云端建立连接。用户设备102例如是移动设备、如智能手机、平板计算机、膝上型计算机、个人数字助理PDA等等，或者用户设备102也可以是固定设备、如台式机。
从用户接收用户当前位置信息并根据用户当前位置信息向用户显示可用移动充电装置101以及可用充电位置。
从用户接收订单信息，所述订单信息包括用户选择的移动充电装置101以及充电位置。
向用户显示将用户导航到所述充电位置的导航信息。在此，用户可以启动用户设备102的定位功能以确定自己的位置，并通过用户设备102的导航功能引导用户找到目标停车位置。用户利用用户设备102的定位功能确定用户的当前位置；使用户设备102搜索附 近的充电请求并将搜索到的数据发送到云端；云端计算充电服务展示运营策略，并将运营策略传送到运营策略中心；运营策略中心对策略进行确定，并将最终确定的策略传送给云端；云端将充电服务位置信息发送到用户设备102；启动用户设备102的导航功能。此外，本发明还可以包括取消步骤，该取消步骤可以使用户能够根据实际需要在一定时间内取消订单，该取消步骤可以发生在上述控制方法中的任意阶段。另外，运营策略中心也可以主动取消，以便在系统判定用户不符合特定条件、或用户已过预定时间仍未到达时，能够由运营策略中心通过云端取消或终止本次使用。
向用户显示移动充电装置与所述充电位置之间的导航路线以及移动充电装置的当前位置。
可选地从用户接收暂停充电请求或提前结束充电请求并将指令发送给服务器105以进行处理。
可选地向用户显示充电费用，从用户接收支付信息，并且根据所述支付信息提交支付请求并引导用户完成支付。支付成功后再向用户显示支付成功信息。
·服务器105，其被配置为执行下列动作：
可选地对用户凭证进行认证以允许用户登录或执行充电操作。
可选地向移动应用103发送可用移动充电装置101以及可用充电位置以供移动应用103向用户显示。可用移动充电装置101例如可以由服务器105以如下方式来确定：根据用户所选择的充电位置确定离所述充电位置最近的一个或多个移动充电装置101；确定所述移动充电装置101是否可用、如是否空闲或是否电量充足(如是否电量高于给普通车辆充电一次的电量、如是否高于20％电量)。可用充电位置例如可以由服务器105通过如下方式来确定：根据用户的当前位置向用户显示最近的可用停车位以供用户选择。然后，服务器105根据充电位置以及可选的用户选择的移动充电装置等订单信息生成订单。
将订单传送给相应移动充电装置101。例如，服务器105既可以直接向移动充电装置101发送订单，也可以向其发送具体参数、如待充电装置辆的充电位置、充电时间、充电程度(如充电至50％、80％或100％)等等。
根据所述订单信息确定移动充电装置101与所述充电位置之间的导航路线并将所述导航路线发送给移动充电装置101。路线确定既可以由专门的服务商来执行，也可以由服务器105来计算。路线确定流程例如为：通过GPS或电子地图程序，可计算从充电装置101的当前位置到充电位置或待充电装置辆的(最优)路线，或者在停车场内也可以设置各种电子标记、如射频标签或无线信号发射点，使得充电装置101可以通过识别所述电子标记来精确地找到相应车位。然后，服务器105将所述导航路线发送给移动充电装置101。在一个特殊的场景中，移动充电装置101本身具备用于计算导航路线的计算能力，因此所述导航路线计算可以由移动充电装置101本身来完成。
可选地执行暂停充电操作，包括：从移动应用103接收暂停充电请求；查询移动充电装置的充电状态；在所述充电状态满足要求的情况下指示移动充电装置暂停充电；从移动应用103接收继续充电请求；以及指示移动充电装置继续充电。例如，当充电状态例如低于某个阈值时，电动车辆可能无法行驶或续航过低，此时可以提醒用户或者不允许暂停。在其它情况下，也可以设置其它充电状态条件，以保证安全性。
可选地执行提前结束充电操作，包括：从移动应用103接收提前结束充电请求；查询移动充电装置101的充电状态；以及在所述充电状态满足要求的情况下指示移动充电装置结束充电。例如，当充电状态例如低于某个阈值时，电动车辆可能无法行驶或续航过低，此时可以提醒用户或者不允许暂停。在其它情况下，也可以设置其它充电状态条件，以保证安全性。
图2示出了用于控制移动充电装置的方法200的流程，其中虚线框表示可选步骤。
在可选步骤202，根据用户输入信息向用户显示可用移动充电装置以及可用充电位置。在此，系统100根据用户的输入信息(例如目的地、区域代码等)查找用户指定地点附近的可用充电装置101的信息(包括但不限于充电装置101的图片、种类、配置等)，并在用户设备102上显示每辆充电装置101的状态，用户可以在所显示的可用充电装置101范围内选择想要预订的充电场所，用户设备102将用户的确认信息发送 到云端，云端标识该充电装置101已被该用户预订，并生成订单，将订单发送到用户设备102供用户查看确认。
在步骤204，从用户接收订单信息，所述订单信息包括用户选择的移动充电装置以及充电位置。用户可以在移动应用103上选择相应的移动充电装置以及充电位置。移动应用103然后将这些信息发送给服务器105。
在步骤206，根据所述订单信息确定移动充电装置101与所述充电位置之间的导航路线。导航路线确定流程例如为：通过GPS或电子地图程序，可计算从充电装置当前位置到待充电装置辆的(最优、如最短或最通畅)路线，或者在停车场内也可以设置各种电子标记、如射频标签或无线信号发射点，使得充电装置可以精确地找到相应车位。行驶操作或路线的实时更新流程例如为：通过移动充电装置101上配备的激光雷达传感器和/或超声波雷达传感器例如可以获得四周或路线上的雷达图像；然后通过分析雷达图像可以得知路线上是否存在障碍物、如人员、移动或临时障碍物等；在存在不可绕过的障碍物的情况下，通过GPS或电子地图程序计算从充电装置当前位置到待充电装置辆的其它路线；或者在可绕过障碍物的情况下，确定转向、停车等待等附加或替换的行驶操作。不可绕过的障碍物例如包括阻塞大部分道路的固定障碍物，而可绕过障碍物例如包括行人、移动中的障碍物等等。
在步骤208，根据所述导航路线将移动充电装置导航到所述充电位置并且使移动充电装置与充电接口进行对接。例如，用户到达目标位置后可以根据提示找到最近的充电辅助连接装置，将充电辅助连接装置到车辆充电插头附近，将车辆的充电插头与充电辅助连接装置对接后，通过扫描二维码或输入验证码等方式在移动通信设备上确认，移动通信设备将充电请求和充电辅助连接装置信息发送给服务器105或云端，服务器105或云端在接收到充电请求后，将充电指令直接发送给充电装置101的充电小车载电子设备，然后充电小车将与充电辅助连接装置对接并开始充电，云端将充电状态信息反馈发送给移动通信设备。
在步骤210，通过充电接口对电动车辆进行充电。在此，可以对因待充电设备的充电产生的费用进行计费。为此，计费模块可以将计费数据发送给服务器105以生成账单，也就是说，由计费模块测量充电时间、充电量等计费数据并将计费数据发送给服务器105，由服务器105记录 并生成费用信息并发送给移动应用103，然后移动应用103再向用户显示所述费用信息以供用户进行支付。
在可选步骤212，执行暂停操作。暂停充电操作例如包括：从移动应用103接收暂停充电请求；查询移动充电装置的充电状态；在所述充电状态满足要求的情况下指示移动充电装置暂停充电；从移动应用103接收继续充电请求；以及指示移动充电装置继续充电。例如，当充电状态例如低于某个阈值时，电动车辆可能无法行驶或续航过低，此时可以提醒用户或者不允许暂停。在其它情况下，也可以设置其它充电状态条件，以保证安全性。
在可选步骤214，执行提前结束充电操作。提前结束充电操作例如包括：从移动应用103接收提前结束充电请求；查询移动充电装置101的充电状态；以及在所述充电状态满足要求的情况下指示移动充电装置结束充电。例如，当充电状态例如低于某个阈值时，电动车辆可能无法行驶或续航过低，此时可以提醒用户或者不允许暂停。在其它情况下，也可以设置其它充电状态条件，以保证安全性。
本发明至少具有下列有益效果：(1)本发明解决了电动车辆车主寻找充电桩或移动充电装置困难的问题，因为本发明可以根据用户需求智能地调度移动充电装置并使其自主行进到用户电动车辆并进行充电，从而极大地优化了电动车的充电资源；(2)本发明解决了无需充电的车辆占据充电位置的问题，因为移动充电装置可以移动到用户指定的充电位置，且极大地方便了用户，使得用户无需自行寻找并行驶到充电位置；(3)本发明解决了电动车辆车主需等待电动汽车充电结束或者被动移车的问题，因为在本发明中，电动车辆车主在将电动车辆连接至充电接口以后即可离开，之后由系统来开始和结束充电过程，其中移动充电装置可以自动与充电接口分离以便给其它电动车辆充电；(4)本发明解决了固定充电桩利用率极低(3％左右)的问题，因为本发明采用移动充电装置来充电，因此每个移动充电装置在任何时候都可以行进到指定充电位置进行充电，因此极大地提高了每个充电装置(移动充电装置)的利用率。
虽然本发明的一些实施方式已经在本申请文件中予以了描述，但是本领域技术人员能够理解，这些实施方式仅仅是作为示例示出的。本领域技术人员在本发明的教导下可以想到众多的变型方案、替代方案和改 进方案而不超出本发明的范围。所附权利要求书旨在限定本发明的范围，并藉此涵盖这些权利要求本身及其等同变换的范围内的方法和结构。

Claims (19)

  1. 一种用于控制移动充电装置的方法，包括下列步骤：
    从用户接收订单信息，所述订单信息包括要对电动车辆进行充电的充电位置；
    根据所述订单信息确定移动充电装置与所述充电位置之间的导航路线；
    根据所述导航路线将移动充电装置导航到所述充电位置；以及
    通过充电接口对电动车辆进行充电。
  2. 根据权利要求1所述的方法，还包括：使移动充电装置与充电接口进行对接。
  3. 根据权利要求1所述的方法，其中从用户接收订单信息包括：
    根据用户输入信息向用户显示可用移动充电装置以及可用充电位置；以及
    从用户接收订单信息，所述订单信息包括用户选择的移动充电装置以及充电位置。
  4. 根据权利要求3所述的方法，其中该方法还包括：
    从用户接收用户当前位置信息；
    根据用户当前位置信息将用户导航到充电位置。
  5. 根据权利要求1所述的方法，其中根据所述导航路线将移动充电装置导航到所述充电位置包括：
    识别导航路线中的障碍物并确定障碍物的类型，其中所述障碍物的类型包括行人、固定状态以及临时障碍物；以及
    根据障碍物的类型以及移动性确定是否重新规划导航路线。
  6. 根据权利要求1所述的方法，还包括下列步骤：
    从用户接收用户凭证；以及
    对用户凭证进行认证。
  7. 根据权利要求1所述的方法，其中所述充电接口是配备有二维码的充电辅助连接装置，并且其中该方法还包括：
    在用户扫描所述二维码以后对用户进行认证；以及
    在认证成功的情况下向移动充电装置发送充电指令。
  8. 根据权利要求1所述的方法，其中通过充电接口对电动车辆进行充电包括：
    从用户接收暂停充电请求；
    查询并显示移动充电装置的充电状态；
    在所述充电状态满足要求的情况下指示移动充电装置暂停充电；
    从用户接收继续充电请求；以及
    指示移动充电装置继续充电。
  9. 根据权利要求1所述的方法，其中通过充电接口对电动车辆进行充电包括：
    从用户接收提前结束充电请求；
    查询并显示移动充电装置的充电状态；以及
    在所述充电状态满足要求的情况下指示移动充电装置结束充电。
  10. 根据权利要求1所述的方法，还包括：
    记录用户充电的充电状态和/或充电时长和/或充电量；以及
    根据用户的充电状态和/或充电时长和/或充电量和/或用户分类计算充电费用。
  11. 一种在移动应用中执行的方法，包括下列步骤：
    从用户接收用户当前位置信息；
    根据用户当前位置信息向用户显示可用移动充电装置以及可用充电位置；
    从用户接收订单信息，所述订单信息包括用户选择的移动充电装置以及充电位置；
    向用户显示将用户导航到所述充电位置的导航信息；以及
    向用户显示移动充电装置与所述充电位置之间的导航路线以及移动充电装置的当前位置。
  12. 根据权利要求11所述的方法，还包括下列步骤：
    从用户接收用户凭证和/或扫描的二维码信息；
    对所述用户凭证和/或二维码信息进行认证；以及
    在认证成功的情况下，在移动充电装置与充电接口对接以后开始充电。
  13. 根据权利要求11所述的方法，还包括下列步骤：
    向用户显示充电费用和充电状态；
    从用户接收支付信息；以及
    根据所述支付信息提交支付请求并引导用户完成支付。
  14. 一种用于控制移动充电装置的系统，包括：
    移动应用，其被配置为执行下列动作：
    从用户接收订单信息，所述订单信息包括要对电动车辆进行充电的充电位置；以及
    将所述订单信息发送给服务器；
    服务器，其被配置为执行下列动作：
    根据所述订单信息确定移动充电装置与所述充电位置之间的导航路线；以及
    将所述导航路线发送给移动充电装置；
    移动充电装置，其被配置为执行下列动作：
    根据所述导航路线行驶到所述充电位置；以及
    通过充电接口对电动车辆进行充电。
  15. 根据权利要求14所述的系统，其中移动充电装置还被配置为执行下列动作：
    识别导航路线中的障碍物并确定障碍物的类型，其中所述障碍物的类型包括行人、固定状态以及临时障碍物；以及
    根据障碍物的类型以及移动性确定是否重新规划导航路线。
  16. 根据权利要求14所述的系统，其中移动充电装置还被配置为执行下列动作：
    在充电位置处与充电接口对接。
  17. 根据权利要求14所述的系统，其中移动充电装置还被配置为执行下列动作：
    在充电结束后与充电接口分离；以及
    行进到停放位置或指定位置。
  18. 根据权利要求14所述的系统，其中：
    服务器还被配置为执行下列动作：
    记录用户充电的充电状态和/或充电时长和/或充电量；以及
    根据用户的充电状态和/或充电时长和/或充电量和/或用户分类计算充电费用；以及
    将充电费用发送给移动应用；以及
    移动应用还被配置为执行下列动作：
    向用户显示充电费用；
    从用户接收支付信息；以及
    根据所述支付信息提交支付请求并引导用户完成支付。
  19. 根据权利要求14所述的系统，其中移动充电装置包括：
    自动行进模块，其被配置为根据移动充电装置与待充电设备之间的路线行进到待充电设备；
    电源模块，其被配置为储存和提供电能；
    自动对接和分离装置，其被配置为执行第一连接器与能够与第一连接器电接触的第二连接器之间的对接和分离，其中第一连接器和第二连接器用于传输电能；以及
    远程通信模块，其被配置为与服务器远程地通信。
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