Vehicle automatic charging system and vehicle automatic charging method

Abstract

A vehicle automatic charging system and a vehicle automatic charging method, the vehicle automatic charging system comprising: an electric vehicle, provided with a charging head, the charging head being configured to be connected to a power source to charge the electric vehicle; a charging pile, having a charging box, configured to be electrically connected to the charging head to charge the electric vehicle; an image acquisition device, provided on the electric vehicle and / or the charging pile, configured to acquire images of the charging head and the charging box in real time when the electric vehicle approaches the charging pile to determine the relative position of the charging head and the charging box; and a control device, provided on the electric vehicle and / or the charging pile, configured to control the electric vehicle to approach the charging pile and align and dock the charging head with the charging box.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a vehicle automatic charging system and a vehicle automatic charging method. Background Art

[0002] With the continuous development of driverless technology, driverless cars are playing an increasingly important role in people's lives. At present, the charging of driverless cars in the industry is all done manually, that is, the charging head of the vehicle is manually inserted into the charging socket by manual intervention, and the charging head is manually unplugged after the vehicle is fully charged. The manual operation method seriously restricts the application of the ideal all-weather, fully automatic working mode of driverless cars, so there is an urgent need for a technical solution that can automatically solve the problem of charging driverless cars. Summary of the invention

[0003] Some embodiments of the present disclosure provide a vehicle automatic charging system, including:

[0004] An electric vehicle is provided with a charging head, wherein the charging head is configured to be connected to a power source to charge the electric vehicle;

[0005] A charging pile, having a charging box, configured to be electrically connected to the charging head to charge the electric vehicle;

[0006] an image acquisition device, disposed on the electric vehicle and / or the charging pile, configured to acquire images of the charging head and the charging box in real time when the electric vehicle approaches the charging pile to determine the relative position of the charging head and the charging box; and

[0007] The control device is arranged on the electric vehicle and / or the charging pile, and is configured to control the electric vehicle to approach the charging pile and align and dock the charging head with the charging box.

[0008] In some embodiments, the charging pile includes:

[0009] A first surface, the charging box is arranged on the first surface;

[0010] A first moving component, connected to the charging box, configured to move the charging box in a first direction;

[0011] A second moving component is connected to the charging box and is configured to enable the charging box to move in a second direction, wherein the second direction is perpendicular to the first direction.

[0012] In some embodiments, the charging box includes:

[0013] A receiving groove, the bottom surface of which is arranged parallel to the first surface and is configured to receive the charging head when the charging box is aligned with the charging head;

[0014] A first push rod assembly, at least a portion of which is disposed in the receiving groove and configured to push the charging head in a first direction so that the charging head moves in the first direction; and

[0015] A second push rod assembly, at least a portion of which is disposed in the receiving groove, and is configured to push the charging head in a second direction so that the charging head moves in the second direction.

[0016] Among them, a first charging interface is provided on at least one of the first push rod assembly and the second push rod assembly, and a second charging interface is provided on the charging head. The first push rod assembly and the second push rod assembly push the charging head in a first direction and a second direction respectively so that the first charging interface is docked with the second charging interface to perform a charging operation.

[0017] In some embodiments, the first push rod assembly includes:

[0018] a first rod body, disposed in the receiving groove and extending along the second direction, wherein the length of the first rod body is substantially equal to the width of the receiving groove in the second direction; and

[0019] The first push rod passes through the first side wall of the accommodating groove and extends along the first direction. The first end of the first push rod is connected to the first rod body. The second end of the first push rod is configured to receive an external force so that the first push rod drives the first rod body to move in the first direction.

[0020] In some embodiments, the second push rod assembly includes:

[0021] a second rod body, disposed in the accommodating groove, wherein a width of the second rod body in the first direction is substantially the same as a width of the charging head in the first direction, and the first charging connector is disposed on the second rod body; and

[0022] The second push rod passes through the second side wall of the accommodating groove and extends along the second direction. The first end of the second push rod is connected to the second rod body. The second end of the second push rod is configured to receive external force so that the second push rod drives the second rod body to move in the second direction.

[0023] In some embodiments, during the docking process between the charging head and the charging box, the charging head and the bottom surface of the receiving groove are attracted to each other.

[0024] In some embodiments, the charging head is disposed on the electric vehicle housing and is configured to extend from the electric vehicle housing in a direction away from the electric vehicle when a charging operation is performed, and to retract into the electric vehicle housing after the charging operation is completed.

[0025] In some embodiments, the charging head is supported by a flexible telescopic rod.

[0026] The present disclosure provides a vehicle automatic charging method, which adopts the vehicle automatic charging system described in the above embodiment, and the method includes:

[0027] When the electric vehicle power level is lower than a first threshold, the control device controls the electric vehicle to return to the charging station;

[0028] Based on the relative position information between the charging head and the charging box acquired by the image acquisition device, the control device controls the charging head of the electric vehicle to align and dock with the charging box on the charging pile; and

[0029] The control device controls the charging pile to perform a charging operation on the electric vehicle.

[0030] In some embodiments, the method further comprises:

[0031] When the electric vehicle's power level is higher than a second threshold, the control device controls the charging box to separate from the charging head.

[0032] Compared with the related art, the above solution of the embodiment of the present disclosure has at least the following beneficial effects:

[0033] The present invention uses an image acquisition device to obtain images of a charging head and a charging box on a charging pile and locate them, and uses a control device to control the electric vehicle to approach the charging pile and align and dock the charging head with the charging box, thereby achieving fully automatic charging of the electric vehicle without the need for human intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0035] Figure 1 A schematic diagram of the structure of an automatic vehicle charging system provided in some embodiments of the present disclosure;

[0036] Figure 2 A flowchart of an event recording method for autonomous driving provided in some embodiments of the present disclosure;

[0037] Figure 3 A schematic diagram of the structure of a charging pile provided in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0038] In order to more clearly explain the purpose, technical solutions and advantages of the present disclosure, the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure. It should be understood that the following description of the embodiments is intended to explain and illustrate the overall concept of the present disclosure, and should not be understood as a limitation on the present disclosure. In the specification and the drawings, the same or similar figure numbers refer to the same or similar parts or components. For the sake of clarity, the drawings are not necessarily drawn to scale, and some well-known parts and structures may be omitted in the drawings.

[0039] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. The wording "one" or "an" does not exclude multiple. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right", "top" or "bottom" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. When an element is said to be located "on" or "under" another element, the element can be "directly" located "on" or "under" another element, or there can be an intermediate element.

[0040] The present disclosure provides a vehicle automatic charging system, comprising: an electric vehicle, provided with a charging head, wherein the charging head is configured to be connected to a power source to charge the electric vehicle; a charging pile, having a charging box, configured to be electrically connected to the charging head to charge the electric vehicle; an image acquisition device, provided on the electric vehicle and / or the charging pile, configured to acquire images of the charging head and the charging box in real time when the electric vehicle approaches the charging pile to determine the relative position of the charging head and the charging box; and a control device, provided on the electric vehicle and / or the charging pile, configured to control the electric vehicle to approach the charging pile and align and dock the charging head with the charging box.

[0041] The present invention uses an image acquisition device to obtain images of a charging head and a charging box on a charging pile and locate them, and uses a control device to control the electric vehicle to approach the charging pile and align and dock the charging head with the charging box, thereby achieving fully automatic charging of the electric vehicle without the need for human intervention, thereby achieving full automation of the electric vehicle charging process.

[0042] The optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0043] Figure 1 This is a schematic diagram of the structure of a vehicle automatic charging system provided in some embodiments of the present disclosure. Figure 2 This is a schematic diagram of the structure of the automatic vehicle charging system provided by some embodiments of the present disclosure, wherein Figure 1 and Figure 2 Different viewing angles are shown.

[0044] like Figure 1 and Figure 2 As shown, some embodiments of the present disclosure provide a vehicle automatic charging system 100 to achieve fully automatic charging of electric vehicles.

[0045] A vehicle automatic charging system 100 includes, for example, an electric vehicle 10, a charging pile 20, an image acquisition device, and a control device.

[0046] The electric vehicle, such as an unmanned vehicle or an automatic driving vehicle, can automatically travel based on a designed route without human operation. The electric vehicle is provided with a charging head 11, which is configured to connect to a power source to charge the electric vehicle. The charging head 11 is, for example, provided at the rear of the electric vehicle.

[0047] The charging pile, for example, is arranged at a predetermined position for charging the electric vehicle, and the charging pile is arranged at a parking space, for example. The charging pile 20 may have a charging box 21, which is configured to be electrically connected to the charging head 11 to charge the electric vehicle.

[0048] The image acquisition device, for example, is disposed on the electric vehicle 10 and / or the charging pile 20, and is configured to acquire images of the charging head 11 and the charging box 21 in real time when the electric vehicle 10 approaches the charging pile 20 to determine the relative position of the charging head 11 and the charging box 21. During the process of automatic charging of the electric vehicle, the charging head 11 and the charging box 21 that need to be docked can be located in real time to facilitate accurate docking of the two. In some embodiments, the image acquisition device can be disposed at other locations, such as on a ground parking space, as long as the images of the charging head 11 and the charging box 21 can be acquired in real time when the electric vehicle 10 approaches the charging pile 20 during the passing of the electric vehicle for automatic charging.

[0049] In some embodiments, the image acquisition device is, for example, a camera, and there are multiple cameras. Some cameras are set on the electric vehicle, and other cameras are set on the pile body. The images of the charging head 11 and the charging box 21 captured in real time by multiple cameras are used to locate the two.

[0050] The control device, for example, is arranged on the electric vehicle and / or the charging pile, and is configured to control the electric vehicle 10 to approach the charging pile 20 and align and dock the charging head 11 with the charging box 21. The control device can perform control operations on the electric vehicle, i.e., the charging pile. When the control device is arranged on the electric vehicle 10, the charging pile 10 can be connected to the control device via a wireless network to receive control signals from the control device. When the control device is arranged on the charging pile 20, the electric vehicle 10 can be connected to the control device via a wireless network to receive control signals from the control device.

[0051] In some embodiments, the control device may also be arranged on a third party, in which case both the electric vehicle 10 and the charging pile 20 may be connected to the control device via a wireless network to receive control signals from the control device.

[0052] Figure 3 A schematic diagram of the structure of a charging pile provided in some embodiments of the present disclosure, combined with Figures 1 to 3 As shown, the charging pile 20 has a first surface 22 facing the electric vehicle, and the charging box 21 is, for example, arranged on the first surface 22. When the electric vehicle 10 returns to the charging pile 20 for charging, the rear of the electric vehicle 10 is opposite to the first surface 22. In this way, the charging head 11 located at the rear of the electric vehicle 10 is conveniently aligned with the charging box 21 on the first surface 22.

[0053] like Figure 2 As shown, a receiving groove 221 is provided on the first surface 22, and the charging box 21 is, for example, disposed in the receiving groove 221. The charging box 21 can move in the receiving groove 221 to align its position with the charging head to facilitate docking of the two.

[0054] The charging pile 20 also includes a first moving component 23, which is connected to the charging box 21 and is configured to drive the charging box 21 to move in a first direction, such as a horizontal direction. In some embodiments, the first moving component 23 includes, for example, a slider, which can slide on a first guide rail 24 extending along the first direction.

[0055] The charging pile 20 also includes a second moving component 24, which is connected to the charging box 21 and is configured to drive the charging box 21 to move in a second direction, such as a vertical direction, wherein the second direction is perpendicular to the first direction. In some embodiments, the second moving component 25 includes, for example, a second slide rail extending along the second direction, and the charging box 21 is slidably connected to the second slide rail, so that the charging box 21 can move in the second direction.

[0056] In some embodiments, Figure 2 As shown, one end of the second movable component 25 is fixedly connected to the first movable component 23, and when the first movable component 23 moves in the first direction, it drives the second movable component 25, namely the charging box 21, to move in the first direction.

[0057] The first moving component 23 and the second moving component 25 can enable the charging box 21 to move in the receiving groove 221 to align with the charging head 11.

[0058] In some embodiments, the charging box 21 includes a receiving groove 211 , the bottom surface of which is arranged parallel to the first surface 22 , and accommodates the charging head 11 when the charging box 21 is aligned with the charging head 11 .

[0059] When the control device controls the electric vehicle 10 to return to the charging pile 20 for charging, the charging head 11 and the charging box 21 on the charging pile 20 are not necessarily aligned as the electric vehicle 10 gradually approaches the charging pile 20, that is, the orthographic projection of the charging head 11 on the first surface 22 of the charging pile 20 does not fall into the receiving groove 211. At this time, the control device controls the first moving component 23 and the second moving component 25 to move the charging box 21 in the receiving groove 221, so that the charging box 21 is aligned with the charging head 11, and at this time, the orthographic projection of the charging head 11 on the first surface 22 of the charging pile 20 falls into the receiving groove 211.

[0060] In some embodiments, during the docking process between the charging head 11 and the charging box 21, the charging head 11 and the bottom surface of the receiving groove 211 can be attracted to each other to ensure that the two can be closely attached to each other, thereby preventing the charging head 11 from falling off the charging box 21.

[0061] In some embodiments, Figures 1 to 3 As shown, the charging box 21 also includes a first push rod assembly 212 and a second push rod assembly 213. The first push rod assembly 212 and the second push rod assembly 213 are used to push and position the charging head 11 adsorbed on the bottom surface of the accommodating groove 211 so that the charging interface on the charging head 11 can be accurately docked with the charging interface on the charging box 21.

[0062] At least a portion of the first push rod assembly 212 is disposed in the receiving groove 211, and is configured to push the charging head 11 in a first direction, such as a horizontal direction, so that the charging head moves in the first direction, such as a horizontal direction. At least a portion of the second push rod assembly 213 is disposed in the receiving groove 211, and is configured to push the charging head 11 in a second direction, such as a vertical direction, so that the charging head 11 moves in the second direction, such as a vertical direction.

[0063] A first charging interface is provided on at least one of the first push rod assembly 212 and the second push rod assembly 213, and a second charging interface is provided on the charging head 11. The first push rod assembly 212 and the second push rod assembly 213 push against the charging head 11 in a first direction and a second direction respectively so that the first charging interface docks with the second charging interface to perform a charging operation.

[0064] In some embodiments, Figures 1 to 3 As shown, the first push rod assembly 212 includes a first rod body 2122 and a first push rod 2121. The first rod body 2122 is, for example, disposed in the receiving groove 211 and extends along the second direction, for example, the vertical direction, and the length of the first rod body 2122 is substantially equal to the width of the receiving groove 211 in the second direction.

[0065] The first push rod 2121 passes through the first side wall of the receiving groove 211, such as the left side wall, and extends in a first direction, such as the horizontal direction. The first end of the first push rod 2121 is connected to the first rod body 2122. The second end of the first push rod 2121 is configured to receive an external force so that the first push rod 2121 drives the first rod body 2122 to move in the first direction, such as the horizontal direction. In this way, the first push rod assembly 212 can push the charging head 11 adsorbed on the bottom wall of the receiving groove 211, for example, so that the charging head 11 moves to the right side wall of the receiving groove 211 and abuts against the right side wall of the receiving groove 211.

[0066] In some embodiments, the second push rod assembly 213 includes a second rod body 2132 and a second push rod 2131. The second rod body 2132 is disposed in the receiving groove 211. The width of the second rod body 2131 in the first direction is substantially the same as the width of the charging head 11 in the first direction. The first charging connector is, for example, disposed on the second rod body 2131. The second push rod 2131 passes through the second side wall of the receiving groove 211, for example, the upper side wall, and extends along the second direction. The first end of the second push rod 2131 is connected to the second rod body 2132. The second end of the second push rod 2131 is configured to receive an external force so that the second push rod 2131 drives the second rod body 2132 to move in the second direction, for example, in the vertical direction. For example, the second push rod assembly 213 can push the charging head 11 moved to the right side wall of the receiving groove 211 to move downward in the vertical direction to the lower side wall of the receiving groove 211, and abut against the lower side wall of the receiving groove 211. At this position, the second charging interface on the charging head 11 can be aligned with the first charging interface on the second rod body 2132. As the second push rod assembly 213 further moves in the second direction, the second charging interface on the charging head 11 can be plug-in-connected with the first charging interface on the second rod body 2132.

[0067] In some embodiments, one of the first charging interface and the second charging interface is, for example, a charging male connector, and the other is a charging female connector. The charging male connector can be inserted into the charging female connector to achieve plug-in docking.

[0068] In some embodiments, the charging head 11 is disposed on the housing of the electric vehicle 10, and is configured to extend from the housing of the electric vehicle 11 in a direction away from the electric vehicle 11 when the charging operation is performed, and retract into the housing of the electric vehicle after the charging operation is completed, so as to prevent the vehicle body from colliding with the charging pile when the vehicle is close to the charging pile for charging.

[0069] In some embodiments, Figures 1 to 3 As shown, the charging head 11 is supported by a resilient telescopic rod 12. When the electric vehicle 10 approaches the charging pile 20 for automatic charging, the relative positions of the electric vehicle 10 and the charging pile 20 in the first direction and the second direction can be kept unchanged, and the position of the charging head 11 adsorbed on the bottom wall of the accommodating groove 211 of the charging box 21 can be adjusted by the first push rod assembly 212 and the second push rod assembly 213 to align and plug the charging head 11 with the charging box 21, thereby increasing the robustness of automatic charging.

[0070] Some embodiments of the present disclosure further provide a vehicle automatic charging method, using the vehicle automatic charging system described in the above embodiments, the method comprising the following steps:

[0071] S101: When the power level of the electric vehicle is lower than a first threshold, the control device controls the electric vehicle to return to the charging station;

[0072] The power detection device on the electric vehicle detects the power of the electric vehicle. When the power of the electric vehicle is lower than a first threshold, the control device sends an instruction to the electric vehicle to return to the charging pile for charging. The electric vehicle, for example, locates the nearest charging pile and calculates the optimal route to go there. The electric vehicle automatically parks in the parking space corresponding to the charging pile through the automatic parking system.

[0073] S102: Based on the relative position information of the charging head and the charging box acquired by the image acquisition device, the control device controls the charging head of the electric vehicle to align and dock with the charging box on the charging pile.

[0074] When the electric vehicle is parked and approaches the charging pile, the charging head, for example, extends from the rear of the electric vehicle toward the charging pile. An image acquisition device, such as a camera, can acquire the position of the charging head and the charging box in real time, and then obtain the relative position information of the two. According to the position information, the control device controls the electric vehicle to adjust the position and posture so that the positive projection of the charging head on the first surface of the charging pile falls into the receiving groove. Further, the control device controls the first moving component and the second moving component of the charging pile to adjust the position of the charging box in the receiving groove according to the real-time relative position information of the charging head and the charging box, so that the positive projection of the charging head on the first surface of the charging pile falls into the receiving groove on the charging box, so as to align the charging head of the electric vehicle with the charging box on the charging pile. Then the control device controls the first push rod assembly and the second push rod assembly to push the charging head adsorbed on the bottom wall of the charging box receiving groove to a predetermined position, so that the charging head of the electric vehicle and the charging box on the charging pile can be aligned and plugged, so as to achieve circuit connectivity.

[0075] S103: The control device controls the charging pile to perform a charging operation on the electric vehicle.

[0076] When the charging head of the electric vehicle is completely docked with the charging box on the charging pile, the control device controls the charging pile to perform a charging operation on the electric vehicle.

[0077] In some embodiments, the vehicle automatic charging method further includes the following steps:

[0078] S104: When the power level of the electric vehicle is higher than a second threshold, the control device controls the charging box to be separated from the charging head.

[0079] When the power detection device on the electric vehicle detects that the power of the electric vehicle is higher than a second threshold, for example, when it is fully charged, the control device controls the charging box to separate from the charging head, and the charging head retracts into the housing of the electric vehicle.

[0080] The following is a detailed introduction to the specific working principle of the vehicle automatic charging system.

[0081] The power detection device on the electric vehicle obtains the power data of the electric vehicle in real time. When the power is lower than a preset first threshold, the control device sends an instruction to the electric vehicle to return to the charging pile for charging. The electric vehicle, for example, locates the nearest charging pile and calculates the optimal route to get there.

[0082] When the electric vehicle comes near the charging pile, the automatic parking system controls the electric vehicle to park in the parking space. When the electric vehicle is parked and close to the charging pile, the charging head, for example, extends from the rear of the electric vehicle toward the charging pile, and the image acquisition device, such as a camera, can acquire the position of the charging head and the charging box in real time, and then obtain the relative position information of the two, such as the relative position coordinate information of the two boxes. According to the position information, the control device controls the electric vehicle to adjust the position and posture so that the positive projection of the charging head on the first surface of the charging pile falls into the receiving groove, thereby realizing the preliminary alignment of the charging head and the charging pile.

[0083] Furthermore, the control device controls the first moving component and the second moving component of the charging pile to adjust the position of the charging box in the accommodating groove according to the real-time relative position information of the charging head and the charging box, so that the positive projection of the charging head on the first surface of the charging pile falls into the accommodating groove on the charging box, thereby aligning the charging head of the electric vehicle with the charging box on the charging pile, and then the control device controls the first push rod assembly and the second push rod assembly to push the charging head adsorbed on the bottom wall of the charging box accommodating groove to a predetermined position, so that the charging head of the electric vehicle and the charging box on the charging pile can be aligned and plugged in to achieve circuit connectivity.

[0084] When the power detection device on the electric vehicle detects that the power of the electric vehicle is higher than the second threshold, the control device sends a power-off command to the charging pile. The charging box is separated from the charging head by moving the first push rod assembly and / or the second push rod assembly in the opposite direction, for example, the first push rod assembly moves toward the left side wall of the accommodating groove, and the second push rod assembly moves toward the upper side wall of the accommodating groove. The charging head retracts into the housing of the electric vehicle, and the electric vehicle can drive away from the charging pile after charging is completed.

[0085] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0086] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A vehicle automatic charging system, characterized in that: include: An electric vehicle is provided with a charging head, wherein the charging head is configured to be connected to a power source to charge the electric vehicle; A charging pile, having a charging box, configured to be electrically connected to the charging head to charge the electric vehicle; An image acquisition device, arranged on the electric vehicle and / or the charging pile, configured to acquire images of the charging head and the charging box in real time when the electric vehicle approaches the charging pile to determine the relative position of the charging head and the charging box; as well as A control device, disposed on the electric vehicle and / or the charging pile, configured to control the electric vehicle to approach the charging pile and align and dock the charging head with the charging box; Wherein, the charging pile comprises: A first surface, the charging box is arranged on the first surface; A first moving component, connected to the charging box, configured to move the charging box in a first direction; A second moving component, connected to the charging box, and configured to enable the charging box to move in a second direction, wherein the second direction is perpendicular to the first direction; Wherein, the charging box includes: A receiving groove, the bottom surface of which is arranged parallel to the first surface and is configured to receive the charging head when the charging box is aligned with the charging head; A first push rod assembly, at least a portion of which is disposed in the receiving groove and configured to push the charging head in a first direction so that the charging head moves in the first direction; and A second push rod assembly, at least a portion of which is disposed in the receiving groove, and is configured to push the charging head in a second direction so that the charging head moves in the second direction. Wherein, at least one of the first push rod assembly and the second push rod assembly is provided with a first charging interface, and the charging head is provided with a second charging interface, and the first push rod assembly and the second push rod assembly push the charging head in a first direction and a second direction respectively so that the first charging interface is docked with the second charging interface to perform a charging operation; Wherein, the first push rod assembly comprises: a first rod body, disposed in the receiving groove and extending along the second direction, wherein the length of the first rod body is substantially equal to the width of the receiving groove in the second direction; and The first push rod passes through the first side wall of the accommodating groove and extends along the first direction. The first end of the first push rod is connected to the first rod body. The second end of the first push rod is configured to receive an external force so that the first push rod drives the first rod body to move in the first direction.

2. The vehicle automatic charging system according to claim 1, wherein: The second push rod assembly comprises: a second rod body, disposed in the accommodating groove, wherein a width of the second rod body in the first direction is substantially the same as a width of the charging head in the first direction, and the first charging interface is disposed on the second rod body; and The second push rod passes through the second side wall of the accommodating groove and extends along the second direction. The first end of the second push rod is connected to the second rod body. The second end of the second push rod is configured to receive external force so that the second push rod drives the second rod body to move in the second direction.

3. The automatic vehicle charging system according to any one of claims 1 to 2, wherein: During the docking of the charging head with the charging box, the charging head and the bottom surface of the accommodating groove are attracted to each other.

4. The automatic vehicle charging system according to any one of claims 1 to 2, wherein: The charging head is arranged on the housing of the electric vehicle, and is configured to extend from the housing of the electric vehicle toward a direction away from the electric vehicle when a charging operation is performed, and to retract into the housing of the electric vehicle when the charging operation is completed.

5. The vehicle automatic charging system according to any one of claims 1-2, wherein: The charging head is supported by a flexible telescopic rod.

6. A vehicle automatic charging method, using the vehicle automatic charging system according to any one of claims 1 to 5, the method comprising: When the electric vehicle power level is lower than a first threshold, the control device controls the electric vehicle to return to the charging station; Based on the relative position information between the charging head and the charging box acquired by the image acquisition device, the control device controls the charging head of the electric vehicle to align and dock with the charging box on the charging pile; as well as The control device controls the charging pile to perform a charging operation on the electric vehicle.

7. The vehicle automatic charging method according to claim 6, wherein: The method further comprises: When the electric vehicle's power level is higher than a second threshold, the control device controls the charging box to separate from the charging head.

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