A method, device, system and component for processing electric energy replenishment

Abstract

Embodiments of the present invention relate to a method, device, system and component for processing electric energy replenishment, the method comprising: when a vehicle is replenishing energy, a field controller obtains environmental perception information; determines whether the vehicle is at a charging target position; when the vehicle is at the charging target position, determines the vehicle type according to the environmental perception information; when the vehicle type is a first type or a second type, sends a first unlock message to a vehicle controller or a vehicle server; receives an unlock success message sent by the vehicle controller or the vehicle server; determines the vehicle charging mode; when DC charging is performed, receives a first fully charged message sent by the vehicle controller; generates a second unlock message based on the first fully charged message, and sends it to the vehicle controller or the vehicle server; when AC charging is performed, receives a second fully charged message sent by the vehicle controller and generates a second unlock message, and sends the second unlock message to the vehicle controller or the vehicle server.

Description

Technical Field

[0001] The present invention relates to the field of signal processing technology, and in particular to an electric energy replenishment processing method, device, system and component. Background Art

[0002] In the prior art, when a vehicle needs to be recharged, the vehicle generally drives into a station where recharging is possible, and the recharging operation is manually completed by the staff of the station.

[0003] This approach often results in a waste of human resources.

[0004] Therefore, how to automatically recharge the vehicle after it enters the vehicle terminal has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of the present invention is to provide an electric energy replenishment processing method, device, system and components to solve the problem of how to replenish electric energy in the prior art in view of the defects of the prior art.

[0006] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention provides an electric energy replenishment processing method, the method comprising:

[0007] The field controller obtains environmental perception information;

[0008] Determining whether the vehicle is at a charging target location based on the environmental perception information;

[0009] When at the charging target location, determining the vehicle type according to the environmental perception information; the vehicle type includes a first type and a second type;

[0010] When the vehicle type is the first type, sending a first unlock message to a vehicle controller to unlock the charging port of the vehicle; or, when the vehicle type is the second type, sending a first unlock message to a vehicle server to enable the vehicle server to unlock the charging port of the vehicle;

[0011] Receiving an unlocking success message sent by a vehicle controller; or, receiving an unlocking success message sent by a vehicle server;

[0012] After the charging port is unlocked, determining a vehicle charging mode; the vehicle charging mode includes direct current charging and alternating current charging;

[0013] When the charging mode is DC charging, receiving a first fully charged message sent by a vehicle controller; generating a second unlocking message according to the first fully charged message, and sending the second unlocking message to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port;

[0014] When the charging mode is AC charging, a second full charge message sent by the vehicle controller is received; based on the second full charge message, a second unlock message is generated, and the second unlock message is sent to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port; wherein the second full charge message is sent by the vehicle charger to the vehicle controller.

[0015] In a possible implementation, judging whether the vehicle is at the charging target location according to the environmental perception information specifically includes:

[0016] Determine whether the vehicle is in a charging parking space; the charging parking space is pre-determined by the field end;

[0017] When the vehicle is in a charging parking space, calculating the distance between the vehicle and the charging device according to the environmental perception information;

[0018] When the distance between the vehicle and the charging parking space is within a preset range, it is determined that the vehicle is at the charging target position.

[0019] In a possible implementation, determining the vehicle type according to the environmental perception information specifically includes:

[0020] Extracting a vehicle image from the environmental perception information;

[0021] The vehicle image is input into a deep learning network model, and the vehicle type is output; wherein the first type is a vehicle without a vehicle server; and the second type is a vehicle with a vehicle server.

[0022] In a possible implementation, after the charging port is unlocked, determining the vehicle charging mode specifically includes:

[0023] The vehicle charging method is determined according to the size and shape of the charging port.

[0024] In a possible implementation, determining the vehicle charging mode according to the size and shape of the charging port includes:

[0025] When the size of the charging port is greater than a first preset threshold, and the number of charging contacts is greater than a second preset threshold, determining that the vehicle charging mode is DC charging;

[0026] When the size of the charging port is not greater than a first preset threshold value, and the number of the charging contacts is not greater than a second preset threshold value, it is determined that the vehicle charging mode is AC charging.

[0027] In a possible implementation, the method further includes:

[0028] When the vehicle is at the charging target location, a parking message is generated;

[0029] The parking message is sent to the vehicle controller, so that the vehicle controller parks the vehicle according to the parking message.

[0030] In a possible implementation, the method further includes:

[0031] Performing path planning based on environmental perception information, the current location of the vehicle, the charging target location, and a preset field map to generate a driving path;

[0032] The driving path is sent to the vehicle controller so that the vehicle controller drives according to the driving path.

[0033] In a possible implementation, the method further includes:

[0034] When the vehicle enters the terminal, obtain the first signal, the second signal and the third signal when the tag on the vehicle communicates with at least three base stations on the terminal; determine the first position of the vehicle in the terminal coordinate system according to the first signal, the second signal and the third signal, and the position of the base station in the terminal coordinate system; and / or,

[0035] When the signal strength of the GPS signal on the vehicle meets the requirement, the GPS signal of the earth coordinate system is acquired; and the GPS signal is converted into a second position in the field end coordinate system;

[0036] The current position of the vehicle is determined based on the first position and / or the second position.

[0037] A third aspect of the embodiments of the present invention provides an electric energy replenishment processing device for implementing the electric energy replenishment processing method of the first aspect of the embodiments of the present invention, the electric energy replenishment processing device comprising:

[0038] An acquisition module, the acquisition module is used to acquire environmental perception information;

[0039] A judgment module, the judgment module is used to judge whether the vehicle is at a charging target position according to the environmental perception information;

[0040] a first determination module, the first determination module being used to determine a vehicle type according to the environmental perception information when the vehicle is at a charging target location; the vehicle type includes a first type and a second type;

[0041] A sending module, the sending module is used to send a first unlocking message to a vehicle controller to unlock a charging port of the vehicle when the vehicle type is a first type; or, when the vehicle type is a second type, send a first unlocking message to a vehicle server to cause the vehicle server to unlock the charging port of the vehicle;

[0042] A first receiving module, the first receiving module is used to receive an unlocking success message sent by a vehicle controller; or receive an unlocking success message sent by a vehicle server;

[0043] A second determination module, the second determination module is used to determine a vehicle charging mode after the charging port is unlocked; the vehicle charging mode includes DC charging and AC charging;

[0044] a second receiving module, the second receiving module being used for receiving a first fully charged message sent by a vehicle controller when the charging mode is DC charging; generating a second unlocking message according to the first fully charged message, and sending the second unlocking message to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port;

[0045] A third receiving module, wherein the third receiving module is used to receive a second fully charged message sent by a vehicle controller when the charging mode is AC charging; generate a second unlocking message according to the second fully charged message, and send the second unlocking message to the vehicle controller or the vehicle server so that the vehicle controller or the vehicle server unlocks the charging port; wherein the second fully charged message is sent by the vehicle charger to the vehicle controller.

[0046] In a possible implementation, the judging module judging whether the vehicle is at the charging target location according to the environmental perception information specifically includes:

[0047] Determine whether the vehicle is in a charging parking space; the charging parking space is pre-determined by the field end;

[0048] When the vehicle is in a charging parking space, calculating the distance between the vehicle and the charging device according to the environmental perception information;

[0049] When the distance between the vehicle and the charging parking space is within a preset range, it is determined that the vehicle is at the charging target position.

[0050] In a possible implementation, the first determining module determines the vehicle type according to the environment perception information, specifically including:

[0051] Extracting a vehicle image from the environmental perception information;

[0052] The vehicle image is input into a deep learning network model, and the vehicle type is output; wherein the first type is a vehicle without a vehicle server; and the second type is a vehicle with a vehicle server.

[0053] In a possible implementation, after the charging port is unlocked, the second determining module determines the vehicle charging mode specifically including:

[0054] The vehicle charging method is determined according to the size and shape of the charging port.

[0055] In a possible implementation, the second determining module determines the vehicle charging mode according to the size and shape of the charging port, including:

[0056] When the size of the charging port is greater than a first preset threshold, and the number of charging contacts is greater than a second preset threshold, determining that the vehicle charging mode is DC charging;

[0057] When the size of the charging port is not greater than a first preset threshold value, and the number of the charging contacts is not greater than a second preset threshold value, it is determined that the vehicle charging mode is AC charging.

[0058] In a possible implementation, the device further includes: a parking processing module;

[0059] The parking processing module is used to generate a parking message when the vehicle is in a charging target position;

[0060] The parking message is sent to the vehicle controller, so that the vehicle controller parks the vehicle according to the parking message.

[0061] In a possible implementation, the device further includes: a driving path planning module;

[0062] The driving route planning module is used to perform route planning based on environmental perception information, the current position of the vehicle, the charging target position and a preset field map to generate a driving route;

[0063] The driving path is sent to the vehicle controller so that the vehicle controller drives according to the driving path.

[0064] In a possible implementation, the driving path planning module is further used to:

[0065] When the vehicle enters the terminal, obtain the first signal, the second signal and the third signal when the tag on the vehicle communicates with at least three base stations on the terminal; determine the first position of the vehicle in the terminal coordinate system according to the first signal, the second signal and the third signal, and the position of the base station in the terminal coordinate system; and / or,

[0066] When the signal strength of the GPS signal on the vehicle meets the requirement, the GPS signal of the earth coordinate system is acquired; and the GPS signal is converted into a second position in the field end coordinate system;

[0067] The current position of the vehicle is determined based on the first position and / or the second position.

[0068] A third aspect of an embodiment of the present invention provides an electric energy replenishment processing system, characterized in that the electric energy replenishment processing system includes the electric energy replenishment processing device described in the first aspect.

[0069] A fourth aspect of an embodiment of the present invention provides an electric energy replenishment processing component, the component comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the electric energy replenishment processing method described in any one of the first aspects.

[0070] By applying the electric energy replenishment processing method provided by the present invention, when the field controller detects that the vehicle is at the charging target position, it determines the type of vehicle, and sends unlocking messages to the vehicle controllers or vehicle servers corresponding to different types, respectively, to unlock the charging ports of different types of vehicles. After the charging port is unlocked, the charging type is determined, and different charging processes are performed for different charging types. When the charge is full, the unlocking message is sent again to unlock the refueling port again, thereby realizing automatic control of vehicle charging, saving human resources, realizing orderly charging, and also increasing the charging vehicle flow at the field end. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 A schematic diagram of an electric energy replenishment processing method provided in Embodiment 1 of the present invention;

[0072] Figure 2 This is one of the structural schematic diagrams of an electric energy replenishment processing device provided in the third embodiment of the present invention;

[0073] Figure 3 A second structural diagram of an electric energy replenishment processing device provided in the third embodiment of the present invention;

[0074] Figure 4 A third structural diagram of an electric energy replenishment processing device provided in the third embodiment of the present invention;

[0075] Figure 5 A module structure diagram of an electric energy replenishment processing system provided in Embodiment 5 of the present invention;

[0076] Figure 6A module structure diagram of an electric energy replenishment processing component provided in Embodiment 6 of the present invention. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of the present invention.

[0078] Embodiment 1 of the present invention provides a method for processing electric energy replenishment. The executor of the present application is a field-side controller, which is a device with computing and processing capabilities. The field-side is the end that provides replenishment services to the vehicle-side. The field-side may be provided with refueling equipment, charging equipment or car washing equipment.

[0079] Taking the charging service provided by the field end to the vehicle as an example, before the vehicle arrives at the field end, the cloud server dispatches the vehicle to determine the field end that will provide energy replenishment for the vehicle. Specifically, the vehicle end has a vehicle controller, and the type of energy required may be refueling or charging. The vehicle controller can automatically monitor the remaining amount of oil or electricity. When the oil level is lower than a certain threshold, the vehicle needs to refuel, or when the electricity level is lower than a certain threshold, the vehicle needs to charge. At this time, the vehicle controller can send an energy replenishment request message to the cloud. The energy replenishment request message can be an identification code agreed upon by the cloud and the vehicle end. After receiving the identification code, the cloud end allocates the field end to the vehicle end to determine the field end that can provide energy replenishment for the vehicle. At the same time, after the cloud determines the field end that can provide energy replenishment for the vehicle, it can pre-lock the charging parking space of the field end. For example, the cloud sends a request message to the field end controller, which may include the vehicle end ID to lock the idle charging parking space of the field end, and the field end controller can send the locked charging parking space location to the cloud end, so that the vehicle can quickly drive to the locked charging parking space for energy replenishment after arriving at the field end. In this application, the focus will be on how the field end controller controls the vehicle to avoid obstacles based on the perception data.

[0080] Specifically, when the vehicle drives to the field end, the field end controller can establish a wireless connection with the vehicle controller, such as establishing 4G, 5G and other communications, so as to control the vehicle in the field end and receive the arrival message and vehicle status information sent by the vehicle; the vehicle status information includes at least one of the vehicle IP and vehicle CAN signal; start wireless communication with the vehicle and determine whether the vehicle has arrived; when the wireless communication is successful, if the vehicle has arrived, send vehicle arrival confirmation information to the cloud; send a vehicle control request message to the vehicle; and receive a control response message returned by the vehicle.

[0081] Specifically, after the vehicle arrives at the scheduled station, it searches for and connects to the station wifi. The vehicle sends arrival messages to the cloud and station at the same time, and automatically sends vehicle status information to the station controller, including vehicle IP, vehicle CAN signal, etc. The station controller starts wifi communication with the vehicle to determine whether the vehicle has arrived; the vehicle responds to the station's communication request; when wifi communication is successful, the station sends vehicle arrival confirmation information to the cloud; the station sends a vehicle control request to the vehicle; the vehicle responds to the station's control request. In this way, the station has control authority over the vehicle to control the vehicle's entry into the station in real time and guide the vehicle to the scheduled charging parking space.

[0082] The location of the charging parking space is obtained after the field controller and the cloud server confirm before the vehicle arrives at the field. It is understandable that if an emergency occurs in the charging parking space after the vehicle arrives at the field, the field controller can also allocate a new charging parking space for the vehicle in real time.

[0083] Combine the following Figure 1 , which explains how the field controller plans the vehicle's path after the vehicle enters the field. Figure 1 As shown in the schematic diagram of an electric energy replenishment processing method provided in the first embodiment of the present invention, the present application takes the replenishment request being refueling as an example to illustrate the electric energy replenishment processing method of the present application, such as Figure 1 As shown, this method mainly includes the following steps:

[0084] Step 110, the field controller obtains environmental perception information;

[0085] Specifically, various types of sensors are set in the field, such as image sensors, laser radars, millimeter-wave radars, etc. These sensors communicate with the field-side server in real time to obtain environmental perception information in real time. For example, the image sensor collects image information, the laser radar collects laser point cloud information, and the millimeter-wave radar collects millimeter-wave data. The image information, laser point cloud information and millimeter-wave data can be fused to obtain environmental perception information.

[0086] For example, receive the first perception data sent by the laser radar; receive the second perception data sent by the image sensor; receive the third perception data sent by the millimeter wave radar; fuse the first perception data, the second perception data and the third perception data to obtain environmental perception information.

[0087] Step 120, judging whether the vehicle is at a charging target location according to the environmental perception information;

[0088] Specifically, determine whether the vehicle is in a charging parking space; the charging parking space is predetermined by the field end; when the vehicle is in the charging parking space, calculate the distance between the vehicle and the charging device according to the environmental perception information; when the distance between the vehicle and the charging parking space is within a preset range, determine that the vehicle is at the charging target position.

[0089] Among them, it is necessary to first determine whether the vehicle is in a parking space that has been pre-allocated to the vehicle by the field end. The parking space may have a parking space ID. The parking space ID and the specific location of the parking space may be pre-associated and stored in the memory corresponding to the field end controller. The field end may determine whether the vehicle is in the parking space based on the environmental perception information. For example, the parking space ID next to the parking space is determined based on the environmental perception information, and then the parking space ID is determined based on the parking space ID next to it. According to the parking space ID, it is determined whether it is consistent with the preset parking space ID. If it is consistent, it can be considered that the vehicle is in the charging parking space. Or the field end controller can determine the parking space location based on the current location of the vehicle obtained, and then determine whether the parking space is consistent with the preset parking space ID by querying the parking space ID corresponding to the parking space location. The field end controller can then calculate the distance between the vehicle and the charging device, such as the distance from the charging cabinet or the charging gun, to determine whether the distance is within the preset range. If it is within the preset range, it can be determined that the vehicle is at the charging target location, and the current location of the vehicle can be considered as the charging target location.

[0090] Step 130, when at the charging target location, determining the vehicle type according to the environmental perception information; the vehicle type includes a first type and a second type;

[0091] Specifically, a vehicle picture is extracted from the environmental perception information; the vehicle picture is input into a deep learning network model, and the vehicle type is output; wherein the first type is a vehicle without a vehicle server; and the second type is a vehicle with a vehicle server.

[0092] Among them, the deep learning network model is a model pre-trained on the field side. After the vehicle picture is input into the model, the type of the vehicle can be output, for example, the type of the vehicle is with a vehicle server or without a vehicle server.

[0093] Step 140, when the vehicle type is the first type, sending a first unlocking message to a vehicle controller to unlock the charging port of the vehicle; or, when the vehicle type is the second type, sending a first unlocking message to a vehicle server to enable the vehicle server to unlock the charging port of the vehicle;

[0094] Among them, unlocking the charging port at this time is to expose the charging port of the vehicle to facilitate charging.

[0095] Specifically, for some types of vehicles, there is a vehicle server, through which the unlocking of the vehicle's charging port can be controlled. For some vehicle models, the unlocking of the charging port is achieved through a vehicle controller. Different processing is performed for these two different unlocking methods, thereby improving the user experience.

[0096] Step 150, receiving an unlocking success message sent by a vehicle controller; or receiving an unlocking success message sent by a vehicle server;

[0097] Specifically, the field controller may receive an unlocking success message sent by the vehicle controller or the vehicle server, thereby realizing automatic charging of two different types of vehicles.

[0098] Step 160, after the charging port is unlocked, determining the vehicle charging mode; the vehicle charging mode includes DC charging and AC charging;

[0099] Specifically, the vehicle charging mode is determined according to the size and shape of the charging port.

[0100] When the size of the charging port is greater than a first preset threshold and the number of charging contacts is greater than a second preset threshold, it is determined that the vehicle charging mode is DC charging;

[0101] When the size of the charging port is not greater than a first preset threshold value, and the number of the charging contacts is not greater than a second preset threshold value, it is determined that the vehicle charging mode is AC charging.

[0102] For example, the DC charging interface is larger and heavier, with 9 contacts, while the AC charging interface is smaller and lighter, with 7 contacts. The first preset threshold and the second preset threshold can be determined through experiments, so as to facilitate the judgment of the charging mode, so as to perform different processing for different charging modes, thereby improving the adaptability of the electric energy replenishment of the present application and improving the user experience.

[0103] Step 170, when the charging mode is DC charging, receiving a first fully charged message sent by a vehicle controller; generating a second unlock message according to the first fully charged message, and sending the second unlock message to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port;

[0104] Specifically, when DC charging is performed, a charging cabinet is provided at the field end, and the field end controller interacts with the field end charging cabinet. The field end controller can send various instructions to the field end charging cabinet to control the charging current changes, for example, the charging current is larger in certain time periods, and smaller in certain time periods, etc. When the charge is fully charged, the vehicle disconnects the charging, and then the vehicle controller sends a first charging full message to the field end controller to indicate that the charge is full. After receiving the message, the field end controller can generate a second unlocking message and send it to the vehicle controller. The vehicle controller can control the vehicle's charging port to unlock, thereby facilitating the unlocking and connection of the charging cabinet, and the connection cable of the charging cabinet can be unplugged from the charging port.

[0105] Step 180, when the charging method is AC charging, receiving a second full charge message sent by the vehicle controller; generating a second unlock message based on the second full charge message, and sending the second unlock message to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port; wherein the second full charge message is sent by the vehicle charger to the vehicle controller.

[0106] Specifically, when AC charging is performed, an AC gun is provided at the field end and a charger is provided at the vehicle. The AC gun itself does not communicate with the vehicle. When fully charged, the charger of the vehicle determines that the charging is full, and the charger sends a full charging message to the vehicle controller. The vehicle controller sends the full charging message to the field end controller, and then the field end controller sends an unlocking message to the vehicle controller based on the full charging message to unlock the charging port of the vehicle. After the charging port of the vehicle is unlocked, the AC gun can be unplugged.

[0107] Furthermore, in an optional implementation, the present application also includes the following solution:

[0108] When the vehicle is at the charging target location, a parking message is generated;

[0109] The parking message is sent to the vehicle controller, so that the vehicle controller parks the vehicle according to the parking message.

[0110] Further, before the electric energy replenishment processing method of the present application, the field controller of the present application can perform path planning for the vehicle so that the vehicle travels according to the planned path. Therefore, before executing step 110, the present application can also include:

[0111] Performing path planning based on environmental perception information, the current location of the vehicle, the charging target location, and a preset field map to generate a driving path;

[0112] The driving path is sent to the vehicle controller so that the vehicle controller drives according to the driving path.

[0113] Among them, the map of the field side can also be collected in advance, including the location of each sensor in the field side, the location of the charging parking space, etc. After obtaining the vehicle side position, the location of the charging parking space, environmental perception information and the field side map, the field side controller can perform path planning to plan the driving path.

[0114] The driving path includes multiple waypoints, each waypoint has a planned driving speed, driving direction and timestamp. The driving speed can be the speed at which the vehicle is guided to travel. In order to distinguish it from the speed of subsequent obstacles, it can be called the vehicle guidance speed. The driving direction is the direction in which the vehicle is guided to travel, which can be called the vehicle guidance direction. The vehicle controller can drive according to the driving speed, driving direction and timestamp of each waypoint on the planned driving path to drive to the location of the charging parking space.

[0115] The vehicle in this application can be an unmanned vehicle. After the field-side controller calculates the driving path, it can send the driving path to the vehicle-side controller, so that the vehicle-side controller drives according to the vehicle guidance direction and vehicle guidance speed on the driving path. It avoids the unmanned vehicle from performing calculations in real time, saves the computing resources of the unmanned vehicle, and thus encourages more unmanned vehicles to enter the field. The vehicle can also be a manned vehicle. The field-side controller can send the driving path to the vehicle-side controller, and the vehicle-side controller can display the driving path on the vehicle display, so that it can intuitively drive according to the driving path, or the vehicle controller can convert the driving path into voice information to facilitate real-time voice playback to guide the vehicle to drive.

[0116] Furthermore, the field controller of the present application needs to obtain the current position of the vehicle in real time in order to generate the driving path. Therefore, before generating the planned path, the present application also includes:

[0117] When the vehicle enters the terminal, obtain the first signal, the second signal and the third signal when the tag on the vehicle communicates with at least three base stations on the terminal; determine the first position of the vehicle in the terminal coordinate system according to the first signal, the second signal and the third signal, and the position of the base station in the terminal coordinate system; and / or,

[0118] When the signal strength of the GPS signal on the vehicle meets the requirement, the GPS signal of the earth coordinate system is acquired; and the GPS signal is converted into a second position in the field end coordinate system;

[0119] The current position of the vehicle is determined based on the first position and / or the second position.

[0120] The following describes how the terminal determines the current position of the vehicle.

[0121] In the field, there are multiple base stations, which can be understood as devices that can communicate with the tags on the vehicle side. When the vehicle enters the field, the base station on the field establishes wireless communication with the tags on the vehicle side. The communication method can be through ultra-wideband (UWB). UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high accuracy of power replenishment processing. It is especially suitable for high-speed wireless access in dense multipath places such as indoors.

[0122] The tag in this application can communicate with multiple base stations in the field. In order to facilitate the power replenishment processing through the principle of triangular power replenishment processing, this application can select the signals of three base stations so as to obtain the vehicle position through the positions of the three base stations.

[0123] Specifically, assuming that the three base stations selected to communicate with the tag are the first base station, the second base station, and the third base station, how to perform vehicle-side electric energy replenishment processing through the base stations is described:

[0124] First, determining a first distance between a first base station among the base stations and the tag according to the first signal;

[0125] Specifically, each base station has a UWB chip, which provides a timestamp for recording the time when data frames are sent and received. This is the basic condition for measuring the distance between two points, that is, by calculating the data flight time in the air * the speed of light = the data flight distance, the distance between the two nodes can be measured.

[0126] With the data frame sending and receiving timestamp, a sufficiently high clock accuracy must be provided. The UWB chip has the LDE microcode, and the PLL makes the clock reach a frequency of 64G. Of course, this clock is only provided to LDE. The UWB chip has an ultra-high-precision timestamp. The 64G clock can make the UWB clock resolution 15.65ps.

[0127] The process of ranging through interaction between the base station and the tag is as follows:

[0128] First, at time T1, the tag initiates a ranging request packet;

[0129] Secondly, at time T2, the UWB base station receives the ranging request data packet;

[0130] Again, at time T3, the UWB base station sends a reply data packet to the tag;

[0131] Then, at time T4, the tag receives a reply data packet from the UWB base station;

[0132] Then, at time T5, the tag sends a final data packet to the UWB base station;

[0133] Finally, at T6, the UWB base station received the final reply data packet and completed the ranging process.

[0134] Therefore, the distance between the first base station and the tag can be obtained through the ranging process.

[0135] second, determining a second distance between a second base station among the base stations and the tag according to the second signal;

[0136] Correspondingly, the second distance between the second base station and the tag can also be obtained by the above method, which will not be described in detail here.

[0137] Third, determining a third distance between a third base station among the base stations and the tag according to the third signal;

[0138] Correspondingly, the second distance between the second base station and the tag can also be obtained by the above method, which will not be described in detail here.

[0139] Fourth, according to the first distance, the second distance and the third distance, as well as the position of the first base station, the position of the second base station and the position of the third base station, the first position of the tag in the field end coordinate system is determined by a triangulated power replenishment processing method.

[0140] Specifically, on the basis of the above, the function of measuring the distance between the two points of the base station and the tag can be realized. If it is necessary to realize the power replenishment processing of the tag, a tag needs to communicate with multiple base stations respectively, and obtain the distance between the tag and each base station respectively. And the position and distance between each base station can be obtained by surveying and mapping in the early stage of the deployment of the field. The position of the tag in the power replenishment processing system of this field is obtained. At this time, the spherical intersection method can be used to calculate the accurate position information by inputting the distance from the terminal to the base station. The triangular power replenishment processing method can also be applied to know the coordinates of the three points of the triangle and the distance from the three points to the tag, and calculate the accurate position of the tag. Subsequently, the position of the tag can be directly used as the position of the vehicle, or the position of the tag can be processed to obtain the vehicle position. For example, the coordinates of the center point of the tag and the vehicle end are converted again, so as to obtain the position of the center point of the vehicle end according to the position of the tag, and the position of the center point is used as the vehicle position. Among them, the center point of the vehicle end can be the midpoint of the rear axle of the vehicle end, or the center of gravity of the vehicle, etc. The specific position of the center point is not limited in this application.

[0141] When the signal strength of the GPS signal on the vehicle meets the requirements, the GPS signal of the earth coordinate system is obtained; the GPS signal is converted into the second position in the field coordinate system; and to see whether the signal strength of the GPS signal meets the requirements, it can be judged by the flag bit. When the flag bit of the GPS signal is the preset flag bit, the signal strength meets the requirements; when the flag bit of the GPS signal is not the preset flag bit, the signal strength does not meet the requirements.

[0142] Among them, the GPS signal has a flag bit indicating the signal strength, such as digital identifiers 3, 4, 5, etc. When the flag bit of the currently received GPS signal is the preset flag bit, it means that the GPS signal strength meets the requirements. When the current GPS signal strength does not meet the preset flag bit, it means that the GPS signal strength does not meet the requirements.

[0143] When the GPS signal strength does not meet the requirement, the current position of the vehicle is determined according to the first position.

[0144] Specifically, when the strength of the GPS signal does not meet the requirements, the position after the power replenishment processing based on the base station at the field end and the tag at the vehicle end, that is, the first position, is used as the current position of the vehicle of this application.

[0145] When both position information are available, the first position and the second position are fused to determine the vehicle position. The fusion here can be a weighted average or a direct average of the two positions, which is not limited in the present application.

[0146] Therefore, when the GPS signal meets the requirements, the power replenishment processing through the GPS signal will be combined with the power replenishment processing of the base station and the tag, thereby improving the accuracy of the power replenishment processing and ensuring the reliability of the power replenishment processing accuracy.

[0147] Furthermore, the vehicle in the present application can also change the charging time. Specifically, the field controller can receive a charging time change message sent by the vehicle controller; and then allocate a new charging parking space for the vehicle according to the charging time change message.

[0148] By applying the electric energy replenishment processing method provided by the present invention, when the field controller detects that the vehicle is at the charging target position, it determines the type of vehicle, and sends unlocking messages to the vehicle controllers or vehicle servers corresponding to different types, respectively, to unlock the charging ports of different types of vehicles. After the charging port is unlocked, the charging type is determined, and different charging processes are performed for different charging types. When the charge is full, the unlocking message is sent again to unlock the refueling port again, thereby realizing automatic control of vehicle charging, saving human resources, realizing orderly charging, and also increasing the charging vehicle flow at the field end.

[0149] Embodiment 2

[0150] Figure 2 This is a module structure diagram of an electric energy replenishment processing device provided in the third embodiment of the present invention, which is an electric energy replenishment processing device capable of implementing an electric energy replenishment processing method provided in the first embodiment of the present invention. Figure 2 As shown, the device includes: an acquisition module 210, a judgment module 220, a first determination module 230, a sending module 240, a first receiving module 250, a second determination module 260, a second receiving module 270 and a third receiving module 280.

[0151] The acquisition module 210 is used to acquire environmental perception information;

[0152] The judgment module 220 is used to judge whether the vehicle is at the charging target position according to the environmental perception information;

[0153] The first determination module 230 is used to determine the vehicle type according to the environmental perception information when the vehicle is at the charging target location; the vehicle type includes a first type and a second type;

[0154] The sending module 240 is used to send a first unlocking message to the vehicle controller to unlock the charging port of the vehicle when the vehicle type is the first type; or, when the vehicle type is the second type, send the first unlocking message to the vehicle server to unlock the charging port of the vehicle;

[0155] The first receiving module 250 is used to receive an unlocking success message sent by the vehicle controller; or receive an unlocking success message sent by the vehicle server;

[0156] The second determination module 260 is used to determine the vehicle charging mode after the charging port is unlocked; the vehicle charging mode includes DC charging and AC charging;

[0157] The second receiving module 270 is used to receive a first fully charged message sent by the vehicle controller when the charging mode is DC charging; generate a second unlocking message according to the first fully charged message, and send the second unlocking message to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port;

[0158] The third receiving module 280 is used to receive a second full charge message sent by the vehicle controller when the charging mode is AC charging; generate a second unlock message based on the second full charge message, and send the second unlock message to the vehicle controller or the vehicle server so that the vehicle controller or the vehicle server unlocks the charging port; wherein the second full charge message is sent by the vehicle charger to the vehicle controller.

[0159] Furthermore, the judging module 220 judges whether the vehicle is at the charging target location according to the environmental perception information, specifically including:

[0160] Determine whether the vehicle is in a charging parking space; the charging parking space is pre-determined by the field end;

[0161] When the vehicle is in the charging parking space, the distance between the vehicle and the charging device is calculated based on the environmental perception information;

[0162] When the distance between the vehicle and the charging parking space is within a preset range, it is determined that the vehicle is at the charging target position.

[0163] Furthermore, the first determination module 230 determines the vehicle type according to the environmental perception information, specifically including:

[0164] Extract vehicle images from environmental perception information;

[0165] The vehicle picture is input into the deep learning network model and the vehicle type is output; among them, the first type is a vehicle without a vehicle server; the second type is a vehicle with a vehicle server.

[0166] Furthermore, after the charging port is unlocked, the second determining module 260 determines the vehicle charging mode specifically including:

[0167] The size and shape of the charging port determine how the vehicle will be charged.

[0168] Furthermore, the second determination module 260 determines the vehicle charging mode according to the size and shape of the charging port, including:

[0169] When the size of the charging port is greater than a first preset threshold, and the number of charging contacts is greater than a second preset threshold, determining that the vehicle charging mode is DC charging;

[0170] When the size of the charging port is not greater than a first preset threshold, and the number of the charging contacts is not greater than a second preset threshold, it is determined that the vehicle charging mode is AC charging.

[0171] Further, such as Figure 3 As shown, the electric energy replenishment processing device further includes: a parking processing module 310;

[0172] The parking processing module 310 is used to generate a parking message when the vehicle is at a charging target position;

[0173] The parking message is sent to the vehicle controller, so that the vehicle controller parks the vehicle according to the parking message.

[0174] Further, such as Figure 4 As shown, the electric energy replenishment processing device also includes: a driving path planning module 410.

[0175] The driving route planning module 410 is used to perform route planning based on environmental perception information, the current location of the vehicle, the charging target location and a preset terminal map to generate a driving route;

[0176] The driving path is sent to the vehicle controller so that the vehicle controller drives according to the driving path.

[0177] Furthermore, the driving route planning 410 module is also used for:

[0178] When the vehicle enters the field, obtain the first signal, the second signal and the third signal when the tag on the vehicle communicates with at least three base stations on the field; determine the first position of the vehicle in the field coordinate system according to the first signal, the second signal and the third signal, and the position of the base station in the field coordinate system; and / or,

[0179] When the signal strength of the GPS signal on the vehicle meets the requirements, the GPS signal of the earth coordinate system is obtained; the GPS signal is converted into a second position in the field end coordinate system;

[0180] Based on the first position and / or the second position, a current position of the vehicle is determined.

[0181] The second embodiment of the present invention provides an electric energy replenishment processing device, which is used to execute the steps of the method provided in the first embodiment of the present invention. Its implementation principle and technical effect are similar and will not be repeated here.

[0182] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the acquisition module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The function of the above acquisition module. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the method provided in the embodiment of the present invention or each module of the device provided in the embodiment of the present invention can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0183] For example, the module of the device provided by the embodiment of the present invention may be one or more integrated circuits configured as the method provided by the embodiment of the present invention, such as: one or more application specific integrated circuits (ASIC), or one or more digital signal processors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module of the device provided by the embodiment of the present invention is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules of the device provided by the embodiment of the present invention may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0184] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described by the method provided in the embodiment of the present invention is generated in whole or in part. The above computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The above-mentioned computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, Bluetooth, microwave, etc.) methods. The above-mentioned computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The above-mentioned available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a high-density digital video disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0185] Embodiment 3

[0186] Figure 5A module structure diagram of an electric energy replenishment processing system provided in Embodiment 5 of the present invention, such as Figure 5 As shown, the system of the fifth embodiment of the present invention may specifically include: Figure 2 or Figure 3 or Figure 4 The electric energy replenishment processing device shown.

[0187] Embodiment 4

[0188] Figure 6 This is a module structure diagram of a scheduling component provided in Embodiment 6 of the present invention. This component is an electronic component, electronic device or server that implements the method provided in Embodiment 1 or Embodiment 2 of the present invention. Figure 6 As shown, the component 600 may include: a processor 610 (such as a CPU) and a memory 620; the memory 620 stores instructions that can be executed by at least one processor 610, and the instructions are executed by at least one processor 610, so that at least one processor 610 can execute the method provided in the first embodiment of the present invention or the second embodiment of the present invention. Preferably, the component involved in the fourth embodiment of the present invention may also include: a transceiver 630, a power supply 640, a system bus 650 and a communication port 660. The transceiver 630 is coupled to the processor 610, the system bus 650 is used to realize the communication connection between the components, and the above-mentioned communication port 660 is used for connecting and communicating between the component and other peripherals.

[0189] exist Figure 6 The system bus mentioned in the figure can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory (Non-Volatile Memory), such as at least one disk storage.

[0190] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0191] The electric energy replenishment processing method, device, system and components provided by the embodiments of the present invention, when the field controller detects that the vehicle is at the charging target position, determines the type of vehicle, and sends unlocking messages to the vehicle controllers or vehicle servers corresponding to the different types, so as to unlock the charging ports of different types of vehicles. After the charging port is unlocked, the charging type is determined, and different charging processes are performed for different charging types. When the charge is full, the unlocking message is sent again to unlock the refueling port again, thereby realizing automatic control of vehicle charging, saving human resources, realizing orderly charging, and also increasing the charging vehicle flow at the field end.

[0192] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0193] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0194] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for processing electric energy replenishment, characterized in that: The method comprises: The field controller obtains environmental perception information; Determining whether the vehicle is at a charging target location based on the environmental perception information; When at the charging target location, determining the vehicle type according to the environmental perception information; the vehicle type includes a first type and a second type; When the vehicle type is the first type, sending a first unlocking message to a vehicle controller to unlock the charging port of the vehicle; when the vehicle type is the second type, sending a first unlocking message to a vehicle server to enable the vehicle server to unlock the charging port of the vehicle; Receiving an unlocking success message sent by a vehicle controller; or, receiving an unlocking success message sent by a vehicle server; After the charging port is unlocked, determining a vehicle charging mode; the vehicle charging mode includes direct current charging and alternating current charging; When the charging mode is DC charging, receiving a first fully charged message sent by a vehicle controller; generating a second unlocking message according to the first fully charged message, and sending the second unlocking message to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port; When the charging mode is AC charging, a second full charge message sent by the vehicle controller is received; based on the second full charge message, a second unlock message is generated, and the second unlock message is sent to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port; wherein the second full charge message is sent by the vehicle charger to the vehicle controller.

2. The method according to claim 1, characterized in that The determining, based on the environmental perception information, whether the vehicle is at the charging target location specifically includes: Determine whether the vehicle is in a charging parking space; the charging parking space is predetermined by the field controller; When the vehicle is in a charging parking space, calculating the distance between the vehicle and the charging device according to the environmental perception information; When the distance between the vehicle and the charging parking space is within a preset range, it is determined that the vehicle is at the charging target position.

3. The method according to claim 1, characterized in that Determining the vehicle type according to the environmental perception information specifically includes: Extracting a vehicle image from the environmental perception information; The vehicle image is input into a deep learning network model, and the vehicle type is output; wherein the first type is a vehicle without a vehicle server; and the second type is a vehicle with a vehicle server.

4. The method according to claim 1, characterized in that: After the charging port is unlocked, determining the vehicle charging mode specifically includes: The vehicle charging method is determined according to the size and shape of the charging port.

5. The method according to claim 4, characterized in that Determining the vehicle charging mode according to the size and shape of the charging port includes: When the size of the charging port is greater than a first preset threshold, and the number of charging contacts is greater than a second preset threshold, determining that the vehicle charging mode is DC charging; When the size of the charging port is not greater than a first preset threshold value, and the number of the charging contacts is not greater than a second preset threshold value, it is determined that the vehicle charging mode is AC charging.

6. The method according to claim 1, characterized in that The method further comprises: When the vehicle is at the charging target location, a parking message is generated; The parking message is sent to the vehicle controller, so that the vehicle controller parks the vehicle according to the parking message.

7. The method according to claim 1, characterized in that The method also includes: Performing path planning based on environmental perception information, the current location of the vehicle, the charging target location, and a preset field map to generate a driving path; The driving path is sent to the vehicle controller so that the vehicle controller drives according to the driving path.

8. The method according to claim 7, characterized in that The method also includes: When the vehicle enters the terminal, obtain the first signal, the second signal and the third signal when the tag on the vehicle communicates with at least three base stations on the terminal; determine the first position of the vehicle in the terminal coordinate system according to the first signal, the second signal and the third signal, and the position of the base station in the terminal coordinate system; and / or, When the signal strength of the GPS signal on the vehicle meets the requirement, the GPS signal of the earth coordinate system is acquired; and the GPS signal is converted into a second position in the field end coordinate system; The current position of the vehicle is determined based on the first position and / or the second position.

9. An electric energy replenishment processing device, characterized in that: The device comprises: An acquisition module, the acquisition module is used to acquire environmental perception information; A judgment module, the judgment module is used to judge whether the vehicle is at a charging target position according to the environmental perception information; a first determination module, the first determination module being used to determine a vehicle type according to the environmental perception information when the vehicle is at a charging target location; the vehicle type includes a first type and a second type; A sending module, the sending module is used to send a first unlocking message to a vehicle controller to unlock a charging port of the vehicle when the vehicle type is a first type; when the vehicle type is a second type, send a first unlocking message to a vehicle server to enable the vehicle server to unlock the charging port of the vehicle; A first receiving module, the first receiving module is used to receive an unlocking success message sent by a vehicle controller; or receive an unlocking success message sent by a vehicle server; A second determination module, the second determination module is used to determine a vehicle charging mode after the charging port is unlocked; the vehicle charging mode includes DC charging and AC charging; a second receiving module, the second receiving module being used for receiving a first fully charged message sent by a vehicle controller when the charging mode is DC charging; generating a second unlocking message according to the first fully charged message, and sending the second unlocking message to the vehicle controller or the vehicle server, so that the vehicle controller or the vehicle server unlocks the charging port; A third receiving module, wherein the third receiving module is used to receive a second fully charged message sent by a vehicle controller when the charging mode is AC charging; generate a second unlocking message according to the second fully charged message, and send the second unlocking message to the vehicle controller or the vehicle server so that the vehicle controller or the vehicle server unlocks the charging port; wherein the second fully charged message is sent by the vehicle charger to the vehicle controller.

10. The device according to claim 9, characterized in that The determining module determines whether the vehicle is at the charging target location according to the environmental perception information, specifically including: Determine whether the vehicle is in a charging parking space; the charging parking space is pre-determined by the vehicle terminal; When the vehicle is in a charging parking space, calculating the distance between the vehicle and the charging device according to the environmental perception information; When the distance between the vehicle and the charging parking space is within a preset range, it is determined that the vehicle is at the charging target position.

11. The device according to claim 9, characterized in that The first determination module determines the vehicle type according to the environmental perception information and specifically includes: Extracting a vehicle image from the environmental perception information; The vehicle image is input into a deep learning network model, and the vehicle type is output; wherein the first type is a vehicle without a vehicle server; and the second type is a vehicle with a vehicle server.

12. The device according to claim 9, characterized in that After the charging port is unlocked, the second determination module determines the vehicle charging mode specifically including: The vehicle charging method is determined according to the size and shape of the charging port.

13. The device according to claim 12, characterized in that The second determining module determines the vehicle charging mode according to the size and shape of the charging port, including: When the size of the charging port is greater than a first preset threshold, and the number of charging contacts is greater than a second preset threshold, determining that the vehicle charging mode is DC charging; When the size of the charging port is not greater than a first preset threshold value, and the number of the charging contacts is not greater than a second preset threshold value, it is determined that the vehicle charging mode is AC charging.

14. The device according to claim 9, characterized in that The device further comprises: a parking processing module; The parking processing module is used to generate a parking message when the vehicle is in a charging target position; The parking message is sent to the vehicle controller, so that the vehicle controller parks the vehicle according to the parking message.

15. The device according to claim 9, characterized in that The device also includes: a driving path planning module; The driving route planning module is used to perform route planning based on environmental perception information, the current position of the vehicle, the charging target position and a preset field map to generate a driving route; The driving path is sent to the vehicle controller so that the vehicle controller drives according to the driving path.

16. The device according to claim 15, characterized in that The driving path planning module is also used for: When the vehicle enters the terminal, obtain the first signal, the second signal and the third signal when the tag on the vehicle communicates with at least three base stations on the terminal; determine the first position of the vehicle in the terminal coordinate system according to the first signal, the second signal and the third signal, and the position of the base station in the terminal coordinate system; and / or, When the signal strength of the GPS signal on the vehicle meets the requirement, the GPS signal of the earth coordinate system is acquired; and the GPS signal is converted into a second position in the field end coordinate system; The current position of the vehicle is determined based on the first position and / or the second position.

17. An electric energy replenishment processing system, characterized in that: The electric energy replenishment processing system includes the electric energy replenishment processing device described in any one of claims 9-16.

18. An electric energy replenishment processing component, characterized in that: The component includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the electric energy replenishment processing method as described in any one of claims 1-8.

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