Charging methods, systems, devices, and storage media based on self-propelled charging devices.

Abstract

This application relates to the field of automatic control technology, and provides a charging method, system, device, and storage medium based on self-propelled charging devices. The method includes: a server responding to a user order sent by a user; determining the target service area where the vehicle to be charged is located based on the charging location information in the user order; determining whether there is an idle self-propelled charging device within the target service area; and, if an idle self-propelled charging device exists within the target service area, generating a movement command based on the charging location information and sending the movement command to the target idle self-propelled charging device. Because a movement command can be generated based on the charging location information and sent to an idle self-propelled charging device within the target service area upon receiving a user order, and the self-propelled charging device can move autonomously within the target service area, the power delivery process can be automated, thereby saving on the costs of delivery personnel and distribution vehicles, and ultimately reducing charging costs.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to charging methods, systems, devices and storage media based on self-moving charging devices. Background Technology

[0002] With the continuous development of new energy technologies, the popularity of electric vehicles is gradually increasing. Unlike traditional fuel vehicles, the charging process of electric vehicles usually takes a long time, and the demand for charging piles is increasing dramatically. Fixed charging piles are unable to meet the charging needs of users.

[0003] In related technologies, mobile charging stations are delivered to users by delivery personnel driving delivery vehicles. Specifically, the user sends a charging request to the cloud platform, which generates an order based on the request and sends it to the delivery personnel. After confirming the delivery time with the customer, the delivery personnel drive the delivery vehicle to deliver the mobile charging station to the user at the agreed time. After charging is completed, the delivery personnel retrieve the mobile charging station.

[0004] However, in related technologies, the charging process requires a power delivery operator to drive a power delivery vehicle to deliver electricity, which leads to high charging costs. Summary of the Invention

[0005] To help solve the problem of high charging costs, this application provides a charging method, system, device, and storage medium based on a self-propelled charging device.

[0006] Firstly, this application provides a charging method based on a self-propelled charging device, employing the following technical solution:

[0007] A charging method based on a self-propelled charging device, used in a server, the method comprising:

[0008] In response to a user order sent by the user terminal, the target service area where the vehicle to be charged is located is determined based on the charging location information in the user order;

[0009] Determine whether there are any idle self-propelled charging devices within the target service area;

[0010] If the idle self-propelled charging device exists in the target service area, the target idle self-propelled charging device is determined from the idle self-propelled charging devices in the target service area.

[0011] A movement command is generated based on the charging location information, and the movement command is sent to the target idle self-moving charging device.

[0012] If no available mobile charging device is available within the target service area, a reservation order is generated based on the user's order.

[0013] By adopting the above technical solution, upon receiving a user order, a movement command can be generated based on the charging location information and sent to an idle self-mobile charging device within the target service area. The self-mobile charging device can then move autonomously within the target service area, thus automating the power delivery process, saving on the costs of delivery personnel and power distribution vehicles, and consequently reducing charging costs.

[0014] In addition, since user orders are converted into reservation orders when there are no available mobile charging devices in the target service area, it is convenient to charge at the appropriate time, thereby meeting the user's charging needs and improving the user experience.

[0015] Optionally, the user order also includes the required time and required electricity, and determining the target idle mobile charging device from the idle mobile charging devices within the target service area includes:

[0016] The target charging mode is determined based on the required time and the required power. The charging modes of the self-mobile charging device include fast charging mode and slow charging mode.

[0017] When the target charging mode is fast charging mode, the target idle mobile charging device is determined from the idle mobile charging devices that meet the fast charging conditions in the target service area.

[0018] The fast charging conditions include the mobile charging device supporting fast charging and / or the remaining battery power being greater than a preset fast charging capacity threshold.

[0019] By adopting the above technical solution, the target charging mode can be automatically determined by combining the required time and required power, and the corresponding target idle mobile charging device can be matched based on the target charging mode. In this way, mobile charging devices can be accurately matched to users based on their charging needs, thereby improving the user experience and facilitating the scheduling of mobile charging devices.

[0020] Optionally, determining the target self-moving device from idle self-moving charging devices that meet fast charging conditions within the target service area includes:

[0021] Determine the access method corresponding to the user order; the access method of the self-portable charging device includes manual access and automatic access.

[0022] When the required access method is automatic access, the target idle mobile charging device is determined from the idle mobile charging devices in the target service area that meet the fast charging conditions and the automatic access conditions.

[0023] The automatic access condition includes a robotic arm installed on the mobile charging device, which is used to automatically plug and unplug the charging gun.

[0024] By adopting the above technical solution, after determining the target charging mode, the corresponding access method for the user order can be further determined, and the target idle mobile charging device can be determined by combining the target charging mode and the access method. This can further improve the accuracy of the determined target idle mobile charging device, thereby improving the user experience.

[0025] Optionally, generating a reservation order based on the user order includes:

[0026] Determine whether there are any unbooked mobile charging devices within the target service area. Unbooked mobile charging devices refer to mobile charging devices that have not been booked by other orders.

[0027] If the unreserved mobile charging device exists within the target service area, the target unreserved mobile charging device is determined from the unreserved mobile charging devices in the target service area;

[0028] The earliest available charging time is determined based on the target location information of the unreserved mobile charging device and the earliest available power supply time.

[0029] The reservation order is generated based on the earliest available charging time.

[0030] By adopting the above technical solution, in the case of unreserved mobile charging devices in the service area, the earliest available charging time can be determined based on the target unreserved mobile charging device and the earliest available power supply time. This can improve the accuracy of the determined earliest available charging time and thus improve the user experience.

[0031] Secondly, this application provides a charging method based on a self-propelled charging device, employing the following technical solution:

[0032] A charging method based on a self-propelled charging device, used in a self-propelled charging device, the method comprising:

[0033] In response to a movement command sent by the server, the device moves based on the movement command; the movement command is generated by the server based on any of the charging methods based on a self-moving charging device provided by the first aspect.

[0034] When the self-propelled charging device moves to the charging position, a charging action is performed to charge the vehicle to be charged.

[0035] Optionally, the method further includes:

[0036] If the charging termination conditions are met, determine whether the vehicle to be charged has completed charging;

[0037] If the vehicle to be charged has not finished charging, the charging information is shared with the relay mobile charging device so that the relay mobile charging device can continue to supply power to the vehicle to be charged.

[0038] The charging termination conditions include detecting that the charging amount to the vehicle to be charged has reached the required charging amount, detecting that the remaining power of the vehicle itself is less than the minimum power threshold, reaching the required time, and / or receiving a charging termination command.

[0039] By adopting the above technical solution, it is possible to further determine whether the vehicle to be charged has completed charging after the charging is finished; if the charging is not completed, the charging information can be shared with the idle mobile charging equipment. This can improve the user's charging experience and also facilitate the management of the mobile charging equipment.

[0040] Optionally, before performing the charging action, the method further includes:

[0041] Acquire the target image corresponding to the charging location;

[0042] Determine the target license plate information of the charging location based on the target image;

[0043] Determine whether the target license plate information matches the license plate information of the vehicle to be charged;

[0044] If the target license plate information matches the license plate information of the vehicle to be charged, the charging action is performed.

[0045] By adopting the above technical solution, since the self-propelled charging device determines the target license plate information of the charging location before performing the charging action, and performs the charging action only when the target license plate information matches the license plate information of the vehicle to be charged, the identity of the charging object can be verified before the charging action is performed, which can help avoid problems caused by incorrect charging objects and thus improve the reliability of the charging system.

[0046] Thirdly, this application provides a charging system based on a self-propelled charging device, which adopts the following technical solution:

[0047] A charging system based on a self-mobile charging device, the charging system comprising: a user terminal, a server terminal, a self-mobile charging device, and a management platform;

[0048] The user terminal is used to send user order information to the server.

[0049] The server is configured to respond to the user order information by determining the target service area where the vehicle to be charged is located based on the charging location information in the user order information; determining whether there is an available mobile charging device within the target service area; if the available mobile charging device exists within the target service area, determining a target available mobile charging device from among the available mobile charging devices in the target service area; generating a movement command based on the charging location information and sending the movement command to the target available mobile charging device; and generating a reservation order if there is no available mobile charging device within the target service area.

[0050] The self-moving charging device is configured to respond to the movement command, control the self-moving charging device to move to the charging location based on the charging path in the movement command; control the self-moving charging device to perform a charging action when it moves to the charging location; and send management information to the management platform, the management information including the status information and location information of the self-moving charging device.

[0051] The management platform is used to monitor the self-propelled charging device based on the management information; when an abnormality is detected in the self-propelled charging device, it generates a corresponding device abnormality prompt message to prompt the staff to handle the abnormality of the self-propelled charging device.

[0052] The methods by which staff handle malfunctions of the self-propelled charging device include: remote manual control of the self-propelled charging device.

[0053] By adopting the above technical solution, the management platform can monitor the mobile charging equipment based on management information. When an abnormality is detected, it generates corresponding equipment abnormality prompts to remind staff to handle the abnormality. This allows for timely handling of abnormalities in the mobile charging equipment, ensuring the stability of the charging system and improving the user experience.

[0054] Fourthly, this application provides a self-propelled charging device, which adopts the following technical solution:

[0055] A self-propelled charging device includes an energy storage module, a charging module, a mobility module, a sensing module, a communication module, and a control module; the control module is signal-connected to the charging module, the energy storage module, the mobility module, the sensing module, and the communication module, respectively, and the charging module is electrically connected to the energy storage module.

[0056] The energy storage module is used to store electrical energy;

[0057] The charging module is used to output the electrical energy stored in the energy storage module to charge the vehicle to be charged.

[0058] The mobile module is used to drive the self-moving charging device to move;

[0059] The sensing module is used to collect sensing data on the location of the self-moving charging device.

[0060] The communication module is used for communication with other devices;

[0061] The control module is used to execute the second aspect of the charging method based on the self-moving charging device.

[0062] Fifthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0063] A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform any of the charging methods based on a self-propelled charging device provided in the first aspect, or causes the computer to perform any of the charging methods based on a self-propelled charging device provided in the second aspect.

[0064] In summary, this application includes at least one of the following beneficial technical effects:

[0065] 1. Since a mobile command can be generated based on the charging location information upon receiving a user's order, and the command can be sent to an idle self-mobile charging device within the target service area, the self-mobile charging device can move on its own within the target service area. This automates the power delivery process, thereby saving the costs of delivery personnel and power distribution vehicles, and thus saving on charging costs.

[0066] 2. Since there are no available mobile charging devices in the target service area, user orders are converted into reservation orders. This makes it easier to charge at a suitable time, thereby meeting the user's charging needs and improving the user experience. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of a charging system provided in an embodiment of this application;

[0068] Figure 2 This is a schematic diagram of a self-moving charging device provided in an embodiment of this application;

[0069] Figure 3 This is another structural schematic diagram of a charging system provided in an embodiment of this application;

[0070] Figure 4 This is a schematic flowchart of a charging method provided in an embodiment of this application;

[0071] Figure 5 This is another schematic flowchart of a charging method provided in an embodiment of this application;

[0072] Figure 6 This is another schematic flowchart of a charging method provided in an embodiment of this application;

[0073] Figure 7 This is another schematic flowchart of a charging method provided in an embodiment of this application;

[0074] Figure 8 This is a schematic diagram of another charging system provided in an embodiment of this application.

[0075] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0076] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0077] This application discloses a charging system based on a self-propelled charging device. (Refer to...) Figure 1 The charging system includes: a user terminal 110, a server terminal 120, and a self-propelled charging device 130.

[0078] User terminal 110 is a device used by a user. In one example, user terminal 110 can be a user's mobile phone, vehicle terminal, or other smart device. In another example, user terminal 110 can also be a self-service terminal set up in the target location. This embodiment does not limit the type of user terminal 110.

[0079] In one example, client 110 can provide a user interface, and users can generate corresponding content by interacting with the content displayed on the user interface.

[0080] The server 120 is a device with computing and communication functions, such as a server or computer. This embodiment does not limit the type of the server 120.

[0081] In this embodiment, the user terminal 110 and the server terminal 120 are connected for communication.

[0082] The self-moving charging device 130 is a device with energy storage function and can move on its own. The self-moving charging device 130 can charge electric vehicles.

[0083] In one example, refer to Figure 2 The self-propelled charging device 130 includes: an energy storage module 131, a charging module 132, a mobility module 133, a sensing module 134, a communication module 135, and a control module 136. The control module 136 is connected to the energy storage module 131, the charging module 132, the mobility module 133, the sensing module 134, and the communication module 135 via signals, and the charging module 131 is electrically connected to the energy storage module 132.

[0084] Energy storage module 131 is used to store electrical energy. In one example, energy storage module 131 includes a battery.

[0085] Optionally, the energy storage module 131 can be detachably installed on the self-propelled charging device 130, which facilitates the replacement and maintenance of the energy storage module 131.

[0086] Optionally, the energy storage module 131 includes a first energy storage module and a second energy storage module. The first energy storage module is used to provide the self-propelled charging device 130 with the electrical energy required for its own operation; the second energy storage module is connected to the charging module 132 and is used to output electrical energy to the outside world through the charging module 132 to charge the vehicle to be charged.

[0087] The charging module 132 is used to output the electrical energy stored in the energy storage module 131 to charge the vehicle to be charged. Optionally, the charging module 132 includes a charging gun, which is used to interface with the charging interface of the vehicle to be charged to charge the vehicle.

[0088] In one example, the charging module 132 includes a robotic arm with a charging gun positioned at the end of the robotic arm. This allows for automatic docking of the charging gun with the vehicle to be charged, thereby reducing manual intervention in the charging process and improving the user experience.

[0089] In another example, the charging module 132 includes a locking mechanism that allows the charging gun to be pulled out of the self-moving charging device 130 when the locking mechanism is open, and prevents the charging gun from being pulled out of the self-moving charging device 130 when the locking mechanism is closed, thus facilitating control of the charging process.

[0090] The mobile module 133 is used to move the self-moving charging device 130.

[0091] Optionally, the moving module 133 includes a moving mechanism and a steering mechanism. The moving mechanism is used to drive the self-propelled charging device 130 to move in the direction of travel, for example, to move the self-propelled charging device 130 to the front or rear. The steering mechanism is used to adjust the direction of travel of the self-propelled charging device 130. This facilitates control of the movement of the self-propelled charging device 130.

[0092] In one example, the moving module 133 includes a wheel, a transmission element, and a drive element. The drive element drives the wheel to rotate via the transmission element, thereby causing the wheel to move the self-moving charging device 130.

[0093] In actual implementation, the mobile module 133 may also include other methods to drive the self-mobile charging device 130 to move, such as driving the self-mobile charging device 130 to move by rotating the track. This can facilitate the movement of the self-mobile charging device 130 in complex road conditions. This embodiment does not limit the way the mobile module 133 drives the self-mobile charging device 130 to move.

[0094] The sensing module 134 is used to collect sensing data from the location of the mobile charging device 130.

[0095] In one example, the sensing module 134 includes sensing components such as cameras and radar that can collect information. Specifically, the cameras may include panoramic cameras, binocular cameras, and / or infrared cameras, and the radar may include lidar, millimeter-wave radar, and / or ultrasonic radar. In addition, the number of sensing components in the sensing module 134 may be one or more. When there are multiple sensing components, the different sensing components may be the same or different. This embodiment does not limit the type and number of sensing components included in the sensing module 134.

[0096] The communication module 135 is used to communicate with other devices. Optionally, the communication module 135 is a wireless communication module, which can communicate with other devices based on a wireless communication network.

[0097] Optionally, the self-portable charging device 130 communicates with the server 120 via the communication module 135. Specifically, the self-portable charging device 130 can send information to the server 120 and receive information sent by the server 120 via the communication module 135.

[0098] In one example, the communication module 135 includes a wireless cellular communication component, which enables the mobile charging device 130 to communicate with other devices via 3G, 4G, and / or 5G networks.

[0099] The control module 136 can be a microcontroller unit (MCU), programmable logic controller, or other module with control functions. This embodiment does not limit the type of the control module 136.

[0100] Optionally, the self-portable charging device 130 also provides a human-computer interaction interface for outputting information to the user and receiving information input by the user. This can improve the user experience of the self-portable charging device 130.

[0101] In actual implementation, the self-mobile charging device 130 may also include other modules, such as a positioning module, a cooling module, a monitoring module, a metering module, etc. This embodiment does not limit the types of modules that the self-mobile charging device 130 may actually include.

[0102] Optionally, in the charging system provided in this embodiment, the number of self-moving charging devices 130 can be one or more. This embodiment does not limit the number of self-moving charging devices 130 in the charging system.

[0103] Optional, see reference Figure 3 The charging system provided in this embodiment also includes a management platform 140. The management platform 140 is used to manage the self-propelled charging device 130.

[0104] In one example, the self-portable charging device 130 is communicatively connected to the management platform 140, which facilitates management of the self-portable charging device 130 through the management platform 140. In another example, the self-portable charging device 130 communicates with the management platform 140 via a communication module 135.

[0105] In another example, the server 120 communicates with the management platform 140, which facilitates the management of the server 120 through the management platform 140.

[0106] In actual implementation, the charging system may also include other devices, and this embodiment does not limit the types of devices in the charging system.

[0107] This application also discloses a charging method based on a self-propelled charging device, used in a charging system based on a self-propelled charging device. The charging system includes at least a user terminal, a server terminal, and a self-propelled charging device. This embodiment uses the charging method applied to the charging system provided in the above embodiment as an example. In actual implementation, the charging system can also be other charging systems based on self-propelled charging devices. This embodiment does not limit the executing entity of the charging method based on a self-propelled charging device.

[0108] refer to Figure 4The charging method based on a self-propelled charging device includes the following steps:

[0109] Step 201: The user sends the user order to the server.

[0110] In one example, the client can provide an interface through which the user can input order information, and the client can generate the user order based on the information input by the user through the interface.

[0111] In another example, the client can collect information based on the user's actions, such as reading specified QR code information and / or electronic tag information based on the user's actions, and generating user orders based on the read information.

[0112] Optionally, user orders may include user identification and charging location information.

[0113] The user identifier is used to uniquely identify user information. In one example, the user identifier is represented by a user code, which can be a combination of numbers, letters, and / or symbols.

[0114] Charging location information is used to uniquely identify the charging location. In one example, the charging location information is represented by the parking space code corresponding to the charging location, which can be a combination of numbers, letters, and / or symbols. In actual implementation, the charging location information can also be represented by two-dimensional or three-dimensional coordinates of the charging location; this embodiment does not limit the representation method of the charging location information.

[0115] Optionally, the user identifier can be pre-stored in the user terminal, or it can be entered by the user through the user terminal's operation interface. This embodiment does not limit the way the user terminal obtains the user identifier.

[0116] Optionally, the charging location information can be input by the user through the user terminal's operation interface, or it can be collected by the user terminal based on the user's operation. This embodiment does not limit the way the user terminal obtains the charging location information.

[0117] In one example, the client sends the user's order to the server upon receiving a submission command from the user. For instance, the client sends the user's order to the server after the user clicks the submit button displayed on the interface.

[0118] In practice, user orders may also include information such as the license plate number of the vehicle to be charged, vehicle model information, required time, required power, battery capacity, charging protocol, charging interface location, user name and / or contact information, etc. This embodiment does not limit the content included in the user order.

[0119] Step 202: The server responds to the user order sent by the user and determines the target service area where the vehicle to be charged is located based on the charging location information in the user order.

[0120] The service area refers to the area where the mobile charging device provides charging services, and the scope of the service area is preset. In one example, the service area is divided based on the deployment location and working range of the mobile charging device; in another example, the service area is divided based on parking locations, such as dividing a parking location into one or more service areas. This embodiment does not limit the method of dividing the target service area.

[0121] In one instance, the parking lot has two or more levels, in which case each level of the parking lot is divided into an independent service area.

[0122] In one example, determining the target service area where the vehicle to be charged is located based on the charging location information in the user's order includes: determining the service area where the charging location indicated by the charging location information is located as the target service area where the vehicle to be charged is located.

[0123] The correspondence between charging locations and service areas is pre-set, and each service area includes at least one charging location.

[0124] Step 203: The server determines whether there are any idle mobile charging devices within the target service area.

[0125] In this embodiment, the self-mobile charging device can be divided into idle self-mobile charging device, self-mobile charging device waiting to be recharged, and self-mobile charging device that is supplying power, based on its working state.

[0126] Idle self-propelled charging equipment refers to self-propelled charging equipment that meets the power supply requirements but is not in a power supply state.

[0127] Self-mobile charging equipment awaiting power replenishment refers to self-mobile charging equipment that does not meet power supply conditions and is not in a power supply state.

[0128] Self-powered mobile charging equipment refers to power supply equipment that is in a power supply state.

[0129] The power supply conditions can be set based on the remaining power of the self-mobile charging device. For example, the power supply conditions include the remaining power being greater than a preset power supply threshold. Alternatively, they can be determined based on the charging interval of the self-mobile charging device. For example, the power supply conditions include the time elapsed since the last power supply was completed, which is a preset power supply time. This embodiment does not limit the content of the power supply conditions.

[0130] Being in a power supply state means that the mobile charging device is supplying power to the vehicle, is moving toward the vehicle to be charged, or is a pre-booked charging device.

[0131] "Reserved charging equipment" refers to charging equipment that has already been reserved by other orders.

[0132] It should be noted that in this embodiment, the terms "idle self-mobile charging device," "self-mobile charging device waiting to be recharged," and "powered self-mobile charging device" are merely descriptions of the working state of the self-mobile charging device. That is, the same self-mobile charging device can be an idle self-mobile charging device, a self-mobile charging device waiting to be recharged, or a powered self-mobile charging device at different times.

[0133] In one example, determining whether there are idle self-charging devices within a target service area includes: obtaining the operating status of all self-charging devices within the target service area; and determining whether there are idle self-charging devices within the target service area based on the operating status of all self-charging devices within the target service area. In this case, the operating status of the self-charging devices can be stored on the server, or it can be stored on a device and / or platform connected to the server, such as a management platform, from which the server can obtain the operating status of the self-charging devices.

[0134] In actual implementation, the server can also directly obtain information on idle self-propelled charging devices in the target service area from other devices and / or platforms. This embodiment does not limit the way the server determines whether there are idle self-propelled charging devices in the target service area.

[0135] Step 204: If there are idle mobile charging devices in the target service area, the server determines the target idle mobile charging device from among the idle mobile charging devices in the target service area.

[0136] Among them, the target idle self-mobile charging equipment refers to the self-mobile charging equipment used to supply power to vehicles waiting to be charged among the idle self-mobile charging equipment in the target service area.

[0137] Optionally, the following methods can be used to determine the target charging device from the available mobile charging devices in the target service area:

[0138] The first method involves determining the target idle mobile charging device from among the idle mobile charging devices within the target service area, including: determining the access method corresponding to the user order; if the access method is automatic access, determining the target idle mobile charging device from among the idle mobile charging devices within the target service area that meet the automatic access conditions; if the access method is manual access, determining the target idle mobile charging device from among the idle mobile charging devices within the target service area that meet the manual access conditions.

[0139] The mobile charging devices can be connected via manual or automatic methods. Specifically, manual connection requires the user to insert the charging gun into the charging port of the vehicle being charged. Automatic connection, on the other hand, uses a robotic arm to automatically insert the charging gun into the charging port without manual intervention.

[0140] Automatic access conditions include the presence of a robotic arm on the mobile charging device, which is used to automatically insert and remove the charging gun; manual access conditions include the presence of a locking mechanism on the mobile charging device, which is used to control the removal of the charging gun.

[0141] Optionally, the self-portable charging device can be manually connected or automatically connected, or it can support both manual and automatic connection at the same time. This embodiment does not limit the connection methods supported by the self-portable device.

[0142] In one example, the user's order information includes the desired access method. In this case, the required access method corresponding to the user's order can be determined directly based on the desired access method.

[0143] In another example, determining the demand access method corresponding to a user order includes: determining the demand access method based on the charging location information corresponding to the user order. For example, if the charging location information indicates that the vehicle to be charged is located in a parking lot of a shopping mall or office building, and the user may leave the parking location after parking, then the demand access method can be automatic access.

[0144] In other examples, determining the required access method for a user's order includes: determining the required access method based on the user's historical access methods for that order. For example, if the user previously used automatic access, then automatic access would be determined as the required access method.

[0145] In actual implementation, other methods can also be used to determine the access method corresponding to a user order. This embodiment does not limit the method of determining the access method.

[0146] In the above technical solution, by determining the access method corresponding to the user's order and matching the corresponding target idle self-mobile charging device based on the access method, the self-mobile charging device can be accurately matched based on the access method corresponding to the order, thereby improving the user experience and facilitating the scheduling of self-mobile charging devices.

[0147] The second method includes the user's order specifying the required time and battery level. The target idle mobile charging device is determined from the idle mobile charging devices within the target service area. This includes: determining the target charging mode based on the required time and battery level; and, if the target charging mode is fast charging, determining the target mobile device from the idle mobile charging devices within the target service area that meet the fast charging conditions.

[0148] When the target charging mode is normal mode, the target idle mobile charging device is determined from the idle mobile devices that meet the normal charging conditions within the target service area.

[0149] Among them, the required time refers to the time that the user expects to complete charging; the required amount of electricity refers to the amount of electricity that the user expects to charge.

[0150] The charging modes of self-service mobile charging devices include fast charging mode and normal mode; the charging power of normal mode is less than that of fast charging mode.

[0151] Fast charging conditions include the self-portable charging device supporting fast charging and / or the remaining battery power being greater than a preset fast charging capacity threshold. Specifically, supporting fast charging means that the self-portable charging device includes a fast charging power supply interface and supports the fast charging protocol; the fast charging capacity threshold is determined based on the minimum battery power required for the self-portable charging device to perform fast charging.

[0152] Normal charging conditions include the mobile device supporting normal charging.

[0153] Optionally, the self-portable charging device may only support fast charging or normal charging modes, or it may support both fast charging and normal charging modes simultaneously. This embodiment does not limit the charging modes supported by the self-portable device.

[0154] Optionally, determining the target charging mode based on the required time and required power includes: determining the target charging power based on the required time and required power; determining whether the target charging power is greater than a preset power threshold; if the target charging power is greater than or equal to the preset power threshold, determining the target charging mode as fast charging mode; if the target charging power is less than the preset power threshold, determining the target charging mode as normal mode.

[0155] Furthermore, if the target charging power is determined to be greater than or equal to a preset power threshold, the vehicle model information and charging protocol information can be combined to determine whether the vehicle supports fast charging. If the vehicle supports fast charging, the target charging mode is determined to be fast charging mode. This ensures that the determined target charging mode matches the vehicle, thereby improving the accuracy of the determined target charging mode.

[0156] In practice, the target idle mobile charging device can be determined by combining the required power supply and the remaining power of the idle mobile charging device, which can further improve the accuracy of the determined target idle mobile charging device.

[0157] In the above technical solution, the target charging mode is automatically determined by combining the required time and required power, and the corresponding target idle mobile charging device is matched based on the target charging mode. This can accurately match the mobile charging device to the user based on the user's charging needs, thereby improving the user experience and facilitating the scheduling of mobile charging devices.

[0158] Furthermore, the second method described above can be combined with the first method to determine the target idle mobile charging device. In one example, determining the target mobile device from idle mobile charging devices that meet fast charging conditions within the target service area includes: determining the access method corresponding to the user order; if the access method is automatic access, determining the target idle mobile charging device from idle mobile charging devices within the target service area that meet both fast charging and automatic access conditions; if the access method is manual access, determining the target idle mobile charging device from idle mobile charging devices within the target service area that meet both fast charging and manual access conditions.

[0159] The specific implementation process of the above-mentioned combination scheme is the same as that of the first and second methods mentioned above, and will not be repeated here.

[0160] In the above technical solution, after determining the target charging mode, the demand access method corresponding to the user order is further determined, and the target idle mobile charging device is determined by combining the target charging mode and the demand access method. This can further improve the accuracy of the determined target idle mobile charging device, thereby improving the user experience.

[0161] The third method involves identifying the target idle mobile charging device from among the idle mobile charging devices within the target service area. This includes: if there is only one idle mobile charging device in the service area, identifying that idle mobile charging device as the target idle mobile charging device; if there are two or more idle mobile charging devices in the service area, identifying the mobile charging device that is closest to the charging location indicated by the charging location information among all the idle mobile charging devices in the service area as the target idle mobile charging device.

[0162] Optionally, the device location information of the idle mobile charging device can be sent by the idle mobile charging device to the server, or it can be obtained by the server from other devices and / or platforms, such as from the management platform. This embodiment does not limit the way the server obtains the device location information of the idle mobile device.

[0163] Step 205: Generate a movement command based on the charging location information and send the movement command to the target idle self-moving charging device.

[0164] In one example, the movement instruction includes a target movement path. In this case, the movement instruction is generated based on the charging location information, including: generating the target movement path based on the charging location information and the location information of the target idle self-moving charging device; and generating the movement instruction based on the target movement path.

[0165] Optionally, a target movement path is generated based on the charging location information and the location information of the target idle self-propelled charging device, including: obtaining a target access map of the target service area; and planning the access path between the location indicated by the location information of the target idle self-propelled charging device and the charging location indicated by the charging location information based on the target access map and a preset path planning method to obtain the target movement path.

[0166] The access maps for each service area are pre-generated. These access maps can be stored on the server or on other platforms and / or devices connected to the server. This embodiment does not limit the storage location of the access maps.

[0167] Optionally, the access map includes passable and impassable areas. Impassable areas are defined based on the locations of buildings, parking spaces, and locations where mobile charging equipment is prohibited within the service area, which facilitates route planning based on the access map.

[0168] In another example, the movement command includes charging location information, in which case the movement command can be generated directly based on the charging location information.

[0169] Optionally, the moving instructions may also include the license plate number of the vehicle to be charged, which can facilitate the identification of the vehicle by the mobile charging equipment.

[0170] The license plate number of the vehicle to be charged can be carried in the user's order, or it can be the license plate number corresponding to the target user identifier pre-stored in the server. This embodiment does not limit the way the server obtains the license plate number of the vehicle to be charged.

[0171] In practice, mobile charging commands also include information such as required time, required power, target charging method, battery capacity of the vehicle to be charged, charging protocol, and / or charging interface location. This facilitates the mobile charging device in charging the vehicle.

[0172] The vehicle information of the vehicle to be charged can be directly carried in the user's order, or it can be obtained by querying the vehicle model information carried in the user's order, or it can be determined based on the vehicle information and / or vehicle model information corresponding to the target user identifier pre-stored in the server. This embodiment does not limit the way the server obtains the vehicle information of the vehicle to be charged.

[0173] Step 206: If there are no available mobile charging devices in the target service area, the server generates a reservation order based on the user's order.

[0174] The reservation order includes: user identification and charging location information.

[0175] Since no available mobile charging stations are available within the target service area, generating reservation orders based on user orders helps solve the problem of unfulfilled user charging needs and poor user experience when charging services are unavailable. Converting user orders into reservation orders when no available mobile charging stations are available in the target service area allows for charging at a suitable time, better meeting user charging needs and improving the user experience.

[0176] In one example, before generating a reservation order based on a user's order, the server also includes: sending a reservation confirmation message to the user; and upon receiving the reservation confirmation message from the user, generating the reservation order based on the user's order. This allows the server to determine whether to generate a reservation order based on the user's actual needs, thereby improving the user experience.

[0177] Accordingly, when the client receives the reservation confirmation prompt, it outputs the reservation confirmation prompt; when the user confirms the reservation confirmation prompt, the client sends the reservation confirmation information corresponding to the reservation confirmation prompt to the server.

[0178] Optionally, the reservation confirmation message can also include alternative charging coupons. This helps guide users to choose alternative charging methods and improves the user experience.

[0179] Optionally, generating a reservation order based on a user order includes: determining the user identifier corresponding to the user order as the user identifier corresponding to the reservation order; and determining the charging location information of the user order as the charging location information corresponding to the reservation order.

[0180] In one example, after generating a reservation order based on a user's order, the server also includes: inserting the reservation orders into the target reservation order queue corresponding to the target service area in the order of their generation time to obtain queuing information; and feeding back the queuing information to the user. This can further improve the user experience.

[0181] The target reservation order queue is used to store reservation orders for the target service area, and the reservation order queues are different for different service areas.

[0182] Furthermore, if there are reservation orders in the target order queue, the server monitors whether there are any idle mobile charging devices in the target service area. If idle mobile charging devices are detected in the target service area, the reservation orders in the target order queue are assigned to the idle mobile charging devices in the order they were added to the target reservation order queue. This enables the automatic allocation and execution of reservation orders, thereby improving the efficiency of the charging system.

[0183] The method of sequentially allocating the reservation orders in the target order queue to the idle self-mobile charging device is the same as the method of generating a mobile charging instruction based on the charging location information and sending the mobile instruction to the target idle self-mobile charging device in step 204. This embodiment will not be described in detail here.

[0184] Optionally, after generating a reservation order based on a user's order, the server also includes: sending an execution confirmation message containing the reservation order information to the user if the reservation order meets the execution conditions; and executing the reservation order in response to the user's execution confirmation message. This ensures that the execution of the reservation order meets the user's needs, thereby improving the user experience and avoiding the waste of mobile charging device resources caused by executing a reservation order when the user does not want it to be executed.

[0185] Optionally, the execution confirmation message includes the charging location information corresponding to the reservation order. In actual implementation, the execution confirmation message may also include other information, such as the expected charging time corresponding to the reservation order. This embodiment does not limit the content of the execution confirmation message.

[0186] In one example, reservation orders are stored in a reservation order queue. A reservation order meets the execution conditions, including: the reservation order meets the condition for allocating an available self-service charging device. That is, an available self-service charging device exists, and there are no other reservation orders in the queue that were added earlier than this reservation order.

[0187] Accordingly, executing reservation orders includes: assigning reservation orders to idle self-charging devices for execution.

[0188] Optionally, if a user's order is not executed, the server can mark it as an abnormal order and analyze it to obtain deployment suggestions for mobile charging devices. This facilitates the planning of mobile charging device deployment.

[0189] In this context, "user order not fulfilled" means that charging service was not provided to the user. Specifically, "not fulfilled" includes situations such as the user refusing to generate a reservation order or the user canceling a reservation order. This embodiment does not limit the circumstances under which user orders are not fulfilled.

[0190] Step 207: The self-mobile charging device responds to the moving command sent by the server and moves according to the moving command to the charging location indicated by the charging location information.

[0191] In one example, the mobile charging instruction includes a target mobile path. In this case, moving based on the mobile instruction includes: moving based on the target mobile path.

[0192] In another example, the mobile charging instruction includes charging location information. In this case, moving based on the mobile instruction includes: obtaining a target access map of the target service area; planning a access path between the target idle location indicated by the location information of the mobile charging device and the location indicated by the charging location information based on the target access map and a preset path planning method to obtain the target moving path; and moving based on the target moving path.

[0193] The target access map can be pre-stored in the self-mobile charging device, or it can be carried in the movement command, or it can be sent to the self-mobile charging device by other devices and / or platforms. This embodiment does not limit the way the self-mobile charging device obtains the target access map.

[0194] The method by which the self-mobile charging device plans the target movement path based on the target traffic map and the preset path planning method is the same as the method of the server planning the target movement path mentioned above, and will not be described again in this embodiment.

[0195] Step 208: When the mobile charging device moves to the charging location, it performs a charging action to charge the vehicle to be charged.

[0196] In one example, the charging gun of the self-propelled charging device is located at the end of a robotic arm. The charging operation includes: controlling the robotic arm to move the charging gun to the charging port of the vehicle to be charged, and docking the charging gun with the charging port to charge the vehicle. This allows for automatic docking of the charging gun with the vehicle using a robotic arm, reducing manual intervention during the charging process and improving the user experience.

[0197] In another example, the charging module of the mobile charging device includes a locking mechanism to restrict the removal of the charging gun. When performing a charging operation, this includes controlling the locking mechanism to release the locking of the charging gun, thereby allowing the charging gun to be removed from the mobile charging device for charging the vehicle to be charged. This facilitates control over the charging process of the mobile charging device.

[0198] The charging gun can be removed by a robotic arm or by the user. This embodiment limits the method of removing the charging gun.

[0199] Optionally, the mobile charging device performs charging operations based on the demand-based access method.

[0200] Optionally, the mobile charging device can supply power to the vehicle based on the target charging protocol when it detects that the charging gun has successfully docked with the charging interface.

[0201] In one example, the charging interface of the vehicle to be charged includes a fast charging interface and a normal interface. In this case, the mobile charging device can select the charging interface to connect to based on the target charging mode.

[0202] The target charging protocol can be the charging protocol of the vehicle to be charged included in the mobile command, or it can be the charging protocol that the mobile charging device automatically matches when it detects that the charging gun and the charging port are successfully connected. This embodiment does not limit the type of target charging protocol.

[0203] Optionally, when the mobile charging device detects that the charging completion conditions have been met, it performs a disconnection action to automatically retract the charging gun and sends charging completion information back to the server.

[0204] Correspondingly, the server responds to the charging completion information from the mobile charging device, generates a user bill, and pushes the user bill to the user's device.

[0205] The charging termination conditions include: reaching the required charging amount, detecting that the remaining power is less than the minimum power threshold, reaching the required time, receiving the end charging command, and the vehicle being fully charged. This embodiment does not limit the charging termination conditions.

[0206] Optionally, the end-of-charging command can be entered by the user through the human-machine interface provided by the self-mobile charging device, or it can be sent by the server to the self-mobile charging device.

[0207] In one example, the minimum battery threshold is determined based on the shortest charging distance between the self-mobile charging device and the charging station. That is, the longer the shortest charging distance, the higher the minimum battery threshold. This ensures that the self-mobile device can return to the charging station on its own after charging is finished.

[0208] Optionally, the mobile charging device determines whether the vehicle to be charged has finished charging if the charging termination conditions are met; if the vehicle to be charged has not finished charging, it shares the charging information with the relay mobile charging device so that the relay mobile charging device can continue to supply power to the vehicle to be charged.

[0209] The relay self-mobile charging device can be automatically determined from the self-mobile charging devices in the target area, or it can be specified by the server. This embodiment does not limit the method of determining the relay self-mobile charging device.

[0210] By adopting the above technical solution, it is possible to further determine whether the vehicle to be charged has completed charging after the charging is finished; if the charging is not completed, the charging information can be shared with the idle mobile charging equipment. This can improve the user's charging experience and also facilitate the management of the mobile charging equipment.

[0211] The way a self-mobile device shares power and charging information with a relay device can be either directly with the relay self-mobile charging device or through a server. This embodiment does not limit the way a self-mobile charging device shares charging information with a relay self-mobile charging device.

[0212] Optionally, bills for self-charging devices and relay self-charging devices can be combined for billing purposes, making it easier for users to pay their bills.

[0213] In one example, the server responds to the charging completion information from the mobile charging device, determines whether the vehicle to be charged has finished charging, and generates a relay order if the vehicle has not finished charging, and assigns it to other idle mobile charging devices for execution.

[0214] Optionally, relay orders can be generated based on user orders and user order execution status.

[0215] Optionally, the bill for a user's order and the bill for the corresponding relay order can be calculated and pushed together. This makes it easier for users to pay for their orders.

[0216] The implementation principle of a charging method based on a self-propelled charging device according to an embodiment of this application is as follows: The server responds to a user order sent by the user terminal, determines the target service area where the vehicle to be charged is located based on the charging location information in the user order; determines whether there is an idle self-propelled charging device within the target service area; if an idle self-propelled charging device exists within the target service area, generates a movement command based on the charging location information and sends the movement command to the target idle self-propelled charging device; if no idle self-propelled charging device exists within the target service area, generates a reservation order based on the user order. Since a movement command can be generated based on the charging location information and sent to an idle self-propelled charging device within the target service area upon receiving a user order, and the self-propelled charging device can move autonomously within the target service area, the power delivery process can be automated, thereby saving the costs of delivery personnel and distribution vehicles, and ultimately saving charging costs.

[0217] Furthermore, since there are no available mobile charging devices in the target service area, generating a reservation order based on the user's order can help solve the problem of user orders not being fulfilled when charging services are not currently available, resulting in unmet user charging needs and a poor user experience. Converting user orders into reservation orders when there are no available mobile charging devices in the target service area makes it easier to charge at a suitable time, thereby meeting the user's charging needs and improving the user experience.

[0218] Optionally, step 201 can be implemented as a method embodiment on the user side; steps 202 to 205 can be implemented as a method embodiment on the server side; and steps 206 to 207 can be implemented as a method embodiment on the mobile charging device side.

[0219] Based on the above technical solution, further reference... Figure 5 Step 205: If no available mobile charging devices are found in the target service area, the server generates a reservation order based on the user's order. This includes the following steps:

[0220] Step 301: The server determines whether there are any unreserved mobile charging devices within the target service area.

[0221] Among them, "unreserved self-service charging equipment" refers to self-service charging equipment that has not been reserved by other orders.

[0222] Step 302: If there are unreserved mobile charging devices in the target service area, the server determines the target unreserved mobile charging device from among the unreserved mobile charging devices in the target service area.

[0223] The earliest available power supply time refers to the earliest time when an unreserved mobile charging device can meet the power supply conditions for a user's order. In one example, the unreserved mobile charging device is a mobile charging device awaiting recharging; in this case, the earliest power supply time is determined based on the remaining battery power and / or remaining recharging time of the unreserved mobile charging device. In other examples, the unreserved mobile charging device is a power supply mobile charging device; in this case, the earliest power supply time is determined based on the remaining power supply time of the unreserved mobile charging device, as well as the expected remaining battery power and / or expected recharging time after power supply is completed.

[0224] A target unreserved mobile charging device refers to a mobile charging device within the service area that is expected to supply power to vehicles waiting to be charged. In one example, if there is only one unreserved mobile charging device, then that device is designated as the target device. In another example, if there are two or more unreserved mobile charging devices, the one with the earliest available power supply time is designated as the target device.

[0225] In this embodiment, the target unreserved mobile charging device can also be determined by combining the target charging mode and / or access method corresponding to the user order. The specific determination method is the same as in step 103 above, and will not be repeated here.

[0226] In one example, determining whether there are unreserved mobile charging devices within a target service area includes: determining whether there are unreserved mobile charging devices among the mobile charging devices awaiting charging within the target service area.

[0227] Since self-powered mobile charging devices typically require recharging after initial power supply before they can be powered again, the earliest available power supply time for these devices is often long and difficult to predict. However, the earliest available power supply time for devices awaiting recharging is predictable. Therefore, determining whether there are any unreserved self-powered mobile charging devices among those awaiting recharging within the target service area can improve the accuracy of the determined earliest available power supply time. This also helps avoid poor user experience caused by a long earliest power supply time, thus contributing to a better user experience.

[0228] In actual implementation, it is also possible to directly determine whether there are any unreserved self-mobile charging devices among all self-mobile charging devices other than idle self-mobile charging devices. This embodiment does not limit this.

[0229] Step 303: The server determines the earliest charging time based on the target location information of the target unreserved mobile charging device and the earliest available power supply time.

[0230] In one example, the target mobile charging device that has not been scheduled needs to be recharged before it can meet the power supply requirements. In this case, the target location information is the location information of the recharge location of the target mobile charging device that has not been scheduled.

[0231] In another example, the target mobile charging device can meet the power supply requirements without needing to be recharged. In this case, the target location information is the current location information of the target mobile charging device.

[0232] In actual implementation, the target location information can also be determined in other ways. This embodiment does not limit the method of determining the target location information.

[0233] Optionally, the earliest available charging time can be determined based on the target location information of the unreserved mobile charging device and the earliest available power supply time. This includes: calculating the expected travel time based on the target location information and charging location information; and determining the earliest available charging time based on the expected travel time and the earliest available power supply time. This can improve the accuracy of the determined earliest available charging time.

[0234] In one example, the expected travel time is calculated based on the target location information and the charging location information, including: determining the straight-line distance between the location indicated by the target location information and the charging location indicated by the charging location information; and determining the expected travel time based on the straight-line distance. This can improve the speed of determining the expected travel time.

[0235] In another example, the expected travel time is calculated based on the target location information and charging location information, including: generating a target travel path based on the target location information and charging location information; and determining the expected travel time based on the target travel path. This can improve the accuracy of the determined expected travel time.

[0236] Step 304: The server generates a reservation order based on the earliest available charging time.

[0237] In one example, the server generates a reservation order based on the earliest available charging time, including: sending a time confirmation message containing the earliest available charging time to the user; and generating a reservation order based on the user's order and the time confirmation message in response to the user's time confirmation message.

[0238] Accordingly, upon receiving the time confirmation prompt, the client outputs the earliest available charging time for the user to confirm; upon receiving the user's confirmation of the earliest available charging time, the client sends a time confirmation prompt to the server.

[0239] Optionally, the time confirmation message may also include an optional charging time range.

[0240] The selectable charging time interval is determined based on the earliest charging time, and the time in the selectable charging time interval is no earlier than the earliest charging time.

[0241] In one example, the optional charging time range includes two hours after the earliest charging time.

[0242] Correspondingly, the client can output an optional charging time range for the user to choose from; upon receiving the user's selection operation for a certain time within the charging time range, the selected time is determined as the desired charging time, and time confirmation information including the desired charging time is returned to the server.

[0243] In actual implementation, the charging time interval can also be determined by the user based on the earliest available charging time in the time confirmation prompt information. The method by which the user determines the charging time interval is the same as the method by which the server determines the charging time interval, and this embodiment does not limit this.

[0244] Optionally, the reservation order also includes the target execution time and the target reserved mobile charging device. The reservation order is generated based on the user order and time confirmation information, including: determining the user identifier corresponding to the user order as the user identifier corresponding to the reservation order; determining the charging location information of the user order as the charging location information corresponding to the reservation order; determining the target execution time based on the time confirmation information; and confirming the target unreserved mobile charging device as the target reserved mobile charging device.

[0245] The target execution time refers to the expected execution time of the pre-order.

[0246] Target reservation self-service charging equipment refers to self-service charging equipment that is expected to fulfill a reservation order.

[0247] In one example, the target execution time is determined based on time confirmation information, including: determining the target execution time based on the earliest rechargeable time.

[0248] Optionally, the earliest rechargeable time is determined based on the target location information and the earliest power supply time. In this case, determining the target execution time based on the earliest rechargeable time includes: determining the earliest power supply time corresponding to the earliest rechargeable time as the target execution time.

[0249] Optionally, the time confirmation information includes the expected charging time. In this case, determining the target execution time based on the time confirmation information includes: determining the target execution time based on the expected charging time.

[0250] In one example, determining the target execution time based on the expected charging time includes: determining the target execution time based on the expected travel time and expected charging time corresponding to the target unreserved mobile charging device. This ensures that the determined target execution time matches the expected charging time, thereby improving the user experience.

[0251] Optionally, if the reservation order includes a target execution time and a target mobile charging device, the reservation order meets the execution conditions, including: reaching the target execution time. Accordingly, executing the reservation order includes: assigning the reservation order to the target mobile charging device for execution.

[0252] In actual implementation, the server can also directly generate reservation orders based on user orders and the earliest available charging time. This embodiment does not limit the way reservation orders are generated.

[0253] In the above technical solution, since there are unreserved mobile charging devices in the service area, the earliest charging time is determined based on the target unreserved mobile charging device and the earliest available power supply time. This can improve the accuracy of the determined earliest charging time and thus improve the user experience.

[0254] Optionally, steps 301 to 304 can be implemented separately as a method embodiment on the server side.

[0255] Based on the above technical solution, further reference Figure 6 In step 208, before the mobile charging device performs the charging action, the following steps are also included:

[0256] Step 401: The mobile charging device acquires the target image corresponding to the charging location.

[0257] The target image can be an image of a specific area of ​​the charging location, such as an image of the front area of ​​the vehicle and / or the parking space area corresponding to the charging location. In this case, the mobile charging device can move to the specific location to collect the target image. Alternatively, it can be a panoramic view of the charging location. In this case, the mobile charging device can move around the area corresponding to the charging location to collect the target image. This embodiment does not limit the type of target image or the method of collection.

[0258] Step 402: The mobile charging device determines the target license plate information of the charging location based on the target image.

[0259] In one example, determining the target license plate information of a charging location based on a target image includes: obtaining the target license plate image corresponding to the license plate position in the target image; and determining the target license plate information based on the target license plate image. This reduces the difficulty of determining license plate information, improves the efficiency of license plate information determination, and also improves the accuracy of the determined license plate information.

[0260] Optionally, the method for obtaining the license plate image corresponding to the license plate position in the target image can be projection analysis, connected component analysis, or machine learning, etc. This embodiment does not limit the method for obtaining the license plate image corresponding to the license plate position in the target image.

[0261] In one example, the method of determining the target license plate information based on the license plate image may include parsing the target license plate image based on the license plate recognition algorithm stored locally on the self-mobile charging device to obtain the target license plate information; or it may include transmitting the license plate image to the program interface provided by other devices and / or platforms, and receiving the license plate information returned by the program interface. This embodiment does not limit the method of determining the target license plate information based on the license plate image information.

[0262] In other examples, the license plate information in the target image can also be obtained directly by parsing the target image. For example, the target image can be directly transmitted to the server and the license plate information returned by the server can be received. This can reduce the amount of computation required by the mobile charging device.

[0263] Optionally, the mobile charging device determines the target license plate information of the charging location based on the target image, including: if the license plate information is not recognized based on the target image, outputting an order abnormality prompt message to prompt the back-end staff to handle the abnormal situation.

[0264] Optionally, before the mobile charging device determines the target license plate information of the charging location based on the target image, the process further includes: determining whether a vehicle exists at the charging location based on the target image; if a vehicle exists at the charging location, determining the target license plate information of the charging location based on the target image; and if no vehicle exists at the charging location, outputting an order exception message to prompt backend staff to handle the exception. Since the step of determining the target license plate information based on the target image is only performed if a vehicle exists at the charging location, it avoids wasting computational resources and improves determination efficiency.

[0265] Step 403: The mobile charging device determines whether the target license plate information matches the license plate information of the vehicle to be charged.

[0266] Optionally, the license plate information of the vehicle to be charged may be included in the mobile command, or it may be sent to the mobile charging device by the server and / or other platforms or devices. This embodiment does not limit the way the mobile charging device obtains the license plate information of the vehicle to be charged.

[0267] Optionally, the license plate information includes character type and order. In this case, determining whether the target license plate information matches the license plate information of the vehicle to be charged includes: determining whether the character type and order in the target license plate information match the characters and order in the license plate information of the vehicle to be charged.

[0268] Optionally, the license plate information also includes the license plate color. In this case, determining whether the target vehicle information matches the license plate information of the vehicle to be charged includes: determining whether the license plate color in the target license plate information matches the license plate color in the license plate information of the vehicle to be charged.

[0269] In actual implementation, steps 402 and 403 can also be executed on the server. In this case, the mobile charging device only needs to send the collected target image to the server, and the server will execute the steps of determining the target license plate information of the charging location based on the target image and determining whether the target license plate information matches the license plate information of the vehicle to be charged, and return the matching result to the mobile charging device. This can further save the computing resources of the mobile charging device.

[0270] Step 404: The mobile charging device performs the charging action when the target license plate information matches the license plate information of the vehicle to be charged.

[0271] The charging action is performed in the same way as in step 208 above, and will not be described again in this embodiment.

[0272] If the mobile charging device does not match the license plate information of the target vehicle, it will not perform the charging action and will output an order error message to prompt the back-end staff to handle the abnormal situation.

[0273] In the above technical solution, since the self-propelled charging device determines the target license plate information of the charging location before performing the charging action, and performs the charging action only when the target license plate information matches the license plate information of the vehicle to be charged, the identity of the charging object can be verified before the charging action is performed, which can help avoid problems caused by incorrect charging objects and thus improve the reliability of the charging system.

[0274] In actual implementation, vehicles at charging locations can also be verified based on other vehicle basic information, such as vehicle color. This embodiment does not limit the method of verifying vehicles at charging locations.

[0275] Optionally, steps 401 to 404 can be implemented separately as a method embodiment on the side of the mobile charging device.

[0276] Based on the above technical solution, the charging system of the charging device provided in this embodiment further includes a management platform, as referred to... Figure 7The charging method based on a self-propelled charging device includes the following steps:

[0277] Step 501: The mobile charging device sends management information to the management platform.

[0278] The management information includes the status and location information of the mobile charging device.

[0279] Optionally, the status information includes the operating status of each module of the self-propelled charging device. For example, the temperature of the energy storage module, the output current of the charging module, and environmental data collected by the sensing module. This embodiment does not limit the type of status information, which facilitates the management of the self-propelled charging device based on the management platform.

[0280] In one example, the management information also includes fault information for self-mobile charging devices and / or order exception notifications.

[0281] The fault information refers to the information generated by the self-propelled charging device under permissible fault conditions. For example, the self-propelled charging device generates fault information when the temperature of the heat storage module exceeds a preset temperature threshold.

[0282] Order error messages refer to error messages generated by the mobile charging device during the execution of movement commands sent by the server. For example, an order error message might be generated if the mobile charging device detects that no vehicle is present at the charging location.

[0283] Step 502: The management platform detects the mobile charging device based on the management information. If an abnormality is detected in the mobile charging device, the platform generates a corresponding device abnormality prompt message to prompt the staff to handle the abnormality of the mobile charging device.

[0284] In one example, when the management platform detects an anomaly during the movement of the self-propelled charging robot, such as when it detects an obstacle avoidance alarm sent by the self-propelled charging device, and / or when it detects that the self-propelled charging device stays in the same position on the road for an extended period of time, it generates a movement anomaly prompt message to prompt staff to remotely control the self-propelled charging device.

[0285] Correspondingly, the management platform can obtain sensor information collected by the sensor modules on the mobile charging device, such as information collected by cameras and radar, and output the sensor information for staff to remotely control the mobile charging device.

[0286] In one example, the method by which an operator remotely controls a self-propelled charging device includes: switching the self-propelled device's movement mode from automatic control mode to remote manual control mode; sending a movement command to the self-propelled device, which can then move according to the command; and after the remote manual control is completed, switching the self-propelled device's movement mode back to automatic control mode, at which point the self-propelled device can move automatically based on the collected sensor information.

[0287] In another example, when the management platform detects an anomaly in the self-propelled charging robot that requires on-site handling, it generates an anomaly alert and sends the anomaly alert and the location information of the self-propelled charging device to the staff to prompt them to carry out on-site maintenance of the self-propelled charging device.

[0288] In one example, the self-service charging device provides a human-machine interface, allowing users to communicate with management platform staff. This helps reduce the difficulty of using the charging system, saves communication time, and thus improves the user experience.

[0289] Optionally, the management platform can also accept and process information sent by the server.

[0290] In one example, if the mobile charging device and / or server encounters an order execution error, it sends an order error notification to the management platform so that staff can handle the error. This allows for timely processing of abnormal orders, thereby improving the user experience.

[0291] In the above technical solution, since the management platform can monitor the mobile charging device based on management information, it can generate corresponding device abnormality prompts when an abnormality is detected, so as to prompt the staff to handle the abnormality. This can handle the abnormality of the mobile charging device in a timely manner, thereby ensuring the stability of the charging system and improving the user experience.

[0292] Optionally, step 501 can be implemented as a method embodiment on the side of the mobile charging device; step 502 can be implemented as a method embodiment on the side of the management platform.

[0293] This application also discloses a charging system based on a self-moving charging device, see reference. Figure 8 The charging system includes: a user terminal 610, a server terminal 620, and a self-propelled charging device 630.

[0294] User terminal 610 is used to send user order information to the server.

[0295] Server 620 is used to respond to user order information, determine the target service area where the vehicle to be charged is located based on the charging location information in the user order information; determine whether there are any available mobile charging devices in the target service area; if there are available mobile charging devices in the target service area, determine the target available mobile charging device from among the available mobile charging devices in the target service area; generate a movement command based on the charging location information and send the movement command to the target available mobile charging device; if there are no available mobile charging devices in the target service area, generate a reservation order.

[0296] The self-moving charging device 630 is used to respond to a movement command and control the self-moving charging device to move to a charging position based on the charging path in the movement command; when the self-moving charging device moves to the charging position, it controls the self-moving charging device to perform a charging action.

[0297] Optionally, the charging system also includes a management platform 640.

[0298] The self-mobile charging device 630 is also used to send management information to the management platform, including the status information and location information of the self-mobile charging device.

[0299] The management platform 640 is used to monitor the self-propelled charging equipment based on management information; when an abnormality is detected in the self-propelled charging equipment, it generates corresponding equipment abnormality prompt information to prompt staff to handle the abnormality of the self-propelled charging equipment.

[0300] The methods by which staff handle malfunctions of self-propelled charging devices include: remote manual control of the self-propelled charging devices.

[0301] The charging system of the self-mobile charging device described above, as well as the embodiments of the charging method and charging system of the self-mobile charging device described above, belong to the same concept. For details of its implementation process, please refer to the method and system embodiments, which will not be repeated here.

[0302] This application also provides an electronic device. In one example, the electronic device is... Figure 1 The control module of the self-mobile charging device 130, user terminal 110 or server terminal 120 in the charging system shown, or Figure 3 In the actual implementation of the charging system shown, the management platform 140 can be implemented as other electronic devices. This embodiment does not limit the type of electronic device.

[0303] like Figure 9 As shown, Figure 9The illustrated electronic device 700 includes a processor 701 and a memory 703. The processor 701 and the memory 703 are connected, for example, via a bus 702. Optionally, the electronic device 700 may also include a transceiver 704. It should be noted that in practical applications, the transceiver 704 is not limited to one type, and the structure of this electronic device 700 does not constitute a limitation on the embodiments of this application.

[0304] Processor 701 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 701 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0305] Bus 702 may include a pathway for transmitting information between the aforementioned components. Bus 702 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 702 can be divided into address bus, data bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0306] The memory 703 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0307] The memory 703 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 701. The processor 701 is used to execute the application code stored in the memory 703 to implement the content shown in the foregoing method embodiments.

[0308] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, PDAs (personal digital assistants), and PADs (tablet computers), as well as fixed terminals such as digital TVs and desktop computers. They can also serve as server-side components. Figure 9 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0309] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed in a computer, causes the computer to perform the charging method based on the self-moving charging device provided in the above embodiments.

[0310] It should be understood that although the steps in the flowcharts in the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order in which these steps are performed, and they may be performed in other orders.

[0311] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A charging method based on a self-propelled charging device, characterized in that, For use on the server side, the method includes: In response to a user order sent by the user terminal, the target service area where the vehicle to be charged is located is determined based on the charging location information in the user order; Determine whether there are any idle self-propelled charging devices within the target service area; If the idle self-propelled charging device exists in the target service area, the target idle self-propelled charging device is determined from the idle self-propelled charging devices in the target service area. A movement command is generated based on the charging location information, and the movement command is sent to the target idle self-moving charging device. If no available mobile charging device is available within the target service area, a reservation confirmation message will be sent to the user. Upon receiving a reservation confirmation message from the user, a reservation order is generated based on the user's order. If the reservation order meets the execution conditions, send an execution confirmation message containing the reservation order information to the user's client; in response to the user's execution confirmation message, execute the reservation order. If a user order is not executed, the user order will be marked as an abnormal order, and deployment suggestions for mobile charging devices will be obtained by analyzing the abnormal orders. The user order not being executed includes the user refusing to generate a reservation order or the user canceling a reservation order. The process of generating a reservation order based on the user's order includes: Determining whether there are any unbooked mobile charging devices within the target service area, wherein an unbooked mobile charging device is a mobile charging device that has not been booked by other orders; determining whether there are any unbooked mobile charging devices within the target service area; wherein an unbooked mobile charging device is a mobile charging device that does not meet the power supply conditions and is not in a power supply state; If the unreserved mobile charging device exists within the target service area, a target unreserved mobile charging device is determined from among the unreserved mobile charging devices in the target service area. Determining the target unreserved mobile charging device from among the unreserved mobile charging devices waiting for charging in the target service area includes: determining the target unreserved mobile charging device from among the unreserved mobile charging devices waiting for charging in the target service area; determining the earliest available power supply time based on the remaining power and / or remaining charging time of the target unreserved mobile charging device; and determining the location information of the charging location of the target unreserved mobile charging device as target location information. Calculate the expected travel time based on target location information and charging location information; The earliest rechargeable time is determined based on the expected travel duration and the earliest available power supply time. Send a time confirmation message to the user terminal containing the earliest charging time and the optional charging time range, wherein the time in the optional charging time range is not earlier than the earliest charging time; In response to the user's time confirmation prompt, if the time confirmation information includes the expected charging time, the target execution time is determined based on the expected travel time and the expected charging time corresponding to the target unreserved mobile charging device, and the expected charging time is selected by the user within the selectable charging time range; A reservation order is generated based on the user order and the target execution time.

2. The method according to claim 1, characterized in that, The user order also includes the required time and required electricity. Determining the target idle mobile charging device from the idle mobile charging devices in the target service area includes: The target charging mode is determined based on the required time and the required power. The charging modes of the self-mobile charging device include fast charging mode and slow charging mode. When the target charging mode is fast charging mode, the target idle mobile charging device is determined from the idle mobile charging devices that meet the fast charging conditions in the target service area. The fast charging conditions include the mobile charging device supporting fast charging and / or the remaining battery power being greater than a preset fast charging capacity threshold.

3. The method according to claim 2, characterized in that, The step of determining the target idle mobile charging device from idle mobile charging devices that meet the fast charging conditions within the target service area includes: Determine the access method corresponding to the user order; the access method of the self-portable charging device includes manual access and automatic access. When the required access method is automatic access, the target idle mobile charging device is determined from the idle mobile charging devices in the target service area that meet the fast charging conditions and the automatic access conditions. The automatic access condition includes a robotic arm installed on the mobile charging device, which is used to automatically plug and unplug the charging gun.

4. A charging method based on a self-propelled charging device, characterized in that, For use in self-propelled charging devices, the method includes: In response to a movement command sent by the server, the device moves based on the movement command; the movement command is generated by the server based on the charging method based on the self-moving charging device according to any one of claims 1 to 3. When the self-moving charging device moves to the charging position, a charging action is performed to charge the vehicle to be charged; If the charging termination conditions are met, determine whether the vehicle to be charged has completed charging; If the vehicle to be charged has not finished charging, the charging information is shared with the relay mobile charging device so that the relay mobile charging device can continue to supply power to the vehicle to be charged. The charging termination conditions include detecting that the charging amount to the vehicle to be charged has reached the required charging amount, detecting that the remaining power of the vehicle itself is less than the minimum power threshold, reaching the required time and / or receiving a charging termination command. The process of determining whether the vehicle to be charged has finished charging when the charging end conditions are met, and sharing charging information with the relay mobile charging device when the vehicle to be charged has not finished charging, includes: the server responding to the charging end information fed back by the mobile charging device, determining whether the vehicle to be charged has finished charging, and generating a relay order and assigning it to other idle mobile charging devices for execution when the vehicle to be charged has not finished charging.

5. The method according to claim 4, characterized in that, Before performing the charging action, the following is also included: Acquire the target image corresponding to the charging location; Determine the target license plate information of the charging location based on the target image; Determine whether the target license plate information matches the license plate information of the vehicle to be charged; If the target license plate information matches the license plate information of the vehicle to be charged, the charging action is performed.

6. A charging system based on a self-propelled charging device, characterized in that, The charging system includes: a user terminal, a server terminal, self-propelled charging devices, and a management platform; The user terminal is used to send user order information to the server. The server is configured to: respond to the user order information; determine the target service area where the vehicle to be charged is located based on the charging location information in the user order information; determine whether there are any idle mobile charging devices in the target service area; if there are idle mobile charging devices in the target service area, determine a target idle mobile charging device from among the idle mobile charging devices in the target service area; generate a movement command based on the charging location information and send the movement command to the target idle mobile charging device; if there are no idle mobile charging devices in the target service area, send a reservation confirmation prompt to the user terminal; upon receiving the reservation confirmation prompt from the user terminal, generate a reservation order; if the reservation order meets the execution conditions, send an execution confirmation prompt containing the reservation order information to the user terminal; in response to the execution confirmation prompt from the user terminal, execute the reservation order; if the user order is not executed, mark the user order as an abnormal order and obtain deployment suggestions for mobile charging devices by analyzing the abnormal orders, wherein the user order not being executed includes the user refusing to generate a reservation order or the user canceling a reservation order. The step of generating a reservation order based on the user order includes: determining whether there are any unreserved mobile charging devices among the mobile charging devices awaiting power replenishment in the target service area, wherein an unreserved mobile charging device refers to a mobile charging device that has not been reserved by other orders, and a mobile charging device awaiting power replenishment refers to a mobile charging device that does not meet the power supply conditions and is not in a power supply state; if there are unreserved mobile charging devices in the target service area, determining a target unreserved mobile charging device from among the unreserved mobile charging devices awaiting power replenishment in the target service area; determining the earliest available power supply time based on the remaining power and / or remaining power replenishment time of the target unreserved mobile charging device; and determining the power replenishment location of the target unreserved mobile charging device. The location information is determined as the target location information; the expected travel time is calculated based on the target location information and the charging location information; the earliest available charging time is determined based on the expected travel time and the earliest available power supply time; a time confirmation prompt message containing the earliest available charging time and an optional charging time interval is sent to the user terminal, wherein the time in the optional charging time interval is not earlier than the earliest available charging time; in response to the user terminal's time confirmation prompt message, if the time confirmation message includes the desired charging time, a target execution time is determined based on the expected travel time and the desired charging time corresponding to the target unreserved mobile charging device, wherein the desired charging time is selected by the user within the optional charging time interval; a reservation order is generated based on the user order and the target execution time. The self-moving charging device is configured to respond to the movement command, control the self-moving charging device to move to the charging location based on the charging path in the movement command; control the self-moving charging device to perform a charging action when it moves to the charging location; and send management information to the management platform, the management information including the status information and location information of the self-moving charging device.

7. A self-propelled charging device, characterized in that, The self-propelled charging device includes an energy storage module, a charging module, a mobility module, a sensing module, a communication module, and a control module; the control module is signal-connected to the charging module, the energy storage module, the mobility module, the sensing module, and the communication module, respectively, and the charging module is electrically connected to the energy storage module; The energy storage module is used to store electrical energy; The charging module is used to output the electrical energy stored in the energy storage module to charge the vehicle to be charged. The mobile module is used to drive the self-moving charging device to move; The sensing module is used to collect sensing data on the location of the self-moving charging device. The communication module is used for communication with other devices; The control module is used to execute the charging method based on the self-moving charging device as described in claim 4 or 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed in the computer, the computer is instructed to perform the charging method based on the self-moving charging device according to any one of claims 1 to 3, or the computer is instructed to perform the charging method based on the self-moving charging device according to claim 4 or 5.

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