Vehicle charging scheduling method and system based on Internet of Things

Abstract

According to the vehicle charging scheduling method and system based on the Internet of Things, a vehicle is automatically driven into a charging station for charging in an unmanned driving mode, a user can select the position of the nearby charging station as a navigation point according to reality, and after the vehicle is automatically driven into the charging station, the vehicle is navigated to the vicinity of the charging station for charging according to the interior of the charging station; in the whole charging process, self-charging is carried out in leisure time, manual queuing is not needed, vehicle owner intervention is not needed, and the use feeling of the carrier is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent logistics equipment, and in particular, relates to a vehicle charging scheduling method and system based on the Internet of Things. Background Art

[0002] With the development of new energy vehicle technology, the power of on-board batteries has gradually begun to support high-power sensors and processors on board, and unmanned driving or automatic driving has gradually become widely used. Unmanned driving or automatic driving technology can effectively liberate manpower, improve road traffic order, and avoid uncontrollable factors such as speeding, drunk driving, and random lane changes in manual driving. With the improvement of vehicle intelligence and the growth of charging demand, charging queues are a more prominent problem at this stage. After the further popularization of new energy vehicles, this problem will become more and more prominent, and finding charging piles for charging by yourself is one of the important exploration technologies at this stage. CN115635858A is an automatic charging device and method based on unmanned vehicles, CN112572214B is an automatic charging system and method based on reversing images, and CN114954060B is an intelligent flexible charging network system and its intelligent charging method. Patents discuss the feasibility of unmanned charging from the perspectives of how to set up automatic charging piles to charge unmanned vehicles, how to use reversing images to align charging, and how to use flexible charging devices for charging. However, the above technologies have high requirements for unmanned vehicles and are only for single vehicles, and do not involve large-scale charging applications. This application aims to combine unmanned driving / autonomous driving with automatic charging. After the vehicle completes the transportation of passengers, it automatically enters the charging station to replenish electricity without human intervention. There is no need for individuals to wait for charging time, thereby improving the convenience of using new energy vehicles. Summary of the invention

[0003] In order to achieve the above effects, the present application provides a vehicle charging scheduling method and system based on the Internet of Things.

[0004] The method and technical solution include: setting navigation signal transmitters at both ends of each straight road of the charging station, and multiple signal transmitters constitute an internal beacon navigation network; The controller generates an electronic map based on the internal beacon navigation position and the internal road network of the charging station, matches the roads on the electronic map with the roads of the charging station and presets the road travel direction on the electronic map. Each road is a one-way street. Set the speed limit inside the charging station and set the intersection area according to the intersection of the electronic map road. The radius of each intersection area should not be less than the distance the vehicle moves in one second. The electronic map is transmitted to the vehicle, so that the vehicle can drive according to the acquired road network and the preset direction of travel when entering the charging pile to find the charging pile; Before a vehicle enters the intersection area, it determines whether there are other vehicles that will enter the intersection area within the corresponding time range. If so, an avoidance strategy is executed. If not, the vehicle passes through the intersection area normally. The controller monitors whether the electronic map location information of all vehicles is consistent with the actual location information. If they are inconsistent, the controller controls the vehicle to exit the charging station for maintenance.

[0005] Furthermore, the method for determining whether there are other vehicles that will enter the intersection area within a corresponding time range before the vehicle enters the intersection area includes: each of the vehicles sending its own position, speed and route information on the electronic map to the outside, and each vehicle receiving the position, speed and route information of nearby vehicles, and determining whether there are other vehicles that will enter the intersection area within the corresponding time range based on the position and speed information of nearby vehicles.

[0006] Furthermore, the charging piles of the charging station are also provided with radio frequency identification, each radio frequency identification is provided with a unique ID, and the electronic map also includes the location information of the radio frequency identification of the charging station; the vehicle is provided with a radio frequency interaction module, and the vehicle verifies the location of the vehicle on the electronic map by radio frequency interaction with the charging piles.

[0007] Furthermore, the charging pile is provided with a mechanical charging arm, and the charging position of the charging pile is provided with a vehicle parking position confirmation mark. When the vehicle corrects the parking position according to the parking position confirmation mark, and transmits charging start and charging end information to the charging pile through radio frequency; the charging pile extends / retracts the mechanical charging arm according to the information transmitted by the vehicle.

[0008] Furthermore, after correcting the parking position, the vehicle corrects the accuracy of its own autonomous driving sensor based on the vehicle posture, using the parking position confirmation mark and the internal beacon navigation network position as a reference.

[0009] Furthermore, the intersection area is also provided with a signal receiver, which is used to receive the electronic map position, speed and route information sent by the vehicle and send the above information to the controller.

[0010] The present application also proposes a vehicle dispatching system, comprising: a charging station, wherein the charging station is provided with a plurality of charging piles, and a road for vehicles to pass through is left between adjacent charging piles and a site for vehicles to stop and charge is provided; A navigation signal transmitter, fixed at both ends of the straight road of the charging station, for transmitting a navigation signal; a controller, connected to the navigation signal transmitter, for planning an electronic map according to the location of the navigation signal transmitter and matching the roads on the electronic map with the charging station roads and presetting the preset travel direction of the roads on the electronic map, each road being set as a one-way street; And, a vehicle, which is signal-connected to the controller and the navigation signal transmitter respectively, and is used to determine the position according to the signal transmitted by the navigation signal transmitter, and determine the charging route according to the electronic map sent by the controller.

[0011] Furthermore, the vehicle is also provided with a signal sending unit, a signal receiving unit and a processing unit. The signal sending unit is used to send the position, speed and route information on the electronic map to the outside; the signal receiving unit is used to receive the position, speed and route information of the electronic map of other vehicles; the processing unit is used to determine whether there are other robots that will enter the intersection area within the corresponding time range. If so, the vehicle is controlled to avoid according to the avoidance strategy; if not, the vehicle is controlled to pass through the intersection area normally.

[0012] Furthermore, the charging pile is provided with a radio frequency identifier, each of which has a unique ID, and the controller records the location of the radio frequency identifier into the electronic map during the process of generating the electronic map; the vehicle is provided with a radio frequency interaction module, and the vehicle confirms the location of the charging pile through radio frequency interaction and corrects the location of the vehicle on the electronic map.

[0013] Furthermore, the charging station is also provided with a plurality of signal receivers, and the positions of the signal receivers correspond one-to-one to the positions of the intersection areas in the electronic map.

[0014] The vehicle of the present application automatically drives into a charging station for charging in an unmanned manner. Users can select a nearby charging station location as a navigation point based on actual conditions. After the vehicle automatically drives into the charging station, it navigates to the vicinity of the charging station for charging according to the internal navigation of the charging station. The entire charging process utilizes leisure time to charge itself, without the need for manual queuing or owner intervention, thereby improving the user experience of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is a schematic diagram of the charging station layout of an implementation scheme of the system of the present application. DETAILED DESCRIPTION

[0017] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0018] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0019] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings. The present application proposes a vehicle charging scheduling method and system based on the Internet of Things. Figure 1The layout diagram of the present application discloses a vehicle charging scheduling method based on the Internet of Things. Navigation signal transmitters are respectively set at both ends of each straight road of the charging station, and multiple signal transmitters constitute an internal beacon navigation network; in this step, multiple navigation signal transmitters are used as strong spokes in a limited space to form beacon points, and a beacon navigation network is formed according to the beacon points; the controller generates an electronic map based on the internal beacon navigation position combined with the internal road network of the charging station, matches the roads on the electronic map with the roads of the charging station and presets the road travel direction on the electronic map, and each road is a one-way street; in this application, the positioning of the beacon navigation network combined with the internal road relationship can generate an extremely high-precision electronic map. In this step, since the beacon is set as a point-to-point straight line for the road, extremely high positioning navigation can be achieved for vehicles on the road. Set the internal speed limit of the charging station, and set the intersection area according to the intersection of the electronic map road. The radius of each intersection area is not less than the distance that the vehicle moves in one second. In this embodiment, in order to ensure safety, the internal speed limit is set, which is generally not more than 10KM / h. At the same time, in order to facilitate scheduling and vehicle intersection, an intersection area is set on the road to facilitate the vehicles on each road to travel together. On this basis, the electronic map is transmitted to the vehicle, so that the vehicle can travel according to the road network and the preset direction of travel when entering the charging pile to find the charging pile; before the vehicle enters the intersection area, it is determined whether there are other vehicles that will enter the intersection area within the corresponding time range. If there are, the avoidance strategy is executed, if not, the intersection area is passed normally; the controller monitors whether the electronic map location information of all vehicles is consistent with the actual location information. If not, the vehicle is controlled to exit the charging station for maintenance. In this step, in order to prevent the faulty vehicle from disrupting the charging order, and to prevent the owner from manually intervening in the vehicle queue and causing chaos, this step will also ask for faulty or disorderly vehicles according to the authority. This application has been tested in closed sections and closed spaces. Under the condition of ensuring the order of entrances and exits, a temporary parking area can be set up inside the charging pile, such as using a three-dimensional parking method, to maximize the effective charging time, so that the car waits for the pile, and improve the operating efficiency of the charging station. In actual use, this application can be promoted to car owners with automatic driving capabilities through the State Grid or other APP methods, and confirm the vehicle's driving authority classification in the charging station. After the owner goes to work or rests at home, the navigation position is set for the vehicle to arrive at the charging station to queue for charging, and after charging is completed, it will return to the owner's designated parking position.

[0021] Based on the above embodiment, the method for judging whether other vehicles will enter the intersection area within the corresponding time range before the vehicle enters the intersection area includes: each of the vehicles sends its own position, speed and route information on the electronic map, and each vehicle receives the position, speed and route information of nearby vehicles, and judges whether other vehicles will enter the intersection area within the corresponding time range by the position and speed information of nearby vehicles. In this embodiment, according to the characteristics of unmanned vehicles, unmanned vehicles are further allowed to obtain the position information of other vehicles for warning and avoidance, so as to minimize the risk of collision. Based on one or some of the above embodiments, the charging piles of the charging station are also provided with radio frequency identification, each radio frequency identification is provided with a unique ID, and the electronic map also includes the location information of the radio frequency identification of the charging station; the vehicle is provided with a radio frequency interaction module, and the vehicle verifies the location of the vehicle on the electronic map by radio frequency interaction with the charging pile. In this embodiment, the charging process of the vehicle is effectively recorded through the charging pile ID, and the running position of the vehicle is effectively recorded and verified, thereby improving the efficiency of charging planning and scheduling.

[0022] Based on one or some of the above embodiments, the charging pile is provided with a mechanical charging arm, and the charging position of the charging pile is provided with a vehicle body parking position confirmation mark. When the vehicle corrects the parking position according to the parking position confirmation mark and transmits charging start and charging end information to the charging pile through radio frequency, the charging pile extends / retracts the mechanical charging arm according to the vehicle transmission information. In this embodiment, the labor cost is reduced by the cooperation of automatic charging pile and unmanned driving.

[0023] Based on one or some of the above embodiments, after the vehicle corrects the parking position, it uses the parking position confirmation mark and the internal beacon navigation network position as a reference according to the body posture to correct the accuracy of its own autonomous driving sensor. Another important beneficial effect of the present application is the sensor correction of the vehicle. Since unmanned driving needs to rely on multiple and multiple sensors to locate and detect external conditions, whether it is a passenger car or a commercial vehicle, an unmanned car, an unmanned mining truck, etc., many perception sensors are deployed, mainly cameras (Camera), millimeter wave radar (Radar), laser radar (Lidar), ultrasonic radar (Uss). After the sensor is installed, it is necessary to eliminate the installation error through sensor calibration so that the autonomous driving system can accurately locate where each sensor is installed. Sensor calibration lays a solid foundation for subsequent mapping, positioning, perception and control, and is the core part and prerequisite for the stable operation of the autonomous driving system. The calibration accuracy will affect the upper limit accuracy of the sensor, and ultimately affect the driving state of the vehicle. With the daily use of the vehicle, the sensor will gradually show slight deviations, which will have a certain impact on the autonomous driving, and will gradually lead to the positioning and driving deviation of the autonomous driving. During the charging process, this embodiment uses the docking position confirmation mark and the internal beacon navigation network position as a reference to correct the accuracy of its own autonomous driving sensor, and combines the internal parameter calibration and external parameter calibration to further improve the autonomous driving accuracy of the vehicle.

[0024] Based on one or some of the above embodiments, the intersection area is further provided with a signal receiver, which is used to receive the electronic map position, speed and route information sent by the vehicle and send the above information to the controller. In this step, the vehicle actively reports so that the sensor can grasp the vehicle information in real time, which is convenient for scheduling.

[0025] Reference Figure 1 The present application also proposes a vehicle charging scheduling system based on the Internet of Things, including: a charging station, wherein the charging station is provided with a plurality of charging piles, and a road for vehicles to pass through is left between adjacent charging piles and a place for vehicles to stop and charge is provided; a navigation signal transmitter, fixed at both ends of the straight direction of the road in the charging station, for transmitting navigation signals; a controller, connected to the navigation signal transmitter, for planning an electronic map according to the position of the navigation signal transmitter and matching the roads on the electronic map with the roads of the charging station and presetting a preset travel direction of the road on the electronic map, and each road is set as a one-way street; and a vehicle, wherein the vehicle is signal-connected to the controller and the navigation signal transmitter respectively, for determining the position according to the signal transmitted by the navigation signal transmitter, and determining the charging route according to the electronic map sent by the controller.

[0026] On the basis of the above system, the vehicle is further provided with a signal sending unit, a signal receiving unit and a processing unit. The signal sending unit is used to send the position, speed and route information on the electronic map to the outside; the signal receiving unit is used to receive the position, speed and route information of the electronic map of other vehicles; the processing unit is used to determine whether there are other robots that will enter the intersection area within the corresponding time range. If so, the vehicle is controlled to avoid according to the avoidance strategy. If not, the vehicle is controlled to pass through the intersection area normally.

[0027] On the basis of the above system, further, the charging pile is provided with a radio frequency identification, each radio frequency identification is provided with a unique ID, and the controller records the position of the radio frequency identification into the electronic map during the process of generating the electronic map; the vehicle is provided with a radio frequency interaction module, and the vehicle confirms the position of the charging pile through radio frequency interaction and corrects the position of the vehicle on the electronic map.

[0028] Based on the above system, the charging station is further provided with a plurality of signal receivers, and the positions of the signal receivers correspond to the positions of the intersection areas in the electronic map. In this embodiment, since the speed, direction, etc. of the vehicles in the intersection area may change, in order to improve the scheduling accuracy, it is necessary to receive the vehicles' co-occurring areas in the intersection area through the signal receivers to improve the scheduling accuracy.

[0029] The protection scope of the present invention is not limited thereto, and any change or replacement of the technical solution that can be thought of without creative work should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope defined in the claims.

Claims

1. A vehicle charging scheduling method based on the Internet of Things, characterized in that: A navigation signal transmitter is respectively arranged at both ends of each straight road of the charging station, and a plurality of the signal transmitters constitute an internal beacon navigation network; The controller generates an electronic map based on the internal beacon navigation position and the internal road network of the charging station, matches the roads on the electronic map with the roads of the charging station and presets the road travel direction on the electronic map. Each road is a one-way street. Set the speed limit inside the charging station and set the intersection area according to the intersection of the electronic map road. The radius of each intersection area should not be less than the distance the vehicle moves in one second. The electronic map is transmitted to the vehicle, so that the vehicle can drive according to the acquired road network and the preset direction of travel when entering the charging pile to find the charging pile; Before a vehicle enters the intersection area, it determines whether there are other vehicles that will enter the intersection area within the corresponding time range. If so, an avoidance strategy is executed. If not, the vehicle passes through the intersection area normally. The controller monitors whether the electronic map location information of all vehicles is consistent with the actual location information. If they are inconsistent, the controller controls the vehicle to exit the charging station for maintenance.

2. The method according to claim 1, characterized in that The method for determining whether there are other vehicles that will enter the intersection area within a corresponding time range before the vehicle enters the intersection area includes: each of the vehicles sending its own position, speed and route information on the electronic map to the outside, and each vehicle receiving the position, speed and route information of nearby vehicles, and determining whether there are other vehicles that will enter the intersection area within the corresponding time range based on the position and speed information of nearby vehicles.

3. The method according to claim 1, characterized in that The charging piles of the charging station are also provided with radio frequency identification, each radio frequency identification is provided with a unique ID, and the electronic map also includes the location information of the radio frequency identification of the charging station; the vehicle is provided with a radio frequency interaction module, and the vehicle verifies the location of the vehicle on the electronic map by radio frequency interaction with the charging piles.

4. The method according to claim 1, characterized in that The charging pile is provided with a mechanical charging arm, and the charging position of the charging pile is provided with a vehicle parking position confirmation mark. When the vehicle corrects the parking position according to the parking position confirmation mark and transmits charging start and charging end information to the charging pile via radio frequency; the charging pile extends / retracts the mechanical charging arm according to the information transmitted by the vehicle.

5. The method according to claim 4, characterized in that After correcting the parking position, the vehicle corrects the accuracy of its own autonomous driving sensor based on the vehicle posture, using the parking position confirmation mark and the internal beacon navigation network position as a reference.

6. The method according to claim 1, characterized in that The intersection area is also provided with a signal receiver, which is used to receive the electronic map position, speed and route information sent by the vehicle and send the above information to the controller.

7. A vehicle charging scheduling system based on the Internet of Things using the method described in any one of claims 1 to 6, characterized in that: include: A charging station, wherein the charging station is provided with a plurality of charging piles, and a road for vehicles to pass through is left between adjacent charging piles and a place for vehicles to stop and charge; A navigation signal transmitter, fixed at both ends of the straight road of the charging station, for transmitting a navigation signal; a controller, connected to the navigation signal transmitter, for planning an electronic map according to the location of the navigation signal transmitter and matching the roads on the electronic map with the charging station roads and presetting the preset travel direction of the roads on the electronic map, each road being set as a one-way street; And, a vehicle, which is signal-connected to the controller and the navigation signal transmitter respectively, and is used to determine the position according to the signal transmitted by the navigation signal transmitter, and determine the charging route according to the electronic map sent by the controller.

8. The system according to claim 7, characterized in that The vehicle is also provided with a signal sending unit, a signal receiving unit and a processing unit. The signal sending unit is used to send the position, speed and route information on the electronic map to the outside; the signal receiving unit is used to receive the position, speed and route information of the electronic map of other vehicles; the processing unit is used to determine whether there are other robots that will enter the intersection area within the corresponding time range. If so, the vehicle is controlled to avoid according to the avoidance strategy. If not, the vehicle is controlled to pass through the intersection area normally.

9. The system according to claim 7, characterized in that The charging pile is provided with a radio frequency identifier, each of which has a unique ID. The controller records the location of the radio frequency identifier in the electronic map during the process of generating the electronic map; the vehicle is provided with a radio frequency interaction module, and the vehicle confirms the location of the charging pile and corrects the location of the vehicle on the electronic map through radio frequency interaction.

10. The system according to claim 7, characterized in that The charging station is also provided with a plurality of signal receivers, and the positions of the signal receivers correspond one-to-one to the positions of the intersection areas in the electronic map.

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