Multi-parking-space automatic charging system and intelligent control method thereof

Abstract

The invention discloses a multi-parking-space automatic charging system and an intelligent control method thereof, which are applied to the multi-parking-space automatic charging system arranged in an electric vehicle charging station. The system comprises a control assembly, a license plate recognition assembly, a visual recognition assembly, a plurality of charging trusses, multi-parking-space charging assemblies arranged on the charging trusses, and charging piles arranged in the charging trusses. Wherein the multi-parking-space charging assembly comprises a sliding guide rail module and a mechanical arm module, the sliding guide rail module is arranged on the charging truss, and the mechanical arm module is arranged on the sliding guide rail module. According to the embodiment of the invention, the mechanical arm module can be driven by the sliding guide rail module in the multi-parking-space charging assembly to grab the charging gun on the charging pile and move to the to-be-charged electric vehicle of any parking space in the multiple parking spaces under the charging truss for automatic charging operation; the operation that one multi-parking-space charging assembly carries out automatic charging on the to-be-charged electric cars on the multiple parking spaces is achieved, and the equipment deployment cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of new energy technology, and in particular to a multi-parking automatic charging system and an intelligent control method thereof. Background Art

[0002] At present, new energy technologies have been widely used, especially in the field of electric vehicles. When the power of an electric vehicle is insufficient, the user can drive to a charging station for charging. However, the charging gun on the charging pile installed in most charging stations requires the user to manually remove the charging gun from the charging pile and then plug it into the charging port of the electric vehicle. Although there are some automatic charging devices that can automatically plug the charging gun into the charging port of an electric vehicle, that is, it uses the mechanical arm on the automatic charging device to remove the charging gun from the charging pile and then plug it into the charging port of the electric vehicle, but the above-mentioned automatic charging equipment is generally limited to automatic charging of electric vehicles in a single parking space. If it is necessary to charge electric vehicles in multiple parking spaces, multiple automatic charging devices need to be set up, resulting in high deployment costs. Summary of the invention

[0003] The embodiment of the present invention provides a multi-parking space automatic charging system and an intelligent control method thereof, aiming to solve the problem that in the prior art, an automatic charging device that can automatically plug a charging gun into the charging port of an electric vehicle is used in a charging station for an electric vehicle. However, the above-mentioned automatic charging device is generally limited to automatically charging an electric vehicle in a single parking space. If it is necessary to charge electric vehicles in multiple parking spaces, multiple automatic charging devices need to be set up, resulting in a high deployment cost.

[0004] In a first aspect, an embodiment of the present invention provides an intelligent control method for a multi-parking automatic charging system, which is applied to a multi-parking automatic charging system set in a tram charging station, wherein the multi-parking automatic charging system includes a control component, a license plate recognition component, a visual recognition component, a plurality of charging trusses, a multi-parking charging component arranged on each charging truss, and a charging pile arranged in each charging truss; the license plate recognition component, the visual recognition component, the multi-parking charging component on each charging truss, and the charging pile in each charging truss are all communicatively connected with the control component; wherein the multi-parking charging component includes a sliding guide rail module and a mechanical arm module, the sliding guide rail module is arranged on the charging truss, the mechanical arm module is arranged on the sliding guide rail module and can move horizontally along the charging truss under the drive of the sliding guide rail module, and is used to drive the mechanical arm module to grab the charging gun on the charging pile and move to the corresponding electric vehicle to be charged in any one of the multiple parking spaces under the charging truss to perform automatic charging operation; the intelligent control method for the multi-parking automatic charging system includes: The license plate recognition component recognizes the license plate of the electric vehicle to be charged entering the electric vehicle charging station, obtains the license plate recognition result, and sends the license plate recognition result to the control component; The control component matches the license plate recognition result with the acquired vehicle information data set to obtain current vehicle model information corresponding to the license plate recognition result, and determines current charging port position information based on the current vehicle model information; If the visual recognition component detects that the electric vehicle to be charged has parked in the charging port image of one of the parking spaces of the charging truss, the charging port image is sent to the control component; The control component determines the current charging port positioning position of the electric vehicle to be charged based on the charging port image, and determines the first motion path corresponding to the sliding guide rail module in the sliding guide rail module and the second motion path corresponding to the mechanical arm module based on the initial stop position of the sliding guide rail module in the multi-parking charging component and the current charging port positioning position; wherein the initial stop position of the sliding guide rail module is the position where the sliding guide rail module stops on the charging truss after the mechanical arm module removes the charging gun from the charging pile; The sliding guide rail module moves to a corresponding first target position based on the first motion path; The robotic arm module drives the charging gun to move to a corresponding second target position based on the second motion path, and charges the electric vehicle to be charged.

[0005] In a second aspect, an embodiment of the present invention further provides a multi-parking automatic charging system, which is applied to an electric vehicle charging station, wherein the multi-parking automatic charging system includes a control component, a license plate recognition component, a visual recognition component, a plurality of charging trusses, a multi-parking charging component arranged on each charging truss, and a charging pile arranged in each charging truss; the license plate recognition component, the visual recognition component, the multi-parking charging component on each charging truss, and the charging pile in each charging truss are all communicatively connected with the control component; wherein the multi-parking charging component includes a sliding guide rail module and a mechanical arm module, the sliding guide rail module is arranged on the charging truss, the mechanical arm module is arranged on the sliding guide rail module and can move horizontally along the charging truss under the drive of the sliding guide rail module, and is used to drive the mechanical arm module to grab the charging gun on the charging pile and move to any one of the multiple parking spaces under the charging truss to perform an automatic charging operation on the electric vehicle to be charged; the multi-parking automatic charging system is used to execute the method described in the first aspect above.

[0006] The embodiment of the present invention provides a multi-parking automatic charging system and an intelligent control method thereof, which are applied to the multi-parking automatic charging system set in the electric vehicle charging station. The multi-parking automatic charging system includes a control component, a license plate recognition component, a visual recognition component, a plurality of charging trusses, a multi-parking charging component arranged on each charging truss, and a charging pile arranged in each charging truss; the license plate recognition component, the visual recognition component, the multi-parking charging component on each charging truss, and the charging pile in each charging truss are all communicatively connected with the control component; wherein the multi-parking charging component includes a sliding guide rail module and a mechanical arm module, the sliding guide rail module is arranged on the charging truss, the mechanical arm module is arranged on the sliding guide rail module and can move horizontally along the charging truss under the drive of the sliding guide rail module, and is used to drive the mechanical arm module to grab the charging gun on the charging pile and move to the electric vehicle to be charged corresponding to any one of the multiple parking spaces under the charging truss to perform automatic charging operation; the intelligent control method of the multi-parking automatic charging system includes: the license plate recognition component performs license plate recognition on the electric vehicle to be charged entering the electric vehicle charging station, and obtains the license plate recognition The control component matches the license plate recognition result with the acquired vehicle information data set to obtain the current vehicle model information corresponding to the license plate recognition result, and determines the current charging port position information based on the current vehicle model information; if the visual recognition component detects that the electric vehicle to be charged has parked in the charging port image of one of the parking spaces of the charging truss, the charging port image is sent to the control component; the control component determines the current charging port positioning position of the electric vehicle to be charged based on the charging port image, and determines the first motion path corresponding to the sliding guide rail module in the sliding guide rail module and the second motion path corresponding to the mechanical arm module based on the initial stop position of the mechanical arm module in the sliding guide rail module and the current charging port positioning position; wherein the initial stop position of the mechanical arm module is the position where the mechanical arm module stops on the sliding guide rail module after removing the charging gun from the charging pile; the sliding guide rail module moves to the corresponding first target position based on the first motion path; the mechanical arm module drives the charging gun to move to the corresponding second target position based on the second motion path, and charges the electric vehicle to be charged. The embodiment of the present invention can drive the mechanical arm module to grab the charging gun on the charging pile through the sliding guide rail module in the multi-parking charging assembly and move it to the electric vehicle to be charged corresponding to any one of the multiple parking spaces under the charging truss to perform automatic charging operations, thereby realizing the operation of a multi-parking charging assembly to automatically charge the electric vehicles to be charged in multiple parking spaces, thereby reducing the equipment deployment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0008] Figure 1 A schematic diagram of an application scenario of an intelligent control method for a multi-parking automatic charging system provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a multi-parking automatic charging system provided by an embodiment of the present invention; Figure 3 A schematic flow chart of an intelligent control method for a multi-parking automatic charging system provided by an embodiment of the present invention; Figure 4 A schematic diagram of a sub-flow chart of an intelligent control method for a multi-parking automatic charging system provided by an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a charging truss and a multi-parking charging assembly in a multi-parking automatic charging system provided in an embodiment of the present invention; Figure 6 A schematic diagram of a sub-flow chart of an intelligent control method for a multi-parking automatic charging system provided by an embodiment of the present invention; Figure 7 A schematic diagram of a sub-flow chart of an intelligent control method for a multi-parking automatic charging system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0009] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0010] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0011] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0012] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0013] Please also refer to Figure 1-Figure 3 ,in Figure 1 Schematic diagram of a multi-parking automatic charging method according to an embodiment of the present invention. Figure 2 A schematic diagram of the structure of a multi-parking automatic charging system provided by an embodiment of the present invention. Figure 3 The following is a flow chart of a multi-parking automatic charging method provided by an embodiment of the present invention. Figure 1 and Figure 2 As shown, the multi-parking automatic charging method provided by the embodiment of the present invention is applied to a multi-parking automatic charging system arranged in a tram charging station, wherein the multi-parking automatic charging system comprises a control component 10, a license plate recognition component 20, a visual recognition component 30, a plurality of charging trusses 40, a multi-parking charging component 50 arranged on each charging truss 41, and a charging pile 60 arranged in each charging truss; the license plate recognition component 20, the visual recognition component 30, the multi-parking charging component 50 on each charging truss 41, and the charging pile 60 in each charging truss The piles 60 are all in communication connection with the control assembly 10; wherein, the multi-parking charging assembly 50 includes a sliding rail module 51 and a mechanical arm module 52, wherein the sliding rail module 51 is arranged on the charging truss 41, and the mechanical arm module 52 is arranged on the sliding rail module and can move horizontally along the charging truss 41 under the drive of the sliding rail module 51, and is used to drive the mechanical arm module 52 to grab the charging gun on the charging pile 60 and move to any one of the multiple parking spaces under the charging truss 41 to automatically charge the electric vehicle to be charged. Of course, in the specific implementation, a non-automatic charging area can also be set in the electric vehicle charging station, that is, multiple charging piles are deployed in the non-automatic charging area for users to manually take the charging gun and charge.

[0014] like Figure 3 As shown, the method includes the following steps S110-S160.

[0015] S110, the license plate recognition component recognizes the license plate of the electric vehicle to be charged entering the electric vehicle charging station, obtains the license plate recognition result, and sends the license plate recognition result to the control component.

[0016] In this embodiment, when the multi-parking automatic charging system is applied to a tram charging station, the license plate recognition component is generally arranged at the entrance and exit of the tram charging station, and the license plate recognition component can also be connected to the automatic gate in the same way as the existing tram charging station is arranged at the entrance and exit. For example, taking the scenario where the tram to be charged enters the tram charging station for charging as an example, when the tram to be charged drives to the entrance of the tram charging station and is detected by the license plate recognition component (in specific implementation, the license plate recognition component can use an image acquisition device such as a camera) and the current license plate image is collected, the current license plate image is recognized based on a pre-trained license plate recognition model (such as a license plate recognition model that combines a convolutional neural network and a recurrent neural network), and a license plate recognition result corresponding to the current license plate image is obtained, and the license plate recognition result is sent to the control component. At the same time, when the license plate recognition result is successfully obtained, the license plate recognition result and the entry time of the tram to be charged can be recorded, and the automatic gate can be controlled to open to allow the tram to be charged to enter the tram charging station. It can be seen that based on the license plate recognition component, the license plate of the electric vehicle to be charged can be quickly recognized.

[0017] S120, the control component matches the license plate recognition result with the acquired vehicle information data set to obtain current vehicle model information corresponding to the license plate recognition result, and determines current charging port location information based on the current vehicle model information.

[0018] In this embodiment, the control component can be implemented in a control box and installed in the main control room of the electric vehicle charging station or in one of the charging trusses. A controller is installed in the control box to serve as the control center of the entire multi-parking automatic charging system. When the control component obtains the license plate recognition result, it can first match it with the local database or the vehicle information data set obtained from the cloud server to obtain the current vehicle model information corresponding to the license plate recognition result, and determine the current charging port location information based on the current vehicle model information.

[0019] Among them, if the license plate recognition result and the obtained vehicle information data set can be matched successfully, it means that the electric vehicle to be charged corresponding to the license plate recognition result has completed at least one charging operation before the electric vehicle charging station, or has completed a charging operation at other electric vehicle charging stations operated by the same operator as the electric vehicle charging station. At this time, based on the successful matching result of the license plate recognition result and the obtained vehicle information data set, the current vehicle model information corresponding to the license plate recognition result can be quickly obtained, and the current charging port location information can be determined based on the current vehicle model information. If the license plate recognition result and the obtained vehicle information data set fail to match successfully, it means that the electric vehicle to be charged corresponding to the license plate recognition result has not completed the overcharging operation before the electric vehicle charging station, and has not completed the overcharging operation at other electric vehicle charging stations operated by the same operator as the electric vehicle charging station. It can be regarded that the electric vehicle to be charged is entering the electric vehicle charging station for the first time. At this time, the license plate recognition component can directly continue to collect images of the electric vehicle to be charged (for example, the car brand image of the front part or the rear part of the electric vehicle to be charged can be collected), and then image recognition is performed based on the collected car brand image to obtain the current vehicle model information and determine the current charging port position information accordingly. It can be seen that based on the comparison of the license plate recognition result and the obtained vehicle information data set, the current charging port position of the electric vehicle to be charged can be quickly determined, so that the vehicle model and charging port position of the electric vehicle to be charged can be quickly determined when entering the electric vehicle charging station, and the electric vehicle to be charged does not need to be recognized after parking at a specific parking space in the field, which improves the efficiency of locating the charging port position in the entire automatic charging process.

[0020] In one embodiment, if Figure 4 As shown, step S120 includes: S121, comparing the license plate recognition result with the license plate number information corresponding to each vehicle information data in the vehicle information data set, and determining the vehicle information data having the same license plate number as the license plate recognition result as the target vehicle information data; S122, obtaining the current vehicle model information included in the target vehicle information data; S123. Based on the current vehicle model information, obtain current charging port location information corresponding to the current vehicle model information in a local database or a cloud server.

[0021] In this embodiment, the license plate recognition result is compared with the license plate number information corresponding to each vehicle information data in the vehicle information data set, and if it is determined that there is vehicle information data in the vehicle information data set that has the same license plate number as the license plate recognition result, then the vehicle information data is selected as the target vehicle information data. Each vehicle information data in the vehicle information data set includes at least information such as the license plate number, vehicle model, and entry and exit time interval. After the target vehicle information data is determined, the vehicle model can be extracted from it as the current vehicle model information.

[0022] Afterwards, if the local database in the memory corresponding to the control component stores a preset mapping relationship between the vehicle model and the charging port position, the current charging port position information corresponding to the current vehicle model information can be obtained based on the current vehicle model information and the vehicle model and the charging port position mapping relationship. If the local database in the memory corresponding to the control component does not store a mapping relationship between the vehicle model and the charging port position, the current vehicle model information can be sent to the cloud server to obtain the current charging port position information corresponding to the current vehicle model information. Among them, the charging port position corresponding to the current charging port position information is specifically one of the left rear of the vehicle, the right rear of the vehicle, the left front of the vehicle, and the right front of the vehicle. It can be seen that through the above method, the vehicle model and charging port position can be quickly determined when the electric vehicle to be charged enters the electric vehicle charging station.

[0023] S130: If the visual recognition component detects that the electric vehicle to be charged has parked at a charging port image of one of the parking spaces of the charging truss, the charging port image is sent to the control component.

[0024] In this embodiment, when the electric vehicle to be charged enters the electric vehicle charging station, the driver of the electric vehicle to be charged finds one of the vacant parking spaces on the charging truss and drives the electric vehicle to be charged to the parking space. After completing the parking operation of the electric vehicle to be charged, the driver of the electric vehicle to be charged can manually fully open the outer cover of the charging port of the electric vehicle to be charged to expose the charging port. After that, no other operations are required to wait for the multi-parking charging component on the charging truss to automatically remove the charging gun from the charging pile and realize the subsequent automatic charging operation. When the driver of the electric vehicle to be charged manually fully opens the outer cover of the charging port of the electric vehicle to be charged, one of the image acquisition devices of the visual recognition component on the charging truss captures the image of the charging port of the electric vehicle to be charged, and then the image of the charging port can be sent to the control component, so that the control component can recognize the image of the charging port to locate the spatial position of the charging port in the physical world.

[0025] In one embodiment, the visual recognition component includes a plurality of image acquisition devices, and each of the plurality of charging trusses is provided with at least one image acquisition device in the visual recognition component; The step S130 includes: If an image acquisition device in the visual recognition component detects a current parking vehicle image and a corresponding charging port image of the electric vehicle to be charged that has been parked in one of the parking spaces of the charging truss, the current parking vehicle image and the corresponding charging port image are sent to the control component.

[0026] In this embodiment, if N1 parking spaces are arranged in a charging truss, and N2 charging trusses are arranged in the electric vehicle charging station as an example (where N1 and N2 are both positive integers), in order to accurately capture the image of the charging port of the electric vehicle to be charged in each parking space, an image acquisition device can be arranged on the charging truss in the direction facing the left side frame of the parking space, and an image acquisition device can be arranged in the direction facing the right side frame of the parking space, so that 2*N1 image acquisition devices can be arranged on a charging truss, and the electric vehicle charging station is at least provided with 2*N1*N2 image acquisition devices; and each parking space is pre-set with a unique parking space identification number. Afterwards, each image acquisition device in the visual recognition component can be pre-set according to the unique parking space identification number of the parking space it is aimed at (that is, the image acquired by each image acquisition device also carries the information of the unique parking space identification number). Still referring to the above example, after the electric vehicle to be charged enters the electric vehicle charging station and the license plate number information is recognized by the license plate recognition component and the current charging port location information is further determined, it can be quickly determined whether the N1*N2 image acquisition devices among the above 2*N1*N2 image acquisition devices aimed at the left side border direction of the parking space will capture the current parked vehicle image and the corresponding charging port image, or whether the N1*N2 image acquisition devices aimed at the right side border direction of the parking space will capture the current parked vehicle image and the corresponding charging port image.

[0027] Among the multiple image acquisition devices constituting the visual recognition component, if one image acquisition device detects the current parking vehicle image of the electric vehicle to be charged that has been parked in one of the parking spaces of the charging truss, and further acquires the corresponding charging port image, then the current parking vehicle image and the corresponding charging port image can be sent to the control component, so that the control component can identify the charging port image and locate the spatial position of the charging port in the physical world (wherein the image acquisition device that sends the charging port image to the control component, its corresponding unique parking space identification number can also be extracted by the control component). It should be noted that the charging port image acquired by the image acquisition device is an image of the charging port of the electric vehicle to be charged without a charging gun plugged in, indicating that the electric vehicle to be charged has just parked in one of the vacant parking spaces of the charging truss. If the other charging port images acquired by other image acquisition devices are images of charging guns plugged in at the charging port, it means that the other charging port images acquired by the image acquisition devices corresponding to other parking spaces do not need to be sent to the control component for recognition processing.

[0028] S140, the control component determines the current charging port positioning position of the electric vehicle to be charged based on the charging port image, and determines the first motion path corresponding to the sliding guide rail module in the sliding guide rail module and the second motion path corresponding to the robotic arm module based on the initial stop position of the sliding guide rail module in the multi-parking charging component and the current charging port positioning position.

[0029] Among them, the initial stop position of the sliding guide rail module is the position where the sliding guide rail module stops on the charging truss after the robotic arm module removes the charging gun from the charging pile.

[0030] In this embodiment, still referring to the above example, when the control component receives the charging port image sent by one of the image acquisition devices of the visual recognition component, it can not only extract the unique parking space identification number corresponding to the charging port image (such as No. 001 in Area A), but also determine the current charging port location in the physical world based on the charging port image. After completing the location of the charging port of the electric vehicle to be charged in the physical world, the control component determines the first motion path corresponding to the sliding guide rail module in the sliding guide rail module and the second motion path corresponding to the mechanical arm module in combination with the initial stop position of the sliding guide rail module in the sliding guide rail module and the current charging port location.

[0031] Among them, the initial stop position of the sliding rail module in the multi-parking charging assembly is generally fixed, for example, referring to Figure 5 The specific structure of the charging truss 41 shown in FIG. 4 is shown in FIG. 4 . If the overall length of the truss 42 parallel to the horizontal plane of the ground is L TotalIf the sliding guide rail module is set to stay at the rightmost position of the truss 42, it is regarded as the initial stop position of the sliding guide rail module (the length of the sliding guide rail module in the horizontal direction is L 滑动导轨 , and set the center position of the sliding guide module at its L 滑动导轨 / 2, when the sliding guide rail module stops at the rightmost side of the truss, the distance between the center position of the sliding guide rail module and the rightmost side of the truss is L 滑动导轨 / 2, through the above setting, the movement range of the sliding guide module on the truss can be recorded as [L 滑动导轨 / 2,L Total -L 滑动导轨 / 2], and the total travel of the sliding guide module on the truss is L Total -L 滑动导轨 ), in the process of the control component determining the current charging port positioning position of the electric vehicle to be charged based on the charging port image, the sliding guide rail module in the multi-parking charging component can also be synchronously controlled to drive the mechanical arm module to remove the charging gun from the charging pile and then move back to the initial stop position of the sliding guide rail module. After obtaining the current charging port positioning position, the control component can plan the motion path based on the initial stop position of the sliding guide rail module in the multi-parking charging component and the current charging port positioning position. In the present application, the movement of the parking charging component is decomposed into two motion processes. The first motion process is that the sliding guide rail module quickly moves horizontally on the truss of the charging truss to quickly reach the parking space position corresponding to the charging port of the electric vehicle to be charged (this motion process is based on the horizontal movement of the sliding guide rail module along the truss to expand the motion range of the mechanical arm module), and the second motion process is that the mechanical arm module drives the charging gun to gradually approach the charging port of the electric vehicle to be charged and complete the plug-in charging. The control component performs path planning for the first motion process to obtain a first motion path, and performs path planning for the second motion process to obtain a second motion path. After completing the path planning for the two motion processes, it can be sent to the corresponding multi-parking charging component to perform the corresponding automatic charging operation.

[0032] In one embodiment, if Figure 6 As shown, step S140 includes: S141. Acquire charging port positioning data corresponding to the charging port image based on a pre-trained target detection model; S142: Determine the current charging port positioning position corresponding to the charging port positioning data based on the camera calibration parameters of the image acquisition device corresponding to the charging port image.

[0033] In this embodiment, a pre-trained target detection model (such as a YOLO model, more specifically a YOLO V3 target detection model or a YOLO V5 target detection model) is stored in the control component, which can locate and detect the charging port area in the charging port image, thereby determining the charging port positioning data. The charging port positioning data obtained at this time is still based on the camera image coordinates corresponding to the image acquisition device, and then the current charging port positioning position corresponding to the charging port positioning data can be determined based on the camera calibration parameters corresponding to the image acquisition device. For example, based on the known camera calibration parameters, the geometric features such as the intersection of parallel lines in space on the image plane are used to calculate the transformation matrix of the image acquisition device, and then the position of the charging port in the charging port image is restored to the current charging port positioning position in the physical space by solving the simultaneous equations. It can be seen that based on the above method, the positioning position of the charging port of the electric vehicle to be charged in the physical space can be quickly determined.

[0034] In one embodiment, if Figure 6 As shown, step S140 also includes: S143, obtaining the horizontal projection position of the current charging port positioning position on the charging truss corresponding to the sliding guide rail module; S144, determining the current horizontal stop position of the robot arm module in the sliding guide rail module based on the horizontal projection position, and determining the first motion path based on the current horizontal stop position and the initial stop position; wherein the starting point of the first motion path is the initial stop position, and the end point of the first motion path is the current horizontal stop position; S145. Determine the second motion path based on the horizontal projection position and the current charging port positioning position.

[0035] In this embodiment, still referring to the above example, the movement interval of the sliding guide rail module on the truss of a charging truss is recorded as [L 滑动导轨 / 2,L Total -L 滑动导轨 / 2], the projection interval of the left and right boundaries of each charging position under the charging truss onto the truss is also known. For example, 8 parking spaces are set under a charging truss and are recorded as parking space No. 1 to parking space No. 8 in order from right to left. The projection interval of the left and right boundaries of each of the above 8 parking spaces on the truss is also known. If the electric car to be charged is parked at parking space No. 6 as an example, and the charging port corresponding to the vehicle model of the electric car to be charged has been determined to be located at the left rear of the vehicle (generally, the standard parking direction of the electric car to be charged is when the rear of the car is closer to the truss. At this time, when the rear of the car is closer to the truss, the charging port is closer to the multi-parking charging assembly on the charging truss), the charging port of the electric car to be charged is closer to the right side boundary of parking space No. 6, that is, the horizontal projection position of the current charging port positioning position on the charging truss corresponding to the sliding guide rail module can be regarded as the horizontal projection position of the right side boundary of parking space No. 6 on the truss. Of course, in the specific implementation, in order to avoid the sliding guide rail module driving the mechanical arm module to move to the horizontal projection position of the right boundary of parking space No. 6 on the truss, which will limit the movement space of the mechanical arm module driving the charging gun to the charging port, the horizontal projection position of the right boundary of parking space No. 6 on the truss can also be subtracted from a preset first distance value (such as equal to the width of the mechanical arm module) to update the horizontal projection position. Afterwards, the first motion path is determined based on the current horizontal stop position and the initial stop position, and the second motion path is determined based on the horizontal projection position and the current charging port positioning position. The obtained first motion path is sent to the sliding guide rail module by the control component, and the obtained second motion path is sent to the mechanical arm module by the control component. Among them, the execution of the control instruction corresponding to the second motion path is after the execution of the control instruction corresponding to the first motion path. Moreover, the planning process of the second motion path also requires collision detection to avoid the mechanical arm module from colliding with the shell of the car to be charged.

[0036] S150, the sliding guide rail module moves to a corresponding first target position based on the first movement path.

[0037] In this embodiment, the first motion path determined by the control component is sent to the sliding guide rail module. This first motion path is a linear motion path, so that the sliding guide rail module can quickly move horizontally on the truss of the charging truss to quickly reach the parking space corresponding to the charging port of the electric vehicle to be charged.

[0038] Among them, Figure 2 and Figure 5As shown, the sliding guide rail module 51 includes a slider driving motor (not shown, if a linear motor is used), a linear slider 511 (which can be regarded as a mover of the slider driving motor) and a linear guide rail 512. In the specific implementation, the linear slider 511 is sleeved on the linear guide rail 512. The base of the robot arm module 52 is arranged on the linear slider 511. Through the above-mentioned structural setting, the sliding guide rail module can drive the robot arm module to move smoothly and quickly in the horizontal direction on the charging truss.

[0039] S160: The robotic arm module drives the charging gun to move to a corresponding second target position based on the second motion path, and charges the electric vehicle to be charged.

[0040] In this embodiment, the second motion path determined by the control component sends the mechanical arm module, and this second motion path is a relatively complex non-linear motion path, so that the mechanical arm module on the sliding guide rail module drives the charging gun to gradually approach the charging port of the electric vehicle to be charged and complete the plug-in charging. Since the collision detection has been performed in combination with the shape of the mechanical arm module and the shell contour of the vehicle to be charged during the planning of the second motion path, the mechanical arm module will not collide with the shell of the vehicle to be charged when moving along the second motion path, ensuring the safety of the process of the mechanical arm module driving the charging gun to be plugged in.

[0041] In one embodiment, if Figure 2 and Figure 5 As shown, the mechanical arm module 52 in the multi-parking charging assembly 50 includes a multi-degree-of-freedom mechanical arm 521 and a visual sensor, a position sensor, a distance sensor and a force feedback sensor arranged on the multi-degree-of-freedom mechanical arm, and the position sensor, the distance sensor and the force feedback sensor are all communicatively connected with the control assembly; like Figure 7 As shown, step S160 includes: S161, the multi-degree-of-freedom robotic arm in the robotic arm module drives the charging gun to move to the second target position corresponding to the second motion path to align with the charging port of the electric vehicle to be charged; S162. If the position sensor determines that the charging gun on the end of the multi-degree-of-freedom robotic arm is in a stationary state aimed at the charging port, the distance sensor determines that the distance between the end of the degree-of-freedom robotic arm and the charging port of the electric vehicle to be charged is greater than or equal to a preset safety distance, and the visual sensor captures an image of the charging port, then the multi-degree-of-freedom robotic arm drives the charging gun to move until the charging gun is inserted into the charging port of the electric vehicle to be charged.

[0042] When the multi-degree-of-freedom robotic arm drives the charging gun to move and insert it into the charging port of the electric vehicle to be charged, the docking pressure between the charging gun and the charging port is obtained based on the force feedback sensor and the docking pressure is made less than a preset pressure threshold.

[0043] In this embodiment, in order to achieve more flexible movement of the robotic arm module, a multi-degree-of-freedom robotic arm (such as a six-degree-of-freedom robotic arm) can be specifically adopted, and a visual sensor (such as a camera is set at the end of the multi-degree-of-freedom robotic arm, which is used to capture images of the viewing angle aligned with the end of the multi-degree-of-freedom robotic arm), a position sensor (which can detect the current position information of the end of the multi-degree-of-freedom robotic arm), a distance sensor and a force feedback sensor (such as setting the above four sensors at the end position of the multi-degree-of-freedom robotic arm) are specifically arranged on the multi-degree-of-freedom robotic arm. When the claws on the end of the multi-degree-of-freedom robotic arm grab the charging gun from the charging pile, the multi-degree-of-freedom robotic arm is driven by the sliding guide rail module to move to the corresponding first target position based on the first motion path.

[0044] The process in which the multi-degree-of-freedom robotic arm drives the charging gun to move to the corresponding second target position based on the second motion path and charges the electric vehicle to be charged can be decomposed into at least two processes: the first process is that the multi-degree-of-freedom robotic arm drives the charging gun to move to the corresponding second target position in the second motion path to align with the charging port of the electric vehicle to be charged. At this time, the charging gun may be in a state of being very close to the charging port, but has not yet been plugged into the charging port; the second process is that the multi-degree-of-freedom robotic arm makes the charging gun stay at the second target position first, not only based on the visual sensor to determine whether there are other obstructions (such as people) other than the charging port, the vehicle body and the outer cover of the charging port within the angle of view aligned with the end of the multi-degree-of-freedom robotic arm. Arm, etc.), and detects motion parameters based on position sensors and distance sensors, and if the position sensor determines that the charging gun at the end of the multi-degree-of-freedom mechanical arm is in a stationary state aimed at the charging port, and the distance sensor determines that the distance between the end of the degree-of-freedom mechanical arm and the charging port of the electric vehicle to be charged is greater than or equal to the preset safety distance, and the visual sensor captures the image of the charging port (that is, there are no other obstructions except the charging port, the vehicle body and the outer cover of the charging port), the multi-degree-of-freedom mechanical arm drives the charging gun to move in a straight line in the direction of the charging port it is aimed at for a distance (such as the preset safety distance mentioned above) until the charging gun is inserted into the charging port of the electric vehicle to be charged. In the above process, the visual sensor detects whether there are other obstructions except the charging port, the vehicle body and the outer cover of the charging port within the angle of view that the end of the multi-degree-of-freedom mechanical arm is aimed at, which is a safety detection mechanism before the charging gun is inserted into the charging port. Moreover, if a camera is provided at the end of the multi-degree-of-freedom robotic arm, on the one hand, it can patrol the entire process from the charging gun being pulled out from the charging pile to the charging port, timely avoid all objects (including the electric car to be charged in the parking space) and keep a safe distance from the vehicle body, and on the other hand, it can also detect whether there is a person accidentally entering during the entire process of automatic insertion of the charging gun for charging. Moreover, during the entire process of the multi-degree-of-freedom robotic arm driving the charging gun to move and insert it into the charging port of the electric car to be charged, the force feedback sensor needs to obtain the docking pressure between the charging gun and the charging port and make the docking pressure less than the preset pressure threshold, that is, the docking pressure between the charging gun and the charging port is obtained by the force feedback sensor to adjust the plugging force of the multi-degree-of-freedom robotic arm to avoid damage to the electric car to be charged due to excessive force.

[0045] More specifically, Figure 2 and Figure 5As shown, the multi-degree-of-freedom robotic arm is connected to the linear guide 512 through a linear slider 511, and the linear slider 511 is driven by a slider motor to move on the linear guide 512. The base of the multi-degree-of-freedom robotic arm is fixedly connected to the linear slider 511, and the upper robotic arm joint of the multi-degree-of-freedom robotic arm controls the posture of its end in three-dimensional space. The gripper (i.e., the automatic charging fixture) provided at the end of the multi-degree-of-freedom robotic arm is connected to the multi-degree-of-freedom robotic arm through a joint structure, and the angle and position of the gripper can also be controlled by a servo motor to adapt to different vehicle models and charging port positions. This part of the automatic charging fixture can be designed as a modular structure for easy replacement or maintenance.

[0046] In one embodiment, after step S160, the method further includes: The mechanical arm module is separated from the charging gun and moves to the initial stop position under the drive of the sliding guide rail module.

[0047] In this embodiment, after the mechanical arm module has driven the charging gun to be plugged into the charging port of the car to be charged, in order to enable the multi-parking charging assembly to automatically charge other cars to be charged in other parking spaces, the mechanical arm module needs to be separated from the charging gun and moved to the initial stop position under the drive of the sliding guide rail module. Specifically, the clamping claw at the end of the multi-degree-of-freedom mechanical arm on the mechanical arm module is separated from the charging gun, and the multi-degree-of-freedom mechanical arm can be retracted first by referring to the second motion path that is a mirror image completely opposite to the second motion path, and then the mechanical arm module is driven by the sliding guide rail module to move to the initial stop position. Afterwards, when other cars to be charged in other parking spaces are detected for automatic charging, the complete process of steps S110-S160 can be referred to for automatic charging.

[0048] In one embodiment, after the step of separating the robot arm module from the charging gun and moving to the initial stop position under the drive of the sliding guide rail module, the method further includes: If the control component determines that the charged power of the electric vehicle to be charged connected to the charging gun has reached a preset charging power threshold, and the duration of maintaining the charged power exceeds the preset charging stability duration, the control component controls the multi-parking charging component to move from the initial stop position to the current charging port positioning position and performs the charging gun extraction operation.

[0049] In this embodiment, when the charging gun is connected to the charging port of the electric vehicle to be charged, since the charging gun supports multiple charging standards and has an automatic locking and safety protection mechanism, it can ensure a safe and stable charging connection. In addition, the control component also exchanges data with the communication interface of the electric vehicle to be charged through its wired or wireless communication capability, monitors the charging status of the electric vehicle to be charged (such as current, voltage, temperature, etc.) in real time, and can also obtain the charged power of the electric vehicle to be charged. After the charging is completed (that is, it is determined that the charged power of the electric vehicle to be charged connected to the charging gun has reached the preset charging amount threshold, and the duration of the charged power exceeds the preset charging stability duration), the charging pile is controlled to automatically disconnect the charging gun from charging the electric vehicle to be charged. At this time, the movement process of steps S150-S160 can be repeated, the difference is that when the mechanical arm module moves based on the second motion path, it does not drive the charging gun, but moves to the second target position to pull out the charging gun from the charging port of the electric vehicle to be charged, and brings the charging belt back to the charging gun fixed position at the charging pile for fixing.

[0050] In one embodiment, after step S160, the method further includes: If the visual sensor in the mechanical arm module detects a user monitoring image of a user entering the charging port area corresponding to the electric vehicle to be charged, the user monitoring image is sent to the control component; The control component generates prompt information based on the user monitoring image, and sends the prompt information to a receiving terminal corresponding to the electric vehicle to be charged.

[0051] In this embodiment, when the electric vehicle to be charged is connected to the charging gun for charging, the control component can also send the charged power corresponding to the electric vehicle to be charged and obtained in real time to the receiving terminal corresponding to the electric vehicle to be charged (such as a smart phone, etc.). If the user does not wait on site while waiting for charging and the charged power corresponding to the electric vehicle to be charged received by the receiving terminal does not reach the preset charging capacity threshold (such as the battery charging capacity of the electric vehicle to be charged is considered to reach the preset charging capacity threshold only when the battery charging capacity reaches its maximum battery capacity), if the mechanical arm module is in an idle state, it can be aligned with the parking space under the charging truss when it stays in the initial stop position, and the visual sensor in the mechanical arm module detects the user monitoring image of a user entering the charging port area corresponding to the electric vehicle to be charged, indicating that other users may perform abnormal unplugging of the charging gun. At this time, the control component can generate prompt information based on the user monitoring image (such as the acquisition time corresponding to the user monitoring image, the unique parking space identification number of the parking space, etc.), and send the prompt information to the receiving terminal corresponding to the electric vehicle to be charged, so as to timely prompt that there is a situation that affects the normal charging process. The visual sensor in the robotic arm module can detect people who accidentally enter and interfere with the normal charging process.

[0052] It can be seen that the embodiment of the method can drive the robotic arm module to grab the charging gun on the charging pile through the sliding guide rail module in the multi-parking charging component and move it to the corresponding electric vehicle to be charged in any one of the multiple parking spaces under the charging truss for automatic charging operation, thereby realizing the operation of a multi-parking charging component to automatically charge the electric vehicles to be charged in multiple parking spaces, thereby reducing the equipment deployment cost.

[0053] Corresponding to the above intelligent control method of the multi-parking automatic charging system, the present invention also provides a multi-parking automatic charging system. Figure 1As shown, the multi-parking automatic charging system is applied to a vehicle charging station, and the multi-parking automatic charging system includes a control component 10, a license plate recognition component 20, a visual recognition component 30, a plurality of charging trusses 40, a multi-parking charging component 50 arranged on each charging truss 41, and a charging pile 60 arranged in each charging truss; the license plate recognition component 20, the visual recognition component 30, the multi-parking charging component 50 on each charging truss 41, and the charging pile 60 in each charging truss are all connected to the control component 10 communication connection; wherein, the multi-parking charging assembly 50 includes a sliding rail module 51 and a mechanical arm module 52, wherein the sliding rail module 51 is arranged on the charging truss 41, and the mechanical arm module 52 is arranged on the sliding rail module and can move horizontally along the charging truss 41 under the drive of the sliding rail module 51, and is used to drive the mechanical arm module 52 to grab the charging gun on the charging pile 60 and move to any one of the multiple parking spaces under the charging truss 41 to automatically charge the electric vehicle to be charged. Of course, in the specific implementation, a non-automatic charging area can also be set in the electric vehicle charging station, that is, multiple charging piles are deployed in the non-automatic charging area for users to manually take the charging gun and charge.

[0054] The license plate recognition component 20 is used to recognize the license plate of the electric vehicle to be charged entering the electric vehicle charging station, obtain the license plate recognition result, and send the license plate recognition result to the control component.

[0055] In this embodiment, when the multi-parking automatic charging system is applied to a tram charging station, the license plate recognition component is generally arranged at the entrance and exit of the tram charging station, and the license plate recognition component can also be connected to the automatic gate in the same way as the existing tram charging station is arranged at the entrance and exit. For example, taking the scenario where the tram to be charged enters the tram charging station for charging as an example, when the tram to be charged drives to the entrance of the tram charging station and is detected by the license plate recognition component (in specific implementation, the license plate recognition component can use an image acquisition device such as a camera) and the current license plate image is collected, the current license plate image is recognized based on a pre-trained license plate recognition model (such as a license plate recognition model that combines a convolutional neural network and a recurrent neural network), and a license plate recognition result corresponding to the current license plate image is obtained, and the license plate recognition result is sent to the control component. At the same time, when the license plate recognition result is successfully obtained, the license plate recognition result and the entry time of the tram to be charged can be recorded, and the automatic gate can be controlled to open to allow the tram to be charged to enter the tram charging station. It can be seen that based on the license plate recognition component, the license plate of the electric vehicle to be charged can be quickly recognized.

[0056] The control component 10 is used to match the license plate recognition result with the acquired vehicle information data set to obtain the current vehicle model information corresponding to the license plate recognition result, and determine the current charging port position information based on the current vehicle model information.

[0057] In this embodiment, the control component can be implemented in a control box and installed in the main control room of the electric vehicle charging station or in one of the charging trusses. A controller is installed in the control box to serve as the control center of the entire multi-parking automatic charging system. When the control component obtains the license plate recognition result, it can first match it with the local database or the vehicle information data set obtained from the cloud server to obtain the current vehicle model information corresponding to the license plate recognition result, and determine the current charging port location information based on the current vehicle model information.

[0058] Among them, if the license plate recognition result and the obtained vehicle information data set can be matched successfully, it means that the electric vehicle to be charged corresponding to the license plate recognition result has completed at least one charging operation before the electric vehicle charging station, or has completed a charging operation at other electric vehicle charging stations operated by the same operator as the electric vehicle charging station. At this time, based on the successful matching result of the license plate recognition result and the obtained vehicle information data set, the current vehicle model information corresponding to the license plate recognition result can be quickly obtained, and the current charging port location information can be determined based on the current vehicle model information. If the license plate recognition result and the obtained vehicle information data set fail to match successfully, it means that the electric vehicle to be charged corresponding to the license plate recognition result has not completed the overcharging operation before the electric vehicle charging station, and has not completed the overcharging operation at other electric vehicle charging stations operated by the same operator as the electric vehicle charging station. It can be regarded that the electric vehicle to be charged is entering the electric vehicle charging station for the first time. At this time, the license plate recognition component can directly continue to collect images of the electric vehicle to be charged (for example, the car brand image of the front part or the rear part of the electric vehicle to be charged can be collected), and then image recognition is performed based on the collected car brand image to obtain the current vehicle model information and determine the current charging port position information accordingly. It can be seen that based on the comparison of the license plate recognition result and the obtained vehicle information data set, the current charging port position of the electric vehicle to be charged can be quickly determined, so that the vehicle model and charging port position of the electric vehicle to be charged can be quickly determined when entering the electric vehicle charging station, and the electric vehicle to be charged does not need to be recognized after parking at a specific parking space in the field, which improves the efficiency of locating the charging port position in the entire automatic charging process.

[0059] In one embodiment, the control component 10 is specifically used for: Compare the license plate recognition result with the license plate number information corresponding to each vehicle information data in the vehicle information data set, and determine the vehicle information data having the same license plate number as the license plate recognition result as the target vehicle information data; Acquiring the current vehicle model information included in the target vehicle information data; Based on the current vehicle model information, current charging port location information corresponding to the current vehicle model information is obtained in a local database or a cloud server.

[0060] In this embodiment, the license plate recognition result is compared with the license plate number information corresponding to each vehicle information data in the vehicle information data set, and if it is determined that there is vehicle information data in the vehicle information data set that has the same license plate number as the license plate recognition result, then the vehicle information data is selected as the target vehicle information data. Each vehicle information data in the vehicle information data set includes at least information such as the license plate number, vehicle model, and entry and exit time interval. After the target vehicle information data is determined, the vehicle model can be extracted from it as the current vehicle model information.

[0061] Afterwards, if the local database in the memory corresponding to the control component stores a preset mapping relationship between the vehicle model and the charging port position, the current charging port position information corresponding to the current vehicle model information can be obtained based on the current vehicle model information and the vehicle model and the charging port position mapping relationship. If the local database in the memory corresponding to the control component does not store a mapping relationship between the vehicle model and the charging port position, the current vehicle model information can be sent to the cloud server to obtain the current charging port position information corresponding to the current vehicle model information. Among them, the charging port position corresponding to the current charging port position information is specifically one of the left rear of the vehicle, the right rear of the vehicle, the left front of the vehicle, and the right front of the vehicle. It can be seen that through the above method, the vehicle model and charging port position can be quickly determined when the electric vehicle to be charged enters the electric vehicle charging station.

[0062] The visual recognition component 30 is used to send the charging port image to the control component if it is detected that the electric vehicle to be charged has parked in a charging port image of one of the parking spaces of the charging truss.

[0063] In this embodiment, when the electric vehicle to be charged enters the electric vehicle charging station, the driver of the electric vehicle to be charged finds one of the vacant parking spaces on the charging truss and drives the electric vehicle to be charged to the parking space. After completing the parking operation of the electric vehicle to be charged, the driver of the electric vehicle to be charged can manually fully open the outer cover of the charging port of the electric vehicle to be charged to expose the charging port. After that, no other operations are required to wait for the multi-parking charging component on the charging truss to automatically remove the charging gun from the charging pile and realize the subsequent automatic charging operation. When the driver of the electric vehicle to be charged manually fully opens the outer cover of the charging port of the electric vehicle to be charged, one of the image acquisition devices of the visual recognition component on the charging truss captures the image of the charging port of the electric vehicle to be charged, and then the image of the charging port can be sent to the control component, so that the control component can recognize the image of the charging port to locate the spatial position of the charging port in the physical world.

[0064] In one embodiment, the visual recognition component includes a plurality of image acquisition devices, and each of the plurality of charging trusses is provided with at least one image acquisition device in the visual recognition component; The visual recognition component 30 is specifically used for: If an image acquisition device in the visual recognition component detects a current parking vehicle image and a corresponding charging port image of the electric vehicle to be charged that has been parked in one of the parking spaces of the charging truss, the current parking vehicle image and the corresponding charging port image are sent to the control component.

[0065] In this embodiment, if N1 parking spaces are arranged in a charging truss, and N2 charging trusses are arranged in the electric vehicle charging station as an example (where N1 and N2 are both positive integers), in order to accurately capture the image of the charging port of the electric vehicle to be charged in each parking space, an image acquisition device can be arranged on the charging truss in the direction facing the left side frame of the parking space, and an image acquisition device can be arranged in the direction facing the right side frame of the parking space, so that 2*N1 image acquisition devices can be arranged on a charging truss, and the electric vehicle charging station is at least provided with 2*N1*N2 image acquisition devices; and each parking space is pre-set with a unique parking space identification number. Afterwards, each image acquisition device in the visual recognition component can be pre-set according to the unique parking space identification number of the parking space it is aimed at (that is, the image acquired by each image acquisition device also carries the information of the unique parking space identification number). Still referring to the above example, after the electric vehicle to be charged enters the electric vehicle charging station and the license plate number information is recognized by the license plate recognition component and the current charging port location information is further determined, it can be quickly determined whether the N1*N2 image acquisition devices among the above 2*N1*N2 image acquisition devices aimed at the left side border direction of the parking space will capture the current parked vehicle image and the corresponding charging port image, or whether the N1*N2 image acquisition devices aimed at the right side border direction of the parking space will capture the current parked vehicle image and the corresponding charging port image.

[0066] Among the multiple image acquisition devices constituting the visual recognition component, if one image acquisition device detects the current parking vehicle image of the electric vehicle to be charged that has been parked in one of the parking spaces of the charging truss, and further acquires the corresponding charging port image, then the current parking vehicle image and the corresponding charging port image can be sent to the control component, so that the control component can identify the charging port image and locate the spatial position of the charging port in the physical world (wherein the image acquisition device that sends the charging port image to the control component, its corresponding unique parking space identification number can also be extracted by the control component). It should be noted that the above-mentioned charging port image acquired by the image acquisition device is an image of the charging port of the electric vehicle to be charged without a charging gun plugged in, indicating that the electric vehicle to be charged has just parked in one of the vacant parking spaces of the charging truss. If the other charging port images acquired by other image acquisition devices are images of charging guns plugged in at the charging port, it means that the other charging port images acquired by the image acquisition devices corresponding to other parking spaces do not need to be sent to the control component for recognition processing.

[0067] The control component 10 is also used to determine the current charging port positioning position of the electric vehicle to be charged based on the charging port image, and determine the first motion path corresponding to the sliding guide rail module in the sliding guide rail module and the second motion path corresponding to the robotic arm module based on the initial stop position of the sliding guide rail module in the multi-parking charging component and the current charging port positioning position.

[0068] Among them, the initial stop position of the sliding guide rail module is the position where the sliding guide rail module stops on the charging truss after the robotic arm module removes the charging gun from the charging pile.

[0069] In this embodiment, still referring to the above example, when the control component receives the charging port image sent by one of the image acquisition devices of the visual recognition component, it can not only extract the unique parking space identification number corresponding to the charging port image (such as No. 001 in Area A), but also determine the current charging port location in the physical world based on the charging port image. After completing the location of the charging port of the electric vehicle to be charged in the physical world, the control component determines the first motion path corresponding to the sliding guide rail module in the sliding guide rail module and the second motion path corresponding to the mechanical arm module in combination with the initial stop position of the sliding guide rail module in the sliding guide rail module and the current charging port location.

[0070] Among them, the initial stop position of the sliding rail module in the multi-parking charging assembly is generally fixed, for example, referring to Figure 5 The specific structure of the charging truss 41 shown in FIG. 4 is shown in FIG. 4 . If the overall length of the truss 42 parallel to the horizontal plane of the ground is L Total If the sliding guide rail module is set to stay at the rightmost position of the truss 42, it is regarded as the initial stop position of the sliding guide rail module (the length of the sliding guide rail module in the horizontal direction is L 滑动导轨 , and set the center position of the sliding guide module at its L 滑动导轨 / 2, when the sliding guide rail module stops at the rightmost side of the truss, the distance between the center position of the sliding guide rail module and the rightmost side of the truss is L 滑动导轨 / 2, through the above setting, the movement range of the sliding guide module on the truss can be recorded as [L 滑动导轨 / 2,L Total -L 滑动导轨 / 2], and the total travel of the sliding guide module on the truss is L Total -L 滑动导轨), in the process of the control component determining the current charging port positioning position of the electric vehicle to be charged based on the charging port image, it can also synchronously control the sliding guide rail module in the multi-parking charging component to drive the mechanical arm module to remove the charging gun from the charging pile and then move back to the initial stop position of the sliding guide rail module. After obtaining the current charging port positioning position, the control component can plan the motion path based on the initial stop position of the sliding guide rail module in the multi-parking charging component and the current charging port positioning position. In the present application, the movement of the parking charging component is decomposed into two motion processes. The first motion process is that the sliding guide rail module quickly moves horizontally on the truss of the charging truss to quickly reach the parking space position corresponding to the charging port of the electric vehicle to be charged. The second motion process is that the mechanical arm module drives the charging gun to gradually approach the charging port of the electric vehicle to be charged and completes the plug-in charging. The control component performs path planning corresponding to the above-mentioned first motion process to obtain the first motion path, and performs path planning corresponding to the above-mentioned second motion process to obtain the second motion path. After completing the path planning for the above two movement processes, it can be sent to the corresponding multi-parking charging component to perform corresponding automatic charging operations.

[0071] In one embodiment, the control component 10 is further specifically used for: Based on a pre-trained target detection model, acquiring charging port positioning data corresponding to the charging port image; Based on the camera calibration parameters of the image acquisition device corresponding to the charging port image, the current charging port positioning position corresponding to the charging port positioning data is determined.

[0072] In this embodiment, a pre-trained target detection model (such as a YOLO model, more specifically a YOLO V3 target detection model or a YOLO V5 target detection model) is stored in the control component, which can locate and detect the charging port area in the charging port image, thereby determining the charging port positioning data. The charging port positioning data obtained at this time is still based on the camera image coordinates corresponding to the image acquisition device, and then the current charging port positioning position corresponding to the charging port positioning data can be determined based on the camera calibration parameters corresponding to the image acquisition device. For example, based on the known camera calibration parameters, the geometric features such as the intersection of parallel lines in space on the image plane are used to calculate the transformation matrix of the image acquisition device, and then the position of the charging port in the charging port image is restored to the current charging port positioning position in the physical space by solving the simultaneous equations. It can be seen that based on the above method, the positioning position of the charging port of the electric vehicle to be charged in the physical space can be quickly determined.

[0073] In one embodiment, the control component 10 is further specifically used for: Obtain the horizontal projection position of the current charging port positioning position on the charging truss corresponding to the sliding guide rail module; Determine the current horizontal stop position of the robot arm module in the sliding guide rail module based on the horizontal projection position, and determine the first motion path based on the current horizontal stop position and the initial stop position; wherein the starting point of the first motion path is the initial stop position, and the end point of the first motion path is the current horizontal stop position; The second motion path is determined based on the horizontal projection position and the current charging port positioning position.

[0074] In this embodiment, still referring to the above example, the movement interval of the sliding guide rail module on the truss of a charging truss is recorded as [L 滑动导轨 / 2,L Total -L 滑动导轨 / 2], the projection interval of the left and right boundaries of each charging position under the charging truss onto the truss is also known. For example, 8 parking spaces are set under a charging truss and are recorded as parking space No. 1 to parking space No. 8 in order from right to left. The projection interval of the left and right boundaries of each of the above 8 parking spaces on the truss is also known. If the electric car to be charged is parked at parking space No. 6 as an example, and the charging port corresponding to the vehicle model of the electric car to be charged has been determined to be located at the left rear of the vehicle (generally, the standard parking direction of the electric car to be charged is when the rear of the car is closer to the truss. At this time, when the rear of the car is closer to the truss, the charging port is closer to the multi-parking charging assembly on the charging truss), the charging port of the electric car to be charged is closer to the right side boundary of parking space No. 6, that is, the horizontal projection position of the current charging port positioning position on the charging truss corresponding to the sliding guide rail module can be regarded as the horizontal projection position of the right side boundary of parking space No. 6 on the truss. Of course, in the specific implementation, in order to avoid the sliding guide rail module driving the mechanical arm module to move to the horizontal projection position of the right boundary of parking space No. 6 on the truss, which will limit the movement space of the mechanical arm module driving the charging gun to the charging port, the horizontal projection position of the right boundary of parking space No. 6 on the truss can also be subtracted from a preset first distance value (such as equal to the width of the mechanical arm module) to update the horizontal projection position. Afterwards, the first motion path is determined based on the current horizontal stop position and the initial stop position, and the second motion path is determined based on the horizontal projection position and the current charging port positioning position. The obtained first motion path is sent to the sliding guide rail module by the control component, and the obtained second motion path is sent to the mechanical arm module by the control component. Among them, the execution of the control instruction corresponding to the second motion path is after the execution of the control instruction corresponding to the first motion path. Moreover, the planning process of the second motion path also requires collision detection to avoid the mechanical arm module from colliding with the shell of the car to be charged.

[0075] The sliding guide rail module 51 is used to move to a corresponding first target position based on the first movement path.

[0076] In this embodiment, the first motion path determined by the control component is sent to the sliding guide rail module. This first motion path is a linear motion path, so that the sliding guide rail module can quickly move horizontally on the truss of the charging truss to quickly reach the parking space corresponding to the charging port of the electric vehicle to be charged.

[0077] Among them, Figure 5As shown, the sliding guide rail module 51 includes a slider driving motor (not shown, if a linear motor is used), a linear slider 511 (which can be regarded as a mover of the slider driving motor) and a linear guide rail 512. In the specific implementation, the linear slider 511 is sleeved on the linear guide rail 512. The base of the robot arm module 52 is arranged on the linear slider 511. Through the above-mentioned structural setting, the sliding guide rail module can drive the robot arm module to move smoothly and quickly in the horizontal direction on the charging truss.

[0078] The robotic arm module 52 is used to drive the charging gun to move to the corresponding second target position based on the second motion path, and charge the electric vehicle to be charged.

[0079] In this embodiment, the second motion path determined by the control component sends the mechanical arm module, and this second motion path is a relatively complex non-linear motion path, so that the mechanical arm module on the sliding guide rail module drives the charging gun to gradually approach the charging port of the electric vehicle to be charged and complete the plug-in charging. Since the collision detection has been performed in combination with the shape of the mechanical arm module and the shell contour of the vehicle to be charged during the planning of the second motion path, the mechanical arm module will not collide with the shell of the vehicle to be charged when moving along the second motion path, ensuring the safety of the process of the mechanical arm module driving the charging gun to be plugged in.

[0080] In one embodiment, if Figure 2 and Figure 5 As shown, the mechanical arm module 52 in the multi-parking charging assembly 50 includes a multi-degree-of-freedom mechanical arm 521 and a visual sensor, a position sensor, a distance sensor and a force feedback sensor arranged on the multi-degree-of-freedom mechanical arm, and the position sensor, the distance sensor and the force feedback sensor are all communicatively connected with the control assembly; The robot arm module 52 is specifically used for: The multi-degree-of-freedom mechanical arm drives the charging gun to move to the second target position corresponding to the second motion path to align with the charging port of the electric vehicle to be charged; If the position sensor determines that the charging gun on the end of the multi-degree-of-freedom robotic arm is in a stationary state aimed at the charging port, the distance sensor determines that the distance between the end of the degree-of-freedom robotic arm and the charging port of the electric vehicle to be charged is greater than or equal to a preset safety distance, and the visual sensor captures an image of the charging port, then the multi-degree-of-freedom robotic arm drives the charging gun to move until the charging gun is inserted into the charging port of the electric vehicle to be charged.

[0081] When the multi-degree-of-freedom robotic arm drives the charging gun to move and insert it into the charging port of the electric vehicle to be charged, the docking pressure between the charging gun and the charging port is obtained based on the force feedback sensor and the docking pressure is made less than a preset pressure threshold.

[0082] In this embodiment, in order to achieve more flexible movement of the robotic arm module, a multi-degree-of-freedom robotic arm (such as a six-degree-of-freedom robotic arm) can be specifically adopted, and a visual sensor (such as a camera is set at the end of the multi-degree-of-freedom robotic arm, which is used to capture images of the viewing angle aligned with the end of the multi-degree-of-freedom robotic arm), a position sensor (which can detect the current position information of the end of the multi-degree-of-freedom robotic arm), a distance sensor and a force feedback sensor (such as setting the above four sensors at the end position of the multi-degree-of-freedom robotic arm) are specifically arranged on the multi-degree-of-freedom robotic arm. When the claws on the end of the multi-degree-of-freedom robotic arm grab the charging gun from the charging pile, the multi-degree-of-freedom robotic arm is driven by the sliding guide rail module to move to the corresponding first target position based on the first motion path.

[0083] The process in which the multi-degree-of-freedom robotic arm drives the charging gun to move to the corresponding second target position based on the second motion path and charges the electric vehicle to be charged can be decomposed into at least two processes: the first process is that the multi-degree-of-freedom robotic arm drives the charging gun to move to the corresponding second target position in the second motion path to align with the charging port of the electric vehicle to be charged. At this time, the charging gun may be very close to the charging port, but has not yet been plugged into the charging port; the second process is that the multi-degree-of-freedom robotic arm makes the charging gun stay at the second target position first, detects motion parameters based on the position sensor and the distance sensor, and If the position sensor determines that the charging gun on the end of the multi-degree-of-freedom mechanical arm is in a stationary state aimed at the charging port, and the distance sensor determines that the distance between the end of the degree-of-freedom mechanical arm and the charging port of the electric vehicle to be charged is greater than or equal to the preset safety distance, and the visual sensor captures the image of the charging port (that is, there are no other obstructions except the charging port, the vehicle body and the outer cover of the charging port), the multi-degree-of-freedom mechanical arm drives the charging gun to move in a straight line in the direction of the charging port it is aimed at for a distance (such as the above-mentioned preset safety distance) until the charging gun is inserted into the charging port of the electric vehicle to be charged. In the above process, the visual sensor detects whether there are other obstructions except the charging port, the vehicle body and the outer cover of the charging port in the angle of view of the end of the multi-degree-of-freedom mechanical arm, which is a safety detection mechanism before the charging gun is inserted into the charging port. Moreover, if a camera is provided at the end of the multi-degree-of-freedom robotic arm, on the one hand, it can patrol the entire process from the charging gun being pulled out from the charging pile to the charging port, timely avoid all objects (including the electric car to be charged in the parking space) and keep a safe distance from the vehicle body, and on the other hand, it can also detect whether there is a person accidentally entering during the entire process of automatic insertion of the charging gun for charging. Moreover, during the entire process of the multi-degree-of-freedom robotic arm driving the charging gun to move and insert it into the charging port of the electric car to be charged, the force feedback sensor needs to obtain the docking pressure between the charging gun and the charging port and make the docking pressure less than the preset pressure threshold, that is, the docking pressure between the charging gun and the charging port is obtained by the force feedback sensor to adjust the plugging force of the multi-degree-of-freedom robotic arm to avoid damage to the electric car to be charged due to excessive force.

[0084] In one embodiment, the robotic arm module in the multi-parking automatic charging system is also used for: The charging gun is separated from the charging gun, and moves to the initial stop position under the drive of the sliding guide rail module.

[0085] In this embodiment, after the mechanical arm module has driven the charging gun to be plugged into the charging port of the car to be charged, in order to enable the multi-parking charging assembly to automatically charge other cars to be charged in other parking spaces, the mechanical arm module needs to be separated from the charging gun and moved to the initial stop position under the drive of the sliding guide rail module. Specifically, the clamping claw at the end of the multi-degree-of-freedom mechanical arm on the mechanical arm module is separated from the charging gun, and the multi-degree-of-freedom mechanical arm can be retracted first by referring to the second motion path that is a mirror image completely opposite to the second motion path, and then the mechanical arm module is driven by the sliding guide rail module to move to the initial stop position. Afterwards, when other cars to be charged in other parking spaces are detected for automatic charging, the complete process of steps S110-S160 can be referred to for automatic charging.

[0086] In one embodiment, the control component 10 is further used for: If it is determined that the charged power of the electric vehicle to be charged connected to the charging gun has reached the preset charging power threshold, and the duration of maintaining the charged power exceeds the preset charging stability duration, the multi-parking charging component is controlled to move from the initial stop position to the current charging port positioning position and the charging gun is pulled out.

[0087] In this embodiment, when the charging gun is connected to the charging port of the electric vehicle to be charged, since the charging gun supports multiple charging standards and has an automatic locking and safety protection mechanism, it can ensure a safe and stable charging connection. In addition, the control component also exchanges data with the communication interface of the electric vehicle to be charged through its wired or wireless communication capability, monitors the charging status of the electric vehicle to be charged (such as current, voltage, temperature, etc.) in real time, and can also obtain the charged power of the electric vehicle to be charged. After the charging is completed (that is, it is determined that the charged power of the electric vehicle to be charged connected to the charging gun has reached the preset charging amount threshold, and the duration of the charged power exceeds the preset charging stability duration), the charging pile is controlled to automatically disconnect the charging gun from charging the electric vehicle to be charged. At this time, the movement process of steps S150-S160 can be repeated, the difference is that when the mechanical arm module moves based on the second motion path, it does not drive the charging gun, but moves to the second target position to pull out the charging gun from the charging port of the electric vehicle to be charged, and brings the charging belt back to the charging gun fixed position at the charging pile for fixing.

[0088] In one embodiment, the visual sensor in the mechanical arm module 52 is also used to send the user monitoring image to the control component if a user monitoring image of a user entering the charging port area corresponding to the electric vehicle to be charged is detected; The control component 10 is further used to generate prompt information based on the user monitoring image and send the prompt information to a receiving terminal corresponding to the electric vehicle to be charged.

[0089] In this embodiment, when the electric vehicle to be charged is connected to the charging gun for charging, the control component can also send the charged power corresponding to the electric vehicle to be charged and obtained in real time to the receiving terminal corresponding to the electric vehicle to be charged (such as a smart phone, etc.). If the user does not wait on site while waiting for charging and the charged power corresponding to the electric vehicle to be charged received by the receiving terminal does not reach the preset charging capacity threshold (such as the battery charging capacity of the electric vehicle to be charged is considered to reach the preset charging capacity threshold only when the battery charging capacity reaches its maximum battery capacity), if the mechanical arm module is in an idle state, it can be aligned with the parking space under the charging truss when it stays in the initial stop position, and the visual sensor in the mechanical arm module detects the user monitoring image of a user entering the charging port area corresponding to the electric vehicle to be charged, indicating that other users may perform abnormal unplugging of the charging gun. At this time, the control component can generate prompt information based on the user monitoring image (such as the acquisition time corresponding to the user monitoring image, the unique parking space identification number of the parking space, etc.), and send the prompt information to the receiving terminal corresponding to the electric vehicle to be charged, so as to timely prompt that there is a situation that affects the normal charging process. The visual sensor in the robotic arm module can detect people who accidentally enter and interfere with the normal charging process.

[0090] It can be seen that the implementation example of the system can drive the robotic arm module to grab the charging gun on the charging pile through the sliding guide rail module in the multi-parking charging component and move it to the corresponding electric vehicle to be charged in any one of the multiple parking spaces under the charging truss for automatic charging operation, thereby realizing the operation of a multi-parking charging component to automatically charge the electric vehicles to be charged in multiple parking spaces, thereby reducing the equipment deployment cost.

[0091] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0092] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0093] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0094] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0095] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An intelligent control method for a multi-parking automatic charging system, applied to a multi-parking automatic charging system set in a tram charging station, characterized in that: The multi-parking automatic charging system includes a control component, a license plate recognition component, a visual recognition component, a plurality of charging trusses, a multi-parking charging component arranged on each charging truss, and a charging pile arranged in each charging truss; the license plate recognition component, the visual recognition component, the multi-parking charging component on each charging truss, and the charging pile in each charging truss are all communicatively connected with the control component; wherein, the multi-parking charging component includes a sliding guide rail module and a mechanical arm module, the sliding guide rail module is arranged on the charging truss, the mechanical arm module is arranged on the sliding guide rail module and can move horizontally along the charging truss under the drive of the sliding guide rail module, and is used to drive the mechanical arm module to grab the charging gun on the charging pile and move to any one of the multiple parking spaces under the charging truss to perform automatic charging operation on the corresponding electric vehicle to be charged; the intelligent control method of the multi-parking automatic charging system includes: The license plate recognition component recognizes the license plate of the electric vehicle to be charged entering the electric vehicle charging station, obtains the license plate recognition result, and sends the license plate recognition result to the control component; The control component matches the license plate recognition result with the acquired vehicle information data set to obtain current vehicle model information corresponding to the license plate recognition result, and determines current charging port position information based on the current vehicle model information; If the visual recognition component detects that the electric vehicle to be charged has parked in the charging port image of one of the parking spaces of the charging truss, the charging port image is sent to the control component; The control component determines the current charging port positioning position of the electric vehicle to be charged based on the charging port image, and determines the first motion path corresponding to the sliding guide rail module in the sliding guide rail module and the second motion path corresponding to the mechanical arm module based on the initial stop position of the sliding guide rail module in the multi-parking charging component and the current charging port positioning position; wherein the initial stop position of the sliding guide rail module is the position where the sliding guide rail module stops on the charging truss after the mechanical arm module removes the charging gun from the charging pile; The sliding guide rail module moves to a corresponding first target position based on the first motion path; The robotic arm module drives the charging gun to move to a corresponding second target position based on the second motion path, and charges the electric vehicle to be charged.

2. The method according to claim 1, characterized in that The matching is performed based on the license plate recognition result and the acquired vehicle information data set to obtain current vehicle model information corresponding to the license plate recognition result, and the current charging port position information is determined based on the current vehicle model information, including: Compare the license plate recognition result with the license plate number information corresponding to each vehicle information data in the vehicle information data set, and determine the vehicle information data having the same license plate number as the license plate recognition result as the target vehicle information data; Acquiring the current vehicle model information included in the target vehicle information data; Based on the current vehicle model information, current charging port location information corresponding to the current vehicle model information is obtained in a local database or a cloud server.

3. The method according to claim 1, characterized in that The visual recognition component includes a plurality of image acquisition devices, and each of the plurality of charging trusses is provided with at least one image acquisition device in the visual recognition component; If the visual recognition component detects that the electric vehicle to be charged has parked in the charging port image of one of the parking spaces of the charging truss, the charging port image is sent to the control component, including: If an image acquisition device in the visual recognition component detects a current parking vehicle image and a corresponding charging port image of the electric vehicle to be charged that has been parked in one of the parking spaces of the charging truss, the current parking vehicle image and the corresponding charging port image are sent to the control component.

4. The method according to claim 1, characterized in that: The determining the current charging port location of the electric vehicle to be charged based on the charging port image includes: Based on a pre-trained target detection model, acquiring charging port positioning data corresponding to the charging port image; Based on the camera calibration parameters of the image acquisition device corresponding to the charging port image, the current charging port positioning position corresponding to the charging port positioning data is determined.

5. The method according to claim 4, characterized in that Determining a first motion path corresponding to the sliding guide rail module in the sliding guide rail module and a second motion path corresponding to the mechanical arm module based on an initial stop position of the sliding guide rail module in the multi-parking charging assembly and a current charging port positioning position, including: Obtain the horizontal projection position of the current charging port positioning position on the charging truss corresponding to the sliding guide rail module; Determine the current horizontal stop position of the robot arm module in the sliding guide rail module based on the horizontal projection position, and determine the first motion path based on the current horizontal stop position and the initial stop position; wherein the starting point of the first motion path is the initial stop position, and the end point of the first motion path is the current horizontal stop position; The second motion path is determined based on the horizontal projection position and the current charging port positioning position.

6. The method according to claim 1, characterized in that The mechanical arm module in the multi-parking charging assembly includes a multi-degree-of-freedom mechanical arm and a visual sensor, a position sensor, a distance sensor and a force feedback sensor arranged on the multi-degree-of-freedom mechanical arm, and the position sensor, the distance sensor and the force feedback sensor are all communicatively connected with the control assembly; The mechanical arm module drives the charging gun to move to the corresponding second target position based on the second motion path, and charges the electric vehicle to be charged, including: The multi-degree-of-freedom mechanical arm in the mechanical arm module drives the charging gun to move to the second target position corresponding to the second motion path to align with the charging port of the electric vehicle to be charged; If the position sensor determines that the charging gun on the end of the multi-degree-of-freedom robotic arm is in a stationary state aimed at the charging port, the distance sensor determines that the distance between the end of the degree-of-freedom robotic arm and the charging port of the electric vehicle to be charged is greater than or equal to a preset safety distance, and the visual sensor captures an image of the charging port, then the multi-degree-of-freedom robotic arm drives the charging gun to move until the charging gun is inserted into the charging port of the electric vehicle to be charged; wherein, when the multi-degree-of-freedom robotic arm drives the charging gun to move and insert it into the charging port of the electric vehicle to be charged, the docking pressure between the charging gun and the charging port is obtained based on the force feedback sensor and the docking pressure is made less than a preset pressure threshold.

7. The method according to claim 1, characterized in that After the step in which the robotic arm module drives the charging gun to move to the corresponding second target position based on the second motion path and charges the electric vehicle to be charged, the method further includes: The mechanical arm module is separated from the charging gun and moves to the initial stop position under the drive of the sliding guide rail module.

8. The method according to claim 7, characterized in that After the step of separating the robot arm module from the charging gun and moving to the initial stop position under the drive of the sliding guide rail module, the method further includes: If the control component determines that the charged power of the electric vehicle to be charged connected to the charging gun has reached a preset charging power threshold, and the duration of maintaining the charged power exceeds the preset charging stability duration, the control component controls the multi-parking charging component to move from the initial stop position to the current charging port positioning position and performs the charging gun extraction operation.

9. The method according to claim 6, characterized in that After the step in which the robotic arm module drives the charging gun to move to the corresponding second target position based on the second motion path and charges the electric vehicle to be charged, the method further includes: If the visual sensor in the mechanical arm module detects a user monitoring image of a user entering the charging port area corresponding to the electric vehicle to be charged, the user monitoring image is sent to the control component; The control component generates prompt information based on the user monitoring image, and sends the prompt information to a receiving terminal corresponding to the electric vehicle to be charged.

10. A multi-parking automatic charging system, applied to electric vehicle charging stations, characterized in that: The multi-parking automatic charging system includes a control component, a license plate recognition component, a visual recognition component, a plurality of charging trusses, a multi-parking charging component arranged on each charging truss and a charging pile arranged in each charging truss; the license plate recognition component, the visual recognition component, the multi-parking charging component on each charging truss and the charging pile in each charging truss are all communicatively connected with the control component; wherein, the multi-parking charging component includes a sliding guide rail module and a mechanical arm module, the sliding guide rail module is arranged on the charging truss, the mechanical arm module is arranged on the sliding guide rail module and can move horizontally along the charging truss under the drive of the sliding guide rail module, and is used to drive the mechanical arm module to grab the charging gun on the charging pile and move to any one of the multiple parking spaces under the charging truss to perform automatic charging operations on the electric vehicle to be charged; the multi-parking automatic charging system is used to execute the intelligent control method of the multi-parking automatic charging system as described in any one of claims 1-9.

Images