New energy automobile automatic charging method, device and equipment and storage medium

Abstract

The invention provides a new energy automobile automatic charging method, device and equipment and a storage medium, the method is applied to an intelligent charging robot of a new energy automobile, a clamp of the robot comprises at least two branch structures, one end is used for clamping a charging plug, and the other end is used for opening and / or closing a charging port cover plate; charging indication information is sent to the robot, the robot is controlled to identify the position of the vehicle charging port cover plate through the visual sensor, and the charging port cover plate is opened through the other end of the clamp; the control robot identifies the position of a vehicle charging port through the visual sensor and inserts a plug into the charging port through one end of the clamp. Therefore, one clamp can be flexibly controlled to open / close the charging port cover plate and plug and pull the charging head, the execution steps and the mechanical structure of the robot are greatly simplified, operation is convenient, the automation degree is high, the requirement for fixed-point parking is lowered, a driver does not need to get off the vehicle for operation, safety is high, and user experience is good.

Description

Background Art

[0002] With the development of new energy vehicles at home and abroad, the demand for charging piles for new energy vehicles is also increasing. The current charging piles on the market require manual operation when charging cars, which is a cumbersome process and there is a certain risk of electric shock. Especially on rainy days, hot summers or cold winters, it is a bad experience for users to walk out of the air-conditioned car to complete a series of charging processes such as taking out the gun, inserting the gun, swiping the card to start, waiting, swiping the card to settle, and pulling the gun back to its place.

[0003] The existing intelligent charging robot has a very complex structure and control algorithm. First, the control system needs to locate the vehicle charging port, then control the gripper on the robot's mechanical arm to open the charging port cover, and then further control the gripper on the mechanical arm to complete the grabbing of the charging plug, and finally control the robot's mechanical arm to insert the grabbed charging plug into the car's charging port. When charging is completed, the control system controls the mechanical arm gripper to pull out the charging plug, place the charging plug in the designated position, and then close the charging port cover.

[0004] In the above scheme, the robot's actions of plugging and unplugging the charging plug are complicated and the execution efficiency is low. It is easy for the robot to fail to grasp the charging plug, the socket is not accurately positioned, and the charging plug cannot be placed in the specified position, resulting in problems such as crossing and entanglement of wires on site. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a new energy vehicle automatic charging method, device, equipment and storage medium.

[0006] In a first aspect, an embodiment of the present application provides an automatic charging method for a new energy vehicle, which is applied to an intelligent charging robot for a new energy vehicle, wherein a clamp of the robot includes at least two branch structures, one end of which is used to clamp a charging plug, and the other end of which is used to open and / or close a charging port cover; the method includes:

[0007] Sending charging instruction information to the robot, wherein the charging instruction information includes: vehicle model and parking location of the vehicle;

[0008] The robot uses a visual sensor to identify the position of the vehicle's charging port cover and opens the charging port cover through the other end of the fixture;

[0009] The robot uses a visual sensor to identify the location of the vehicle's charging port and inserts the plug into the charging port through one end of the fixture.

[0010] Optionally, the method further includes: determining whether the vehicle is in a charging state, and if the vehicle is not in a charging state, reporting a charging abnormality;

[0011] The robot uses visual sensors to check whether the charging plug is connected;

[0012] If the charging plug is not connected or has poor contact, the robot will reinsert the plug into the charging port through one end of the fixture.

[0013] Optionally, it also includes:

[0014] If the vehicle is in charging state, the battery status of the vehicle is monitored;

[0015] When the vehicle is fully charged, a power-off indication message is sent to the robot.

[0016] Optionally, it also includes:

[0017] The robot pulls out the charging plug through one end of the fixture;

[0018] The robot closes the charging cover through the other end of the fixture.

[0019] Optionally, the clamp is in a T-shaped or Y-shaped branch structure; a clamping mechanism for fixing the charging plug is provided at one end of the branch structure, and the other end of the branch structure is provided with a horizontal hook.

[0020] Optionally, the visual sensor is disposed on the other end of the clamp, and the orientation of the lens of the visual sensor is consistent with the orientation of the charging plug.

[0021] Optionally, the robot identifies the position of the vehicle charging port cover through a visual sensor, including:

[0022] The visual sensor captures an image including the charging port cover when the fixture approaches the vehicle;

[0023] The image is transmitted to the robot's processor for image recognition to obtain the three-dimensional position coordinate information of the charging port cover.

[0024] In a second aspect, an embodiment of the present application provides an automatic charging device for a new energy vehicle, which is applied to an intelligent charging robot for a new energy vehicle, wherein the clamp of the robot includes at least two branch structures, one end of which is used to clamp a charging plug, and the other end of which is used to open and / or close a charging port cover; including:

[0025] A sending module, used to send charging instruction information to the robot, wherein the charging instruction information includes: vehicle model and parking location of the vehicle;

[0026] The first control module is used to control the robot to identify the position of the vehicle charging port cover through the visual sensor and open the charging port cover through the other end of the clamp;

[0027] The second control module is used to control the robot to identify the location of the vehicle charging port through a visual sensor and insert the plug into the charging port through one end of the clamp.

[0028] Optionally, it also includes: an abnormality monitoring module, used to determine whether the vehicle is in a charging state, and if the vehicle is not in a charging state, report a charging abnormality;

[0029] The robot uses visual sensors to check whether the charging plug is connected;

[0030] If the charging plug is not connected or has poor contact, the robot will reinsert the plug into the charging port through one end of the fixture.

[0031] Optionally, it also includes: a power monitoring module, used to monitor the power status of the vehicle when the vehicle is in a charging state;

[0032] When the vehicle is fully charged, a power-off indication message is sent to the robot.

[0033] Optionally, it also includes: a third control module, used to control the robot to unplug the charging plug through one end of the clamp, and control the robot to close the charging cover through the other end of the clamp.

[0034] Optionally, the clamp is in a T-shaped or Y-shaped branch structure; a clamping mechanism for fixing the charging plug is provided at one end of the branch structure, and the other end of the branch structure is provided with a horizontal hook.

[0035] Optionally, the visual sensor is disposed on the other end of the clamp, and the orientation of the lens of the visual sensor is consistent with the orientation of the charging plug.

[0036] Optionally, the first control module is specifically configured to:

[0037] The visual sensor captures an image including the charging port cover when the fixture approaches the vehicle;

[0038] The image is transmitted to the robot's processor for image recognition to obtain the three-dimensional position coordinate information of the charging port cover.

[0039] In a third aspect, an embodiment of the present application provides an automatic charging device for a new energy vehicle, comprising: a processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to:

[0040] Execute the steps of any one of the new energy vehicle automatic charging methods described in the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a program, characterized in that when the program is executed, the steps of the new energy vehicle automatic charging method described in any one of the first aspects are implemented.

[0042] In the fifth aspect, an embodiment of the present application provides a robot, comprising: a robot body, a drive system, and a robotic arm, wherein the robot body is provided with a processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to control the drive system to drive the robotic arm to implement the steps of the new energy vehicle automatic charging method as described in any one of the first aspects.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present application is applied to the intelligent charging robot of new energy vehicles. The robot's fixture includes at least two branch structures, one end of which is used to clamp the charging plug, and the other end is used to open and / or close the charging port cover. By sending charging instruction information to the robot, the robot is controlled to identify the position of the vehicle's charging port cover through a visual sensor, and open the charging port cover through the other end of the fixture. The robot is controlled to identify the position of the vehicle's charging port through a visual sensor, and insert the plug into the charging port through one end of the fixture. In this way, a fixture can be flexibly controlled to open / close the charging port cover, as well as plug and unplug the charging head, which greatly simplifies the robot's execution steps and mechanical structure, is easy to operate, has a high degree of automation, reduces the requirements for fixed-point parking, and does not require the driver to get off the vehicle to operate, has high safety, and provides a good user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0046] Figure 1 The application scenario of the embodiment of the present application is shown as follows: Figure 1 ;

[0047] Figure 2 The application scenario of the embodiment of the present application is shown as follows: Figure 2 ;

[0048] Figure 3 A schematic diagram of the structure of an intelligent charging robot applied to new energy vehicles provided in an embodiment of the present application;

[0049] Figure 4 A partially enlarged schematic diagram of the end of a robotic arm provided in an embodiment of the present application;

[0050] Figure 5 The clamp state diagram provided in this embodiment Figure 1 ;

[0051] Figure 6 The clamp state diagram provided in this embodiment Figure 2 ;

[0052] Figure 7 The clamp state diagram provided in this embodiment Figure 3 ;

[0053] Figure 8 A side view of an intelligent charging robot applied to new energy vehicles provided in an embodiment of the present application;

[0054] Fig. 9 A top view of an intelligent charging robot applied to new energy vehicles provided in an embodiment of the present application;

[0055] Fig.10 A schematic diagram of a flow chart of an automatic charging method for a new energy vehicle provided in an embodiment of the present application;

[0056] Fig.11 A schematic diagram of another automatic charging method for a new energy vehicle provided in an embodiment of the present application;

[0057] Fig.12 A schematic diagram of the structure of an automatic charging device for a new energy vehicle provided in an embodiment of the present application;

[0058] Fig.13 A schematic diagram of the structure of another automatic charging device for new energy vehicles provided in an embodiment of the present application;

[0059] Fig.14 A schematic diagram of the structure of an automatic charging device for a new energy vehicle provided in one embodiment of the present application;

[0060] Fig.15 It is a schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention.

[0061] In the figure:

[0062] 101-charging shed, 102-charging pile, 103-electric car, 200-intelligent charging robot, 201-base, 202-first joint, 203-first drive motor, 204-second joint, 205-second drive motor, 206-third joint, 207-third drive motor, 208-first branch, 209-visual sensor, 210-charging plug, 211-control cabinet. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0066] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0067] The following specific embodiments are used to describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0068] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0069] Figure 1 The application scenario of the embodiment of the present application is shown as follows: Figure 1 ,like Figure 1As shown, in an open-air parking lot, a plurality of parking spaces are arranged on one side of the passage, and a charging shed 101 and a charging pile 102 are arranged between every two parking spaces. When an electric car 103 is parked at a preset parking position, the intelligent charging robot in the charging shed 101 will align the charging head it carries with the charging port of the car, and automatically plug in the battery gun for charging. After charging is completed, the charging head will be automatically unplugged, and finally the charging cover of the car will be closed.

[0070] Figure 2 The application scenario of the embodiment of the present application is shown as follows: Figure 2 ,like Figure 2 As shown, in an underground parking lot or an indoor parking lot, there is no need to set up a shelter for the intelligent charging robot 200. This is because the outdoor ambient light can easily cause light interference to the visual sensing system of the intelligent charging robot 200, thereby affecting the recognition accuracy of the intelligent charging robot 200 for the position of the car charging port. In an indoor environment, the impact of indoor ambient light interference is almost negligible, so there is no need to set up a shelter.

[0071] It should be noted that the intelligent charging robot 200 in this embodiment can be a mobile robot, for example, its own chassis is equipped with a mobile system, or it can be moved with the help of slide rails on the ground, so as to flexibly adapt to the charging port positions of different models of cars.

[0072] An embodiment of the present application provides an intelligent charging robot applied to new energy vehicles, including: a base, a robotic arm, a drive motor, a clamp, and a visual sensor. The robotic arm is tightly connected to the base, the drive motor is electrically connected to each joint of the robotic arm, and the clamp and the visual sensor are located at the end of the robotic arm; wherein: the drive motor is used to drive each joint of the robotic arm to rotate to a preset angle; the visual sensor is used to collect a position image of the vehicle charging port to assist in locating the position of the charging port cover and the charging socket; the clamp includes at least two branch structures, one end of which is used to clamp the charging plug, and the other end is used to open and / or close the charging port cover.

[0073] In this embodiment, the motor drives each joint of the robot arm to rotate to a preset angle; the visual sensor collects the position image of the car charging port to assist in locating the position of the charging port cover and the charging socket; one end of the two branches of the clamp is used to clamp the charging plug, and the other end is used to open / close the charging port cover. In this way, a clamp can be flexibly controlled to open / close the charging port cover and plug and unplug the charging head, which greatly simplifies the execution steps and mechanical structure of the robot, is easy to operate, has a high degree of automation, reduces the requirements for fixed-point parking, and does not require the driver to get off the vehicle to operate, has high safety, and provides a good user experience.

[0074] Figure 3A schematic diagram of the structure of an intelligent charging robot applied to new energy vehicles provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the intelligent charging robot 200 in this embodiment may include: a base 201, a first joint 202, a second joint 204, and a third joint 206. The lower end of the first joint 202 is firmly connected to the base 201, the upper end of the first joint 202 is movably connected to one end of the second joint 204, the other end of the second joint 204 is movably connected to one end 206 of the third joint, and the other end of the third joint 206 is movably connected to the fixture. Between the first joint 202 and the second joint 204, the second joint 204 is driven to rotate within a preset first angle range by the first drive motor 203; between the second joint 204 and the third joint 206, the third joint 206 is driven to rotate within a preset second angle range by the second drive motor 205. The movable joint between the fixture and the third joint 206 is driven by the third drive motor 207 to control the fixture to rotate within the pitch angle range.

[0075] For example, see Figure 3 The fixture includes a first branch mechanism 208 and a second branch mechanism, wherein the first branch mechanism 208 is used to open and / or close the charging port cover, and the second branch mechanism is used to clamp the charging plug 210, or fix the charging plug through a ring buckle. The visual sensor 209 is set on the first branch mechanism 208, and is used to collect the position image of the vehicle charging port to assist in locating the position of the charging port cover and the charging socket.

[0076] Exemplarily, the clamp in this embodiment can be designed as a T-shaped or Y-shaped branch structure; a clamping mechanism for fixing the charging plug is provided at one end of the branch structure, and the other end of the branch structure has a horizontal hook.

[0077] In this embodiment, a T-shaped or Y-shaped branch structure is set to facilitate the switching of different branch ends when the clamp moves within the depression angle range. There is no need to replace the clamp or take and place the charging plug. It has high flexibility, greatly reduces the operating movements of the robot arm, and improves the efficiency of plugging and unplugging, and opening and closing the charging port cover.

[0078] After testing and verification, in this embodiment, the success rate of plugging and unplugging the charging gun is higher than 99%, the plugging and unplugging efficiency is high, and the time from charging port positioning to plugging and unplugging is less than 30 seconds. In addition, the process of opening and closing the vehicle's charging port cover and plugging and unplugging the charging gun is very smooth, and there will be no jamming or stucking.

[0079] Exemplarily, the visual sensor includes: a binocular camera. In this embodiment, the binocular camera is used to collect an image including the position of the vehicle charging port, thereby improving the recognition accuracy of the charging port position and ensuring the subsequent operation accuracy of the robotic arm.

[0080] Figure 4 A partial enlarged schematic diagram of the end of the robotic arm provided in an embodiment of the present application, such as Figure 4 As shown, the first branch 208 is vertically connected to the second branch to form a T-shape. There is a horizontal hook (crossbar) on the far end of the first branch 208, which is used to assist in opening or closing the cover of the car charging port. The second branch has a ring buckle for fixing the charging plug 210, and the lens direction of the visual sensor 209 is consistent with the direction of the charging plug 210. The advantage of this design is that when the charging plug 210 is aligned with the charging port position, the visual sensor 209 can collect images, reducing the control steps of the robotic arm fixture and completing a series of image acquisition tasks in one action.

[0081] Figure 5 The clamp state diagram provided in this embodiment Figure 1 , Figure 6 The clamp state diagram provided in this embodiment Figure 2 , Figure 7 The clamp state diagram provided in this embodiment Figure 3 . Combined Figure 5 to Figure 7 As shown, when the movable joint is at the first angle, the second branch of the clamp holding the charging plug 210 is directed toward the vehicle charging port. At this time, the visual sensor 209 collects an image containing the position of the vehicle charging port (such as Figure 7 When the movable joint is at the second angle, the first branch mechanism 208 of the clamp faces the vehicle charging port, and after determining the position of the vehicle charging port, the first branch mechanism 208 on the clamp is controlled by the robot arm to open the charging port cover (as shown in FIG. Figure 5 When the charging port cover is opened, see Figure 6 In the direction shown, the clamp is adjusted so that the second branch of the clamp carries the charging plug 210 and is aligned with the charging port of the vehicle.

[0082] Figure 8 A side view of an intelligent charging robot applied to a new energy vehicle provided in an embodiment of the present application, as shown in 8, the intelligent charging robot in this embodiment also includes: a control cabinet 211, a processor in the control cabinet is communicatively connected with a drive motor and a visual sensor; the visual sensor sends an image containing the position of the vehicle charging port to the processor, the processor generates a first control instruction, and sends the first control instruction to the drive motor; the drive motor, according to the first control instruction, controls the fixture at the end of the robotic arm to complete the following operations:

[0083] Open the charging port cover;

[0084] Insert the charging plug into the charging port.

[0085] Exemplarily, the processor is also provided with a monitoring module for monitoring the battery power of the vehicle. When an electrical connection is established between the charging plug and the charging port, the monitoring module monitors the battery power of the vehicle in real time.

[0086] Exemplarily, when the car is fully charged, the processor is further configured to send a second control instruction to the drive motor; the drive motor controls the fixture at the end of the robotic arm to perform the following operations according to the second control instruction:

[0087] Unplug the charging plug;

[0088] Close the charging port cover.

[0089] Fig. 9 A top view of an intelligent charging robot for new energy vehicles provided in an embodiment of the present application, such as Fig. 9 As shown, the base 210 of the intelligent charging robot is electrically connected to the control cabinet 211 through a bus, so as to realize communication between the processor in the control cabinet and the drive motor and the visual sensor, and to supply power to the drive motor.

[0090] In this embodiment, the processor in the control cabinet can control the on and off of the current and voltage of the charging gun, and according to the instructions of the on-site system, complete the actions of power off before plugging the gun, power on after plugging the gun, and automatically power off before unplugging the gun. In addition, the processor in the control cabinet can also report abnormal charging conditions in a timely manner.

[0091] Fig.10 A schematic diagram of a flow chart of a new energy vehicle automatic charging method provided in an embodiment of the present application, such as Fig.10 As shown, the method in this embodiment may include:

[0092] Step S1001: Send charging instruction information to the robot, where the charging instruction information includes: vehicle model and vehicle parking location.

[0093] The method in this embodiment can be applied to Figure 3 In the robot shown, first, a remote control center or a processor in a robot control cabinet sends charging instruction information to the robot. The vehicle model and the parking position of the vehicle are determined through the charging instruction information.

[0094] Step S1002: The robot identifies the position of the vehicle charging port cover through a visual sensor and opens the charging port cover through the other end of the clamp.

[0095] In this embodiment, when the fixture is close to the vehicle, the visual sensor captures an image containing the charging port cover; the image is then transmitted to the robot's processor for image recognition to obtain the three-dimensional position coordinate information of the charging port cover. The processor of the robot control cabinet generates a series of instructions to control the movement of the robot arm based on the three-dimensional position coordinate information of the charging port cover, so that the drive motor drives the other end of the fixture to open the charging port cover.

[0096] Exemplarily, the clamp in this embodiment is in a T-shaped or Y-shaped branch structure; a clamping mechanism for fixing the charging plug is provided at one end of the branch structure, and the other end of the branch structure is provided with a horizontal hook.

[0097] Exemplarily, the visual sensor is disposed on the other end of the fixture, and the orientation of the lens of the visual sensor is consistent with the orientation of the charging plug.

[0098] Step S1003: The robot identifies the location of the vehicle charging port through a visual sensor and inserts the plug into the charging port through one end of the fixture.

[0099] In this embodiment, the visual sensor captures an image containing the charging port; then the corresponding image is transmitted to the robot's processor for image recognition to obtain the three-dimensional position coordinate information of the charging port. The processor of the robot control cabinet generates a series of instructions to control the movement of the robot arm based on the three-dimensional position coordinate information of the charging port, so that the drive motor drives one end of the fixture to insert the charging plug into the charging port.

[0100] In this embodiment, by sending charging instruction information to the robot, the robot is controlled to identify the position of the vehicle charging port cover through the visual sensor and open the charging port cover through the other end of the clamp; the robot is controlled to identify the position of the vehicle charging port through the visual sensor and insert the plug into the charging port through one end of the clamp. Thus, a clamp can be flexibly controlled to open / close the charging port cover and plug and unplug the charging head, which greatly simplifies the execution steps and mechanical structure of the robot, is easy to operate, has a high degree of automation, reduces the requirements for fixed-point parking, and does not require the driver to get off the vehicle to operate, has high safety, and provides a good user experience.

[0101] Fig.11 A flow chart of another automatic charging method for a new energy vehicle provided in an embodiment of the present application is shown in FIG. Fig.11 As shown, the method in this embodiment may include:

[0102] Step S1101: Send charging instruction information to the robot, where the charging instruction information includes: vehicle model and vehicle parking location.

[0103] Step S1102: The robot identifies the position of the vehicle charging port cover through a visual sensor and opens the charging port cover through the other end of the clamp.

[0104] Step S1103: The robot identifies the location of the vehicle charging port through a visual sensor and inserts the plug into the charging port through one end of the fixture.

[0105] For the specific implementation and technical effects of steps S1101 to S1103 in this embodiment, please refer to Fig.10 The relevant descriptions of steps S1001 to S1003 are not repeated here.

[0106] Step S1104: determine whether the vehicle is in a charging state. If the vehicle is not in a charging state, report a charging abnormality.

[0107] In this embodiment, sometimes the robot may have poor contact when inserting the plug, or the plug may fail to be inserted. In this case, it can be determined whether the plug is inserted abnormally by whether the vehicle is in a charging state.

[0108] Step S1105: The robot uses a visual sensor to check whether the charging plug is connected.

[0109] In this embodiment, the image of the charging plug is captured by the visual sensor on the robot to determine whether the charging plug is connected normally.

[0110] Step S1106: If the charging plug is not connected or has poor contact, the robot reinserts the plug into the charging port through one end of the fixture.

[0111] In this embodiment, the robot itself can perform error correction and re-insert the plug using the robot's clamp.

[0112] In an optional implementation, the method further includes: if the vehicle is in a charging state, monitoring the power state of the vehicle; when the vehicle is fully charged, sending a power-off indication message to the robot.

[0113] In another optional embodiment, the method further includes: the robot pulls out the charging plug through one end of the clamp; and the robot closes the charging cover through the other end of the clamp.

[0114] In this embodiment, the vehicle charging status and the charging power of the vehicle can be monitored, abnormal conditions during the charging process can be quickly discovered, and the abnormal conditions can be reported in time for abnormal processing, thereby ensuring that the vehicle can complete automatic charging.

[0115] Fig.12A schematic diagram of the structure of an automatic charging device for a new energy vehicle provided in an embodiment of the present application, which is applied to an intelligent charging robot for a new energy vehicle, wherein the robot's clamp includes at least two branch structures, one end of which is used to clamp the charging plug, and the other end of which is used to open and / or close the charging port cover. The device in this embodiment may include: a sending module 1201, which is used to send charging indication information to the robot, and the charging indication information includes: vehicle type, vehicle parking position; a first control module 1202, which is used to control the robot to identify the position of the vehicle charging port cover through a visual sensor, and open the charging port cover through the other end of the clamp; a second control module 1203, which is used to control the robot to identify the position of the vehicle charging port through a visual sensor, and insert the plug into the charging port through one end of the clamp.

[0116] Optionally, the first control module 1202 is specifically used for: when the clamp is close to the vehicle, the visual sensor captures an image including the charging port cover; transmits the image to the robot's processor for image recognition to obtain the three-dimensional position coordinate information of the charging port cover.

[0117] This embodiment is applied to the intelligent charging robot of new energy vehicles. The robot's fixture includes at least two branch structures, one end of which is used to clamp the charging plug, and the other end is used to open and / or close the charging port cover. By sending charging instruction information to the robot, the robot is controlled to identify the position of the vehicle's charging port cover through a visual sensor, and open the charging port cover through the other end of the fixture. The robot is controlled to identify the position of the vehicle's charging port through a visual sensor, and insert the plug into the charging port through one end of the fixture. In this way, a fixture can be flexibly controlled to open / close the charging port cover, as well as plug and unplug the charging head, which greatly simplifies the robot's execution steps and mechanical structure, is easy to operate, has a high degree of automation, reduces the requirements for fixed-point parking, and does not require the driver to get off the vehicle to operate, has high safety, and provides a good user experience.

[0118] Fig.13 A schematic diagram of the structure of another automatic charging device for new energy vehicles provided in an embodiment of the present application is shown in FIG. Fig.13 As shown, the device in this embodiment is Fig.12 On the basis of, it can also include: an abnormality monitoring module 1204, which is used to determine whether the vehicle is in a charging state. If the vehicle is not in a charging state, a charging abnormality is reported; the robot checks whether the charging plug is connected through a visual sensor; if the charging plug is not connected or the contact is poor, the robot reinserts the plug into the charging port through one end of the clamp.

[0119] Optionally, it also includes: a power monitoring module 1205, which is used to monitor the power status of the vehicle when the vehicle is in a charging state; when the vehicle is fully charged, a power-off indication message is sent to the robot.

[0120] Optionally, it also includes: a third control module 1206, which is used to control the robot to unplug the charging plug through one end of the clamp, and control the robot to close the charging cover through the other end of the clamp.

[0121] Optionally, the clamp is in a T-shaped or Y-shaped branch structure; a clamping mechanism for fixing the charging plug is provided at one end of the branch structure, and the other end of the branch structure is provided with a horizontal hook.

[0122] Optionally, the visual sensor is disposed on the other end of the fixture, and the direction of the lens of the visual sensor is consistent with the direction of the charging plug.

[0123] In this embodiment, the vehicle charging status and the charging power of the vehicle can be monitored, abnormal conditions during the charging process can be quickly discovered, and the abnormal conditions can be reported in time for abnormal processing, thereby ensuring that the vehicle can complete automatic charging.

[0124] Fig.14 This is a schematic diagram of the structure of an automatic charging device for a new energy vehicle provided in an embodiment of the present application. The automatic charging device 1400 for a new energy vehicle in this embodiment may include: a processor 1401 and a memory 1402 .

[0125] The memory 1402 is used to store programs. The memory 1402 may include volatile memory, such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc. The memory may also include non-volatile memory, such as flash memory. The memory 1402 is used to store computer programs (such as applications, functional modules, etc. that implement the above methods), computer instructions, etc. The above computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 1402. And the above computer programs, computer instructions, data, etc. may be called by the processor 1401.

[0126] The above-mentioned computer programs, computer instructions, etc. may be stored in partitions in one or more memories 1402 . And the above-mentioned computer programs, computer instructions, data, etc. may be called by the processor 1401 .

[0127] The processor 1401 is used to execute the computer program stored in the memory 1402 to implement each step of the method involved in the above embodiment.

[0128] For details, please refer to the relevant description in the previous method embodiment.

[0129] The processor 1401 and the memory 1402 may be independent structures or integrated structures. When the processor 1401 and the memory 1402 are independent structures, the memory 1402 and the processor 1401 may be coupled and connected via a bus 1403 .

[0130] The workpiece contour marking device 1400 of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles can be found in the relevant description of the above method, which will not be repeated here.

[0131] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "platforms".

[0132] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When at least one processor of a user device executes the computer-executable instructions, the user device executes the above-mentioned various possible methods.

[0133] Among them, computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also be present in a communication device as discrete components.

[0134] The present application also provides a program product, which includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium. At least one processor executes the computer program so that the server implements any method of the above-mentioned embodiments of the present invention.

[0135] Those skilled in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Various media that can store program codes.

[0136] Fig.15 Schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. Fig.15 As shown, a program product 1500 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0137] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0138] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0139] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0140] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0141] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A new energy vehicle automatic charging method, characterized in that: In an intelligent charging robot used in new energy vehicles, the robot's clamp includes at least two branch structures, one end of which is used to clamp the charging plug and the other end of which is used to open and / or close the charging port cover; The method comprises: Sending charging instruction information to the robot, wherein the charging instruction information includes: vehicle model and parking location of the vehicle; The robot uses a visual sensor to identify the position of the vehicle's charging port cover and opens the charging port cover through the other end of the fixture; The robot uses a visual sensor to identify the location of the vehicle's charging port and inserts the plug into the charging port through one end of the fixture.

2. The automatic charging method for new energy vehicles according to claim 1, characterized in that: Also includes: Determine whether the vehicle is in a charging state. If the vehicle is not in a charging state, report charging abnormality; The robot uses visual sensors to check whether the charging plug is connected; If the charging plug is not connected or has poor contact, the robot will reinsert the plug into the charging port through one end of the fixture.

3. The automatic charging method for new energy vehicles according to claim 2, characterized in that: Also includes: If the vehicle is in charging state, the battery status of the vehicle is monitored; When the vehicle is fully charged, a power-off indication message is sent to the robot.

4. The automatic charging method for new energy vehicles according to claim 3, characterized in that: Also includes: The robot pulls out the charging plug through one end of the fixture; The robot closes the charging cover through the other end of the fixture.

5. The automatic charging method for new energy vehicles according to any one of claims 1 to 4, characterized in that: The clamp is in a T-shaped or Y-shaped branch structure; a clamping mechanism for fixing the charging plug is provided at one end of the branch structure, and the other end of the branch structure is provided with a horizontal hook.

6. The automatic charging method for new energy vehicles according to claim 5, characterized in that: The visual sensor is arranged on the other end of the clamp, and the direction of the lens of the visual sensor is consistent with the direction of the charging plug.

7. The automatic charging method for new energy vehicles according to any one of claims 1 to 4, characterized in that: The robot uses visual sensors to identify the position of the vehicle charging port cover, including: The visual sensor captures an image including the charging port cover when the fixture approaches the vehicle; The image is transmitted to the robot's processor for image recognition to obtain the three-dimensional position coordinate information of the charging port cover.

8. An automatic charging device for new energy vehicles, characterized in that: In an intelligent charging robot used in new energy vehicles, the robot's clamp includes at least two branch structures, one end of which is used to clamp the charging plug, and the other end of which is used to open and / or close the charging port cover; including: A sending module, used to send charging instruction information to the robot, wherein the charging instruction information includes: vehicle model and parking location of the vehicle; The first control module is used to control the robot to identify the position of the vehicle charging port cover through the visual sensor and open the charging port cover through the other end of the clamp; The second control module is used to control the robot to identify the location of the vehicle charging port through a visual sensor and insert the plug into the charging port through one end of the clamp.

9. An automatic charging device for new energy vehicles, characterized in that: include: A processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to: Execute the steps of the new energy vehicle automatic charging method as described in any one of claims 1 to 7.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the new energy vehicle automatic charging method according to any one of claims 1 to 7 are implemented.

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