Charging device for vehicle

Abstract

The invention provides a charging device for a vehicle, and the device comprises a charging plug which can be inserted into a charging socket of a to-be-charged vehicle through posture adjustment; the communication module is used for establishing a communication channel with the vehicle to be charged; and the control module is used for controlling the movement of the charging plug based on the relative position between the charging plug and the charging socket, so that the charging plug is aligned with the charging socket according to a preset precision requirement for charging. The invention further provides a vehicle, which comprises a charging socket matched with the charging plug in the charging device; and an in-vehicle communication module that communicates with the communication module in the charging device. The invention further provides a method for charging the vehicle through the charging device.

Description

Technical Field

[0001] The present application generally relates to the field of charging, and more particularly to a charging device for a vehicle. Background Art

[0002] Existing new energy vehicles are generally charged in a charging pile mode. The vehicle needs to be driven into a fixed parking space equipped with a charging pile. When charging, the charging gun needs to be manually inserted into the charging socket of the new energy vehicle for charging. After charging is completed, the charging gun needs to be manually pulled out of the charging socket and put back in place. The operation process is relatively cumbersome, the charging area is limited, and there are safety hazards.

[0003] With the development of artificial intelligence, a solution has emerged to insert the charging gun into the charging socket through a robotic arm. However, the existing robotic arms are very expensive, have low alignment efficiency, and low safety.

[0004] In view of the above, it is desirable to provide an improved charging device for a vehicle. Summary of the invention

[0005] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0006] The present application provides a charging device for a vehicle, comprising: a charging plug, which can be inserted into a charging socket of a vehicle to be charged by adjusting its position; a communication module, which is used to establish a communication channel with the vehicle to be charged; and a control module, which controls the movement of the charging plug based on the relative position between the charging plug and the charging socket so that the charging plug is aligned with the charging socket with a preset accuracy requirement for charging.

[0007] In some embodiments, the charging device also includes: a positioning sensor, which determines the position of the charging plug and the position of the charging socket; and a positioning calculation module, which is configured to: calculate the relative position between the charging plug and the charging socket based on the position of the charging plug and the charging socket obtained from the positioning sensor, and provide the calculated relative position to the control module.

[0008] In some embodiments, the relative position between the charging plug and the positioning sensor is fixed.

[0009] In some embodiments, the relative position between the charging plug and the charging socket is obtained from the vehicle to be charged through the communication channel established by the communication module.

[0010] In some embodiments, the control module performs real-time closed-loop control on the movement of the charging plug based on the relative position between the charging plug and the charging socket.

[0011] In some embodiments, the control module is further configured to: coarsely adjust the movement of the charging plug so that the charging plug is pre-aligned with the charging socket, wherein during the pre-alignment, the charging plug is aligned with the charging socket with an initial accuracy requirement, wherein the initial accuracy requirement is lower than the preset accuracy requirement.

[0012] In some embodiments, the control module is further configured to: after the charging plug is pre-aligned with the charging socket, fine-tune the movement of the charging plug so that the charging plug is precisely aligned with the charging socket, wherein during the precise alignment, the charging plug is aligned with the charging socket with the preset accuracy requirement.

[0013] In some embodiments, the control module is further configured to retract the charging plug to its original position when charging is completed.

[0014] In some embodiments, the charging plug is installed in a housing module, and wherein: when the vehicle to be charged needs to be charged, the housing module is opened to allow the charging plug to extend out of the housing module; and when charging is completed and the charging plug is retracted, the housing module is closed.

[0015] The present application also provides a vehicle, comprising: a charging socket, which matches the charging plug in the aforementioned charging device; and an on-board communication module, which communicates with the communication module in the aforementioned charging device.

[0016] In some embodiments, the vehicle also includes: an on-board positioning sensor, which determines the position of the charging plug and the position of the charging socket; and an on-board positioning calculation module, which is configured to: calculate the relative position between the charging plug and the charging socket based on the position of the charging plug and the charging socket obtained from the on-board positioning sensor, and provide the calculated relative position to the control module through the on-board communication module.

[0017] In some embodiments, the vehicle is further provided with a positioning member, which is used to assist in positioning the charging socket.

[0018] The present application also provides a method for charging a vehicle, comprising: determining whether the vehicle needs to be charged; when it is determined that the vehicle needs to be charged, determining the position of a charging plug of a charging device and the position of a charging socket of the vehicle; calculating the relative position between the charging plug and the charging socket based on the position of the charging plug and the position of the charging socket; and controlling the movement of the charging plug based on the relative position so that the charging plug is aligned with the charging socket with a preset accuracy requirement for charging.

[0019] In some embodiments, controlling the movement of the charging plug so that the charging plug is aligned with the charging socket with a preset accuracy requirement further includes: coarsely adjusting the movement of the charging plug so that the charging plug is pre-aligned with the charging socket, wherein during the pre-alignment, the charging plug is aligned with the charging socket with an initial accuracy requirement, wherein the initial accuracy requirement is lower than the preset accuracy requirement.

[0020] In some embodiments, controlling the movement of the charging plug so that the charging plug is aligned with the charging socket with a preset accuracy requirement further includes: after the charging plug is pre-aligned with the charging socket, fine-tuning the movement of the charging plug so that the charging plug is precisely aligned with the charging socket, wherein during the precise alignment, the charging plug is aligned with the charging socket with the preset accuracy requirement.

[0021] The technical solution of the present application improves the alignment accuracy by pre-aligning and accurately aligning the charging plug and the charging socket. At the same time, the technical solution of the present application avoids manual operation, improves the charging efficiency, and has high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The features, nature and advantages of the present application will become more apparent when the detailed description set forth below is understood in conjunction with the accompanying drawings. In the accompanying drawings, the same reference numerals are always used for corresponding identification. It should be noted that the drawings described are only schematic and non-limiting. In the accompanying drawings, the sizes of some components may be exaggerated and are not drawn to scale for illustrative purposes.

[0023] Figure 1 A conventional charging device and a vehicle schematic are shown.

[0024] Figure 2 A schematic diagram of a charging device and a vehicle according to various aspects of the present application is shown.

[0025] Figure 3 A schematic block diagram of a charging device according to various aspects of the present application is shown.

[0026] Figure 4 A schematic block diagram of a vehicle according to aspects of the present application is shown.

[0027] Figure 5A flow chart of a method for charging a vehicle according to aspects of the present application is shown.

[0028] Figure 6 A schematic diagram showing the movement of a charging plug according to various aspects of the present application is shown.

[0029] Figure 7 An exemplary process for charging a vehicle according to aspects of the present application is shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. In the following detailed description, many specific details are set forth to provide a thorough understanding of the described exemplary embodiments. However, it is obvious to those skilled in the art that the described embodiments can be practiced without some or all of these specific details. In other exemplary embodiments, well-known structures are not described in detail to avoid unnecessarily obscuring the concepts of the present application. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. At the same time, in the absence of conflict, the various aspects described in the embodiments can be combined arbitrarily.

[0031] As mentioned above, the operation of charging a vehicle using an existing charging device is cumbersome, unsafe, and inefficient.

[0032] The present application proposes an improved charging device. The charging device improves the alignment accuracy by pre-aligning and accurately aligning the charging plug and the charging socket. At the same time, the charging device of the present application can automatically move the charging plug to the charging socket of the vehicle for alignment and charging after determining that the vehicle needs to be charged, and automatically retract the charging plug after charging is completed, avoiding manual operation, improving charging efficiency, and having high safety.

[0033] Figure 1 A conventional charging device and vehicle schematic 100 is shown. Figure 1 In the figure, the charging plug shown with a dotted line indicates that the charging plug is located at a fixed charging pile, and the charging socket shown with a dotted line indicates that the charging socket is located at the vehicle. Figure 1 The arrangement of the charging plug and the charging socket shown in the figure is only exemplary and non-restrictive. In practice, the charging plug and the charging socket can be installed at other suitable positions of the charging pile and the vehicle respectively.

[0034] Conventional charging methods usually use fixed charging piles. Figure 1 As shown, a charging plug (eg, a charging gun) is provided on the fixed charging pile, and a fixed parking space is provided next to the charging pile for vehicle charging.

[0035] When the vehicle wants to be charged, it needs to park the vehicle in the fixed parking space first. Then it is necessary to manually insert the charging gun into the charging socket of the vehicle for charging. After charging is completed, it is necessary to manually unplug the charging gun from the charging socket and put it back into the charging pile. This makes the charging process more cumbersome and poses a safety hazard. In some embodiments, the charging gun can be inserted into the charging socket by a robotic arm. However, the cost of the robotic arm is often high and the alignment efficiency is low.

[0036] At the same time, this conventional charging method depends on the distribution of fixed charging piles, and one charging pile can often only charge vehicles in adjacent parking spaces, which limits charging flexibility. Even if there are enough parking spaces, if the number of charging piles is insufficient, it will be difficult to cope with the increasing demand for vehicle charging.

[0037] Figure 2 A schematic diagram 200 of a charging device and vehicle in accordance with aspects of the present application is shown.

[0038] When it is determined that the vehicle needs to be charged, the control module (not shown in the figure) in the charging device will automatically control the movement of the charging plug to move it toward the vehicle. By controlling and adjusting the movement of the charging plug, the charging plug can be aligned with the charging socket of the vehicle with a preset accuracy requirement, so as to charge. Specifically, the movement of the charging plug can be roughly adjusted first to pre-align the charging plug with the charging socket, and then the movement of the charging plug can be fine-tuned to accurately align the charging plug with the charging socket with a preset accuracy requirement. After charging is completed, the control module automatically retracts the charging plug to its original position.

[0039] In some implementations, a specific area around the charging device (e.g., an area that the charging plug can move to) can be set as a charging area. In some embodiments, when a vehicle is parked in a charging area, the charging device may assume that the vehicle is likely to need charging. Thus, the charging device may actively inquire whether the vehicle needs to be charged (e.g., by sending an inquiry message to the vehicle). In an alternative embodiment, the vehicle may actively send a charging request to the charging device to inform the charging device that the vehicle needs to be charged. In this way, the charging device can determine whether the vehicle needs to be charged. It should be noted that although Figure 2 A rectangular charging area is shown in FIG. 1 , but this is only exemplary. In actual implementation, the charging area may be any other suitable shape (eg, square, circular, oval, irregular shape, etc.).

[0040] It can be seen that the charging area in this application is more flexible than conventional fixed parking spaces, and has a larger charging range. In addition, the charging device of this application can automatically start the charging operation when it is determined that the vehicle is expected to be charged, which simplifies the charging process and improves alignment efficiency and safety. At the same time, using the charging device of this application, the vehicle that is expected to be charged does not need to park in a fixed parking space next to a fixed charging pile, further improving the charging flexibility.

[0041] Figure 3 A schematic block diagram of a charging device 300 according to various aspects of the present application is shown.

[0042] See also Figure 3 , the charging device 300 may include a charging plug 305, a communication module 310, a control module 315, and an optional positioning sensor 320 and a positioning calculation module 325. One or more of these modules may be directly or indirectly connected or communicated with each other on one or more buses 330.

[0043] The charging plug 305 can be inserted into the charging socket of the vehicle to be charged by adjusting its position, so as to charge the vehicle to be charged.

[0044] In some embodiments, the charging plug 305 can be installed in a housing module (not shown in the figure). The housing module can be any suitable module that can accommodate and protect the charging plug. For example, the housing module can be a container with a lid. When the to-be-charged vehicle needs to be charged, the housing module is opened so that the charging plug can extend out of the housing module. When charging is completed and the charging plug is retracted, the housing module is closed.

[0045] In some implementations, the accommodating module can be set on the ground. In such implementations, the height of the accommodating module can be set to be lower than a preset threshold (for example, lower than 7 cm) so as not to affect the passage of the vehicle. In addition, the accommodating module can be opened and closed by providing a sliding cover. By closing the accommodating module when not charging, the charging plug can be protected from external damage or bad weather (for example, rain), and it can also be dustproof. At the same time, when the accommodating module is open, the sliding cover can be opened only partially (for example, the opening size is sufficient to allow the charging plug to extend out of the accommodating module) instead of fully opened, thereby further protecting the charging plug.

[0046] In other implementations, the accommodation module may not be set on the ground. For example, the accommodation module may be set on a wall, at a charging pile, or at other suitable locations. In such implementations, the charging socket may be set on the side of the vehicle. When the vehicle needs to be charged, the accommodation module may be automatically opened and the charging plug may extend out of the accommodation module and move to the side of the vehicle where the charging socket is provided. In this way, the moving path from the charging plug to the charging socket may be shortened, and the alignment of the two may be accelerated.

[0047] In some embodiments, the accommodation module may be fixed. For example, the accommodation module may be arranged at a fixed position on the ground or at a fixed position on a wall.

[0048] In some embodiments, the housing module may be movable. For example, the entire housing module may be movable within a certain range. In such cases, the charging area may be further expanded. For example, the area where the vehicle can be charged may include the movable range of the housing module plus the movable range of the charging plug. In this way, the charging range may be further expanded and the charging flexibility may be improved.

[0049] The communication module 310 is configured to establish a communication channel with the vehicle to be charged.

[0050] For example, the communication module 310 can establish a communication channel and communicate with a corresponding module of the vehicle to be charged (e.g., an onboard communication module, a communication device of the owner, etc.). Thus, the charging device can exchange information (e.g., information related to charging) with the vehicle to be charged.

[0051] The control module 315 is configured to control the movement of the charging plug based on the relative position between the charging plug and the charging socket so that the charging plug is aligned with the charging socket with a preset accuracy requirement for charging.

[0052] The positioning sensor 320 is configured to determine the position of the charging plug and the position of the charging socket.

[0053] The positioning calculation module 325 is configured to calculate the relative position between the charging plug and the charging socket based on the position of the charging plug and the position of the charging socket obtained from the positioning sensor, and provide the calculated relative position to the control module.

[0054] In some implementations of the present application, the positioning function (e.g., determining the respective positions of the charging plug and the charging socket and the relative position between the two) can be implemented by the charging device. In such implementations, the positioning sensor and the positioning calculation module can be set on the charging device (e.g., the positioning sensor 320 and the positioning calculation module 325), and the relative position between the charging plug and the positioning sensor can be fixed. For example, the positioning sensor can be set at a fixed position close to the charging plug and move with the charging plug. As a result, the relative position of the positioning sensor and the charging plug remains unchanged during the movement of the charging plug, thereby facilitating the positioning sensor to perform precise positioning.

[0055] In the embodiment of the present application, the positioning sensor can be implemented in a visual manner or a laser manner. For example, the positioning sensor can be a camera or a laser device.

[0056] In the case of using a visual method, a camera can be installed near the charging plug. When the charging plug is moving, the camera can acquire images. By analyzing the images, the charging socket of the vehicle can be found and the location of the charging socket can be determined.

[0057] In the case of using the laser method, a laser device can be installed near the charging plug. When the charging plug moves, the laser is emitted to detect surrounding objects, thereby finding the charging socket and determining the location of the charging socket.

[0058] In some other implementations of the present application, the positioning function can be implemented by the vehicle. In such implementations, there is no need to set a positioning sensor and a positioning calculation module on the charging device. Instead, a corresponding positioning module (for example, a vehicle-mounted positioning sensor and a vehicle-mounted positioning calculation module) can be set on the vehicle. The positioning module on the vehicle can calculate the relative position between the charging plug and the charging plug and provide it to the charging device. The details of the vehicle implementing the positioning function will be referred to below. Figure 4 Further description is given.

[0059] In some embodiments, the control module 315 is further configured to perform real-time closed-loop control on the movement of the charging plug based on the relative position between the charging plug and the charging socket.

[0060] Specifically, during the movement of the charging plug, the position of the charging plug is constantly changing, and thus the relative position between the charging plug and the charging socket is also constantly changing. The relative position between the charging plug and the charging socket can be provided to the control module 315 in real time, and the control module 315 determines the moving direction of the charging plug based on the relative position. For example, when the relative position between the charging plug and the charging socket is getting closer and closer, it means that the charging plug is moving in the correct direction, and the control module can make the charging plug continue to move in the previous direction. When the relative position between the charging plug and the charging socket is getting farther and farther, it means that the charging plug has deviated from the correct direction. At this time, the control module can adjust the moving direction of the charging plug so that it moves toward the location of the charging socket. Therefore, by providing the relative position between the charging plug and the charging socket as feedback to the control module in real time, the control module can perform real-time closed-loop control on the movement of the charging plug to ensure that the charging plug can move smoothly to the charging socket.

[0061] In some embodiments, the control module 315 is further configured to: coarsely adjust the movement of the charging plug to pre-align the charging plug with the charging socket, wherein during the pre-alignment, the charging plug is aligned with the charging socket with an initial accuracy requirement, wherein the initial accuracy requirement is lower than a preset accuracy requirement.

[0062] In the implementation of the present application, the control module can control the axial movement (spatial position) of the charging plug in the three directions of the x, y, and z axes, and can also control the rotation (posture) of the charging plug.

[0063] When the control module coarsely adjusts the movement of the charging plug, the axial movement and rotation of the charging plug (i.e., the position and posture of the charging plug) can be adjusted in larger steps. For example, the control module can first coarsely adjust the movement of the charging plug in the horizontal direction (x-axis and y-axis), then coarsely adjust the movement of the charging plug in the vertical direction (z-axis), and finally coarsely adjust the posture (e.g., deflection angle) of the charging plug. It should be noted that in specific practice, other adjustment sequences can also be adopted. For example, the horizontal and vertical directions of the charging plug can be adjusted simultaneously, and then the posture can be adjusted. Alternatively, the movement in each direction can be adjusted alternately.

[0064] In the case where the positioning function is implemented by the charging device, the control module can directly obtain the relative position between the charging plug and the charging socket from the positioning calculation module of the charging device.

[0065] In the case where the positioning function is implemented by the vehicle, the control module can obtain the relative position between the charging plug and the charging socket from the vehicle. Specifically, the vehicle-mounted positioning calculation module of the vehicle can calculate the relative position between the charging plug and the charging socket, and then provide the relative position to the communication module of the charging device through the communication channel between the vehicle and the charging device, and the communication module further provides the relative position to the control module.

[0066] When the charging plug is aligned with the charging socket with the initial accuracy requirement, the charging plug can be considered to be pre-aligned with the charging socket.

[0067] In the embodiments of the present application, the initial accuracy requirement may be set in different ways as needed. In some examples, the initial accuracy requirement may be that the distance between the charging plug and the charging socket is less than a first distance threshold. In other examples, the initial accuracy requirement may be that the position deviation between the charging plug and the charging socket does not exceed a first deviation threshold. In still other examples, the initial accuracy requirement may be that the charging socket appears within a first spatial range of the field of view of a camera used in conjunction with the charging plug.

[0068] In some embodiments, the control module 315 is further configured to: after the charging plug is pre-aligned with the charging socket, fine-tune the movement of the charging plug so that the charging plug is precisely aligned with the charging socket, wherein during the precise alignment, the charging plug is aligned with the charging socket with a preset accuracy requirement.

[0069] When the control module fine-tunes the movement of the charging plug, the axial movement and rotation of the charging plug can be adjusted in smaller steps. For example, the control module can first fine-tune the movement of the charging plug in the horizontal direction (x-axis and y-axis), then fine-tune the movement of the charging plug in the vertical direction (z-axis), and finally fine-tune the posture of the charging plug. It should be noted that in specific practice, other adjustment sequences can also be used. For example, the horizontal and vertical directions of the charging plug can be adjusted at the same time, and then the posture can be adjusted. Alternatively, the movement in each direction can be adjusted alternately.

[0070] When the charging plug is aligned with the charging socket with a preset accuracy requirement, it can be considered that the charging plug is accurately aligned with the charging socket.

[0071] Similar to the initial accuracy requirement, the preset accuracy requirement may also be set in different ways as needed. In some examples, the preset accuracy requirement may be that the distance between the charging plug and the charging socket is less than a second distance threshold (the second threshold distance is less than the first threshold distance). In other examples, the preset accuracy requirement may be that the position deviation between the charging plug and the charging socket does not exceed a second deviation threshold (the second deviation threshold is less than the first deviation threshold). In yet other examples, the preset accuracy requirement may be that the charging socket appears within a second spatial range of the field of view of the camera used with the charging plug (the second spatial range is less than the first spatial range).

[0072] In other words, the preset accuracy requirement should be stricter than the initial accuracy requirement. For example, assuming that the initial accuracy requirement is that the distance between the charging plug and the charging socket is less than 0.1 m, the preset accuracy requirement may be that the distance between the charging plug and the charging socket is less than 0.005 m.

[0073] The axial movement and rotation of the charging plug will be discussed below. Figure 6 A further detailed description is given.

[0074] In some embodiments, the control module 315 is further configured to retract the charging plug to its original position when charging is completed.

[0075] When charging is completed (for example, reaching the power level specified by the car owner), the control module can separate the charging plug from the charging socket and control the movement of the charging plug to retract the charging plug to its original position.

[0076] For example, when the charging plug is installed in the accommodating module, the charging plug can be retracted into the accommodating module and the accommodating module can be closed, thereby better protecting the charging plug.

[0077] Compared to the method of always adjusting the movement of the charging plug with the same step length, the method of coarse adjustment followed by fine adjustment in the present application allows the charging plug to quickly find the charging socket and align with it, thereby improving efficiency and alignment accuracy. At the same time, the charging device can automatically start the charging operation when it determines that the vehicle needs to be charged, and automatically retract the charging plug after charging is completed, which greatly simplifies the operating process, avoids manual work, and improves charging efficiency and safety. Compared with the existing robotic arm solution, the technical solution of the present application has lower cost, higher efficiency, and is more conducive to large-scale deployment. In addition, by providing a movable charging plug and a more flexible charging area, the charging range is expanded and the charging flexibility is improved.

[0078] For example, for a parking space without a charging pile, charging can be achieved by setting a charging plug in or near the parking space (for example, setting a receiving module on the ground and accommodating the charging plug in the receiving module so that the charging plug can be moved to the parking space). This method is less expensive than installing a new charging pile and improves charging flexibility.

[0079] Although Figure 3 Specific modules of the charging device 300 are shown, but it should be noted that these modules are exemplary and non-restrictive. In different implementations, one or more of these modules can be combined, split, removed, or additional modules can be added. For example, in some implementations, the communication module 310 and the control module 315 can be combined into a single module. In some implementations, the charging device 300 may also include additional modules. For example, the charging device 300 may include a display module (not shown in the figure) for displaying charging-related information.

[0080] Figure 4 A schematic block diagram of a vehicle 400 according to various aspects of the present application is shown. For clarity, Figure 4 Only modules in vehicle 400 that are relevant to charging are shown.

[0081] See also Figure 4 , the vehicle 400 may include a charging socket 405, an onboard communication module 410, and optionally an onboard positioning sensor 415 and an onboard positioning calculation module 420. One or more of these modules may be directly or indirectly connected or communicated with each other on one or more buses 425.

[0082] The charging socket 405 can be connected to a charging device (e.g., Figure 3 The charging device 300 may be matched with a charging plug (eg, charging plug 305).

[0083] On the one hand, the charging socket and the charging plug can be matched in structure so that the charging plug can be accurately inserted into the charging socket during charging.

[0084] On the other hand, the installation positions of the charging socket and the charging plug can be matched to a certain extent. For example, if the charging plug is set on the ground, the charging socket can be set at the bottom of the vehicle. If the charging plug is set on the wall, the charging socket can be set on the side of the vehicle. In this way, the charging plug and the charging socket can be easier to align, shorten the moving distance of the charging plug, and improve the charging efficiency.

[0085] In order to further improve the alignment accuracy, a positioning member (not shown in the figure) may be provided on the vehicle to assist in positioning the charging socket.

[0086] For example, in the case where the charging plug is disposed on the ground (e.g., contained in a receiving module on the ground), a certain number of positioning grids may be disposed at the bottom of the vehicle. The positions of these positioning grids may be known to the charging device (e.g., the charging device is informed in advance). During the movement of the charging plug, the position of the charging plug on the vehicle may be quickly determined by detecting the positioning grids, thereby speeding up the alignment of the charging plug with the charging socket.

[0087] For example, different positioning grids may be set to different sizes / shapes or each positioning grid may be numbered to distinguish different positioning grids. When a positioning grid is found in an image captured by a positioning sensor (e.g., a camera used in conjunction with a charging plug), the approximate position of the camera and the charging plug relative to the vehicle at that time may be known. In this way, the charging socket may be located more quickly.

[0088] The vehicle communication module 410 can communicate with a charging device (eg, Figure 3 Communicates with a communication module (e.g., communication module 310) of the charging device 300.

[0089] For example, the vehicle communication module 410 and the communication module 310 of the charging device 300 may establish a communication channel for communication. Thus, each module of the vehicle 400 and the charging device 300 may exchange information through the communication channel.

[0090] As described above, the positioning function can be realized by the vehicle. In this case, the positioning sensor and the positioning calculation module can be set on the vehicle to be charged. In this case, the vehicle 400 can include a vehicle-mounted positioning sensor 415 and a vehicle-mounted positioning calculation module 420.

[0091] The onboard positioning sensor 415 can determine the location of the charging plug and the location of the charging socket.

[0092] The vehicle-mounted positioning calculation module 420 may be configured to calculate the relative position between the charging plug and the charging socket based on the position of the charging plug and the position of the charging socket obtained from the vehicle-mounted positioning sensor 415, and provide the calculated relative position to the charging device (specifically, to the control module of the charging device) through the vehicle-mounted communication module 410. Thus, the control module of the charging device can control the movement of the charging plug based on the relative position.

[0093] Although Figure 4 Specific modules of the vehicle 400 are shown in FIG. 4 , but it should be noted that these modules are exemplary and non-limiting. In different implementations, one or more of these modules may be combined, split, removed, or additional modules may be added. For example, in some implementations, the vehicle positioning sensor 415 and the vehicle positioning calculation module 420 may be combined into a single module. In some implementations, the vehicle 400 may also include additional modules.

[0094] Figure 5 A flow chart of a method 500 for charging a vehicle according to aspects of the present application is shown.

[0095] Method 500 begins at step 505. At step 505, it is determined whether the vehicle needs to be charged.

[0096] In some embodiments, when a vehicle is detected to be parked in a charging area, the charging device may actively ask the vehicle whether it needs to be charged. In an alternative embodiment, when the vehicle wishes to be charged, the vehicle may actively send a charging request to the charging device.

[0097] In step 510 , when it is determined that the vehicle needs to be charged, the location of the charging plug of the charging device and the location of the charging socket of the vehicle are determined.

[0098] In the case where the positioning function is implemented by the charging device, the positioning sensor of the charging device (for example, Figure 3 A positioning sensor 320) is used to determine the position of the charging plug and the position of the charging socket.

[0099] In the case where the positioning function is implemented by a vehicle, the positioning sensor of the vehicle (for example, Figure 4 The vehicle-mounted positioning sensor 415) determines the position of the charging plug and the position of the charging socket.

[0100] At step 515 , the relative position between the charging plug and the charging socket is calculated based on the position of the charging plug and the position of the charging socket.

[0101] In the case where the positioning function is implemented by the charging device, the positioning calculation module of the charging device (for example, Figure 3The positioning calculation module 325) is used to calculate the relative position between the charging plug and the charging socket.

[0102] In the case where the positioning function is implemented by a vehicle, the positioning calculation module of the vehicle (for example, Figure 4 The vehicle-mounted positioning calculation module 420) is used to calculate the relative position between the charging plug and the charging socket.

[0103] At step 520 , the movement of the charging plug is controlled based on the relative position so that the charging plug is aligned with the charging socket with a preset accuracy requirement for charging.

[0104] Specifically, the movement of the charging plug may be controlled by a control module of the charging device based on the relative position between the charging plug and the charging socket.

[0105] In the case where the positioning function is implemented by the charging device, the positioning calculation module of the charging device can directly provide the calculated relative position to the control module.

[0106] In the case where the positioning function is implemented by the vehicle, the vehicle-mounted positioning calculation module can provide the calculated relative position to the communication module of the charging device through the vehicle-mounted communication module, and the communication module further provides the relative position to the control module.

[0107] In a specific implementation, step 520 may be implemented by executing the following two sub-steps (not shown in the figure): coarsely adjusting the movement of the charging plug so that the charging plug is pre-aligned with the charging socket, wherein during the pre-alignment, the charging plug is aligned with the charging socket with an initial accuracy requirement, wherein the initial accuracy requirement is lower than a preset accuracy requirement; after the charging plug is pre-aligned with the charging socket, finely adjusting the movement of the charging plug so that the charging plug is precisely aligned with the charging socket, wherein during the precise alignment, the charging plug is aligned with the charging socket with a preset accuracy requirement.

[0108] The process of pre-alignment and precise alignment has been discussed above. Figure 3 It has been described in detail and will not be repeated here.

[0109] After the charging plug is precisely aligned with the charging socket, the charging plug can be inserted into the charging socket for charging.

[0110] After charging is completed, the movement of the charging plug can be controlled to retract the charging plug to its original position (not shown in the figure).

[0111] from Figure 5 It can be seen that the entire charging process can be automated without the need for manual plugging and unplugging of the charging plug, which simplifies the charging operation and improves safety.

[0112] Figure 6A schematic diagram 500 illustrating movement of a charging plug according to aspects of the present application is shown.

[0113] Figure 6 The upper part of the figure shows a schematic top view of the movement of the charging plug.

[0114] In an exemplary embodiment, the Figure 6 The slide shown in Figure 1 is used to control the movement of the charging plug. For example, the charging plug can be placed in area A of the slide.

[0115] As shown in the figure, there are two parallel horizontal bars along the x-axis direction and a vertical bar along the y-axis direction. The vertical bar connects the two horizontal bars and is perpendicular to the two horizontal bars. The vertical bar can move along the x-axis direction.

[0116] A rotating rod extending along the x-axis is provided in the middle of the vertical rod. A disk B is also provided on the vertical rod, and the disk B can move on the vertical rod along the y-axis direction, and can also rotate (rotate in the xy plane). The rotating rod is fixedly connected to the disk B and can be linked with the disk B.

[0117] The rotating rod can move along the x-axis with the movement of the vertical rod, and can also move along the y-axis with the movement of the disk B. At the same time, the rotating rod can also rotate along the deflection direction (the yaw direction shown in the figure) through the rotation of the disk B. In this way, the position and posture of the charging plug can be adjusted.

[0118] In a preferred embodiment, the movement range of the vertical rod along the x-axis is within 1 m, the movement range of the rotating rod along the y-axis is within 50 cm, and the deflection angle of the rotating rod is within ±15°.

[0119] In a specific implementation, the charging plug can be set vertically upward and the charging socket of the vehicle can be set vertically downward. In this case, the alignment of the charging plug and the charging socket can be achieved by adjusting only the position of the charging plug along the x, y, and z axes and the angle in the yaw direction, without considering the angles in the pitch and roll directions. Aligning the charging plug and the charging socket through four-axis movement greatly reduces mechanical complexity and manufacturing costs.

[0120] Although Figure 6It is shown that only the angle along the yaw direction is adjusted without considering the angle in the pitch and roll directions, but the present application is not limited thereto. In some cases, the charging socket of the vehicle may not be set vertically downward. In other cases, the vehicle may tilt (for example, the body tilts forward and backward, tilts left and right, etc.), so that the orientation of the charging socket deviates (for example, no longer vertically downward). In these cases, it is possible to consider adjusting the angles in the pitch and roll directions. For example, the rotating rod can adjust the posture by rotating in one or more directions of the yaw, pitch and roll directions so that the charging plug is accurately aligned with the charging socket. Alternatively, in the above case, the charging plug and / or the charging socket can also be made to have a certain flexibility (for example, using flexible materials to manufacture the charging plug and / or the charging socket, connecting the charging plug and / or the charging socket to a flexible member, etc.), so that the posture of the charging plug and / or the charging socket can be adaptively adjusted within a certain range. In this way, even if the orientation of the charging plug and / or the charging socket deviates, the charging plug can be inserted into the charging socket with a certain deviation.

[0121] in addition, Figure 6 , the posture of the charging plug is adjusted by rotating the rotating rod, but this is only exemplary and not restrictive. In a specific implementation, those skilled in the art may use other methods to adjust the posture of the charging plug. For example, the posture of the charging plug may be adjusted by rotating the charging plug (while the rotating rod remains stationary).

[0122] Figure 6 The lower part of the figure shows a schematic side view of the movement of the charging plug.

[0123] As shown in the figure, the rotating rod can also move in the z-axis direction to adjust the height of the charging plug.

[0124] In a preferred embodiment, the maximum movement range of the rotating rod in the z-axis direction is between 25 cm and 30 cm.

[0125] In a specific implementation, the slide can use various methods such as a screw rod, a belt, a rack, etc. to drive the movement of the charging plug.

[0126] In the case where the positioning function is implemented by the charging device, a positioning sensor (e.g., a camera) can be installed near the charging plug. Figure 6 In the A area or near the A area. At the same time, the relative position between the positioning sensor and the charging plug is fixed. Therefore, during the movement of the charging plug, the positioning sensor can move with the charging plug and accurately position.

[0127] In one example, when controlling the movement of the charging plug, the charging plug can first be axially moved (movement along the x, y, and z axes) and rotated in relatively large steps to adjust the pose of the charging plug. Meanwhile, images are captured by a camera during the movement to search for the vehicle's charging socket and align with it.

[0128] In the case where the charging socket is provided at the bottom of the vehicle, since the light at the bottom of the vehicle is relatively dim, structured light or ordinary supplementary lighting can be used to improve the situation, thereby improving the image quality.

[0129] In a preferred embodiment, the horizontal FOV (Field of View) of the camera < 100°, and the sensing accuracy < 1 mm.

[0130] Assume that the initial position of the charging plug is L0. When roughly adjusting the movement of the charging plug, if the charging socket is not found in the image captured at the initial position, the charging plug can be moved to the next position L1. The deviation between this position L1 and the initial position L0 can be the step size S1. If the charging socket is still not found in the image captured at this position L1, the charging plug can continue to move to the next position by the same step size S1, and so on, until the charging socket is found in the captured image and the relative position between the charging plug and the charging socket meets the initial accuracy requirements. At this time, it can be considered that the charging plug and the charging socket are pre-aligned.

[0131] After the charging plug and the charging socket are pre-aligned, the movement of the charging plug can be adjusted by the step size S2 (S2 < S1) until the relative position between the charging plug and the charging socket meets the preset accuracy requirements. At this time, it can be considered that the charging plug and the charging socket are precisely aligned.

[0132] After the charging plug and the charging socket are precisely aligned, the charging plug can be inserted into the charging socket for charging.

[0133] It should be noted that the structure and arrangement of the above-mentioned sliding table are only exemplary and not restrictive. In different implementations, sliding tables with different structures and arrangements can be used to achieve the movement of the charging plug. In alternative implementations, a driving method different from the sliding table can also be used to control the movement of the charging plug.

[0134] Figure 7 An exemplary process 700 for charging a vehicle according to aspects of the present application is shown.

[0135] As shown in the figure, when it is determined that the vehicle needs to be charged, the relative position between the charging plug of the charging device and the charging socket of the vehicle can be calculated.

[0136] For example, the positions of the charging plug and the charging socket can be determined first through a positioning sensor. Subsequently, the relative position between the two can be calculated by a positioning calculation module.

[0137] If the charging plug is installed in the accommodating module, the accommodating module can be opened to allow the charging plug to extend out of the accommodating module.

[0138] Next, the control module can roughly adjust the movement of the charging plug. Specifically, the control module can roughly adjust the movement of the charging plug based on the relative position between the charging plug and the charging socket. For example, the control module can adjust the axial movement and rotation of the charging plug in larger steps.

[0139] During the movement of the charging plug, it may be determined whether the relative position of the charging plug and the charging socket meets the initial accuracy requirement (for example, whether the two are aligned with the initial accuracy requirement).

[0140] If the relative position of the charging plug and the charging socket does not meet the initial accuracy requirement, the axial movement and rotation of the charging plug continue to be adjusted in the same large step size.

[0141] If the relative positions of the charging plug and the charging socket meet the initial accuracy requirement, it can be determined that the charging plug and the charging socket are pre-aligned.

[0142] After the charging plug is pre-aligned with the charging receptacle, the movement of the charging plug can be fine-tuned. Similarly, the control module can fine-tune the movement of the charging plug based on the relative position between the charging plug and the charging receptacle. For example, the control module can adjust the axial movement and rotation of the charging plug in smaller steps.

[0143] Afterwards, during the movement of the charging plug, it can be determined whether the relative position of the charging plug and the charging socket meets the preset accuracy requirement (for example, whether the two are aligned with the preset accuracy requirement).

[0144] If the relative position of the charging plug and the charging socket does not meet the preset accuracy requirement, the axial movement and rotation of the charging plug are adjusted in the same smaller step size.

[0145] If the relative position of the charging plug and the charging socket meets the preset accuracy requirement, it can be determined that the charging plug and the charging socket are accurately aligned. At this time, the charging plug can be inserted into the charging socket for charging.

[0146] When charging is detected to be complete (for example, the power level specified by the user has been reached), the charging plug can be retracted to its original position.

[0147] When the charging plug is installed in the accommodating module, the accommodating module can be closed after the charging plug is retracted to its original position.

[0148] The technical solution of the present application automates the entire charging process. The owner does not need to get off the car and manually insert the charging plug into the charging socket. Compared with conventional manual charging, the charging process is simplified and the charging speed and safety are improved. In addition, the technical solution of the present application greatly improves the alignment accuracy through the two alignment processes of pre-alignment and precise alignment. At the same time, compared with the existing robotic arm solution, the charging device of the present application has lower cost and higher charging flexibility.

[0149] The detailed description described above in conjunction with the accompanying drawings describes examples and does not represent all examples that can be implemented or fall within the scope of the claims. The terms "example" and "exemplary" when used in this specification mean "used as an example, instance or illustration" and do not mean "better or better than other examples".

[0150] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present application. Thus, use of these phrases may refer to more than just one embodiment. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0151] The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the universal principles defined herein may be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but should be granted the full scope consistent with the claims in language, wherein the singular reference to the elements is not intended to mean "there is and only one", but "one or more", unless otherwise specifically stated. Unless otherwise specifically stated, the term "some" refers to one or more. The elements of the various aspects described throughout this application are all structurally and functionally equivalent schemes currently or hereafter known to those of ordinary skill in the art, and are expressly incorporated herein by reference, and are intended to be covered by the claims.

[0152] It should also be noted that these embodiments may be described as a process depicted as a flow chart, flow diagram, structure diagram, or block diagram. Although the flow chart may describe the operations as sequential processes, many of these operations can be performed in parallel or concurrently. In addition, the order of these operations can be rearranged.

[0153] Although various embodiments have been illustrated and described, it should be understood that the embodiments are not limited to the precise configuration and components described above. Various modifications, substitutions and improvements obvious to those skilled in the art may be made in the arrangement, operation and details of the devices disclosed herein without departing from the scope of the claims.

Claims

1. A charging device for a vehicle, comprising: A charging plug, which can be inserted into a charging socket of a vehicle to be charged by adjusting its position; A communication module, the communication module is used to establish a communication channel with the vehicle to be charged; as well as A control module controls the movement of the charging plug based on the relative position between the charging plug and the charging socket so that the charging plug is aligned with the charging socket with a preset accuracy requirement for charging.

2. The charging device according to claim 1, wherein: The charging device also includes: a positioning sensor that determines the position of the charging plug and the position of the charging socket; and A positioning calculation module is configured to calculate a relative position between the charging plug and the charging socket based on the position of the charging plug and the position of the charging socket obtained from the positioning sensor, and provide the calculated relative position to the control module.

3. The charging device according to claim 2, wherein: The relative position between the charging plug and the positioning sensor is fixed.

4. The charging device according to claim 1, wherein: The relative position between the charging plug and the charging socket is obtained from the vehicle to be charged through the communication channel established by the communication module.

5. The charging device according to any one of claims 1 to 4, wherein: The control module performs real-time closed-loop control on the movement of the charging plug based on the relative position between the charging plug and the charging socket.

6. The charging device according to claim 1, wherein: The control module is also configured to: The movement of the charging plug is roughly adjusted to pre-align the charging plug with the charging socket, wherein during the pre-alignment, the charging plug is aligned with the charging socket with an initial accuracy requirement, wherein the initial accuracy requirement is lower than the preset accuracy requirement.

7. The charging device according to claim 6, wherein: The control module is also configured to: After the charging plug is pre-aligned with the charging socket, the movement of the charging plug is finely adjusted to allow the charging plug to be precisely aligned with the charging socket, wherein during the precise alignment, the charging plug is aligned with the charging socket with the preset accuracy requirement.

8. The charging device according to claim 1, wherein: The control module is also configured to retract the charging plug to its original position when charging is completed.

9. The charging device according to claim 8, wherein: The charging plug is installed in the accommodating module, and wherein: When the vehicle to be charged needs to be charged, the accommodating module is opened so that the charging plug can extend out of the accommodating module; and When charging is completed and the charging plug is retracted, the accommodating module is closed.

10. A vehicle comprising: A charging socket, wherein the charging socket matches the charging plug according to any one of claims 1 to 9; as well as An on-vehicle communication module, which communicates with the communication module according to any one of claims 1 to 9.

11. The vehicle according to claim 10, wherein: The vehicle further comprises: an on-board positioning sensor, the on-board positioning sensor determining the position of the charging plug and the position of the charging socket; and The vehicle-mounted positioning calculation module is configured to calculate the relative position between the charging plug and the charging socket based on the position of the charging plug and the position of the charging socket obtained from the vehicle-mounted positioning sensor, and provide the calculated relative position to the control module through the vehicle-mounted communication module.

12. The vehicle according to claim 10, wherein: The vehicle is further provided with a positioning member, which is used to assist in positioning the charging socket.

13. A method for charging a vehicle, comprising: Determine whether the vehicle needs to be charged; When it is determined that the vehicle needs to be charged, determining the position of the charging plug of the charging device and the position of the charging socket of the vehicle; calculating a relative position between the charging plug and the charging socket based on the position of the charging plug and the position of the charging socket; as well as The movement of the charging plug is controlled based on the relative position so that the charging plug is aligned with the charging socket with a preset accuracy requirement for charging.

14. The method according to claim 13, wherein: Controlling the movement of the charging plug so that the charging plug is aligned with the charging socket with a preset accuracy requirement further includes: The movement of the charging plug is roughly adjusted to pre-align the charging plug with the charging socket, wherein during the pre-alignment, the charging plug is aligned with the charging socket with an initial accuracy requirement, wherein the initial accuracy requirement is lower than the preset accuracy requirement.

15. The method according to claim 14, wherein: Controlling the movement of the charging plug so that the charging plug is aligned with the charging socket with a preset accuracy requirement further includes: After the charging plug is pre-aligned with the charging socket, the movement of the charging plug is finely adjusted to allow the charging plug to be precisely aligned with the charging socket, wherein during the precise alignment, the charging plug is aligned with the charging socket with the preset accuracy requirement.

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