Electric vehicle automatic charging method and device and vehicle

Abstract

The application provides an electric vehicle automatic charging method, device and vehicle, and the method comprises the following steps: when a key lock vehicle signal of a current vehicle is received, if the current vehicle meets charging conditions, the position of a target charging pile is calculated according to acquired position data and body data of the current vehicle, and a charging instruction, position data, body data, the position of the target charging pile and the position of a charging port cover are sent to the target charging pile through TBOX wireless communication to enable the target charging pile to confirm whether the charging demand is met; when the information that the charging demand is met is fed back by the target charging pile, the charging port cover of the current vehicle is controlled to be opened, and the information that the charging port cover has been opened is sent to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and the body data of the current vehicle and the position of the target charging pile and the charging port cover, thereby realizing automatic charging, improving the automatic charging efficiency and improving the use experience of users.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle charging, in particular to an electric vehicle automatic charging method, device and vehicle. BACKGROUND

[0002] With the continuous development of society, people's demand for quality of life is also increasing, and the car for consumers is not only a means of transportation, but also a pursuit of intelligence, technology and entertainment.

[0003] At present, when the electric vehicle has low power, it needs to be charged by a charging pile. The car owner needs to manually open the charging port cover or use a physical button to electrically open the charging port cover, then insert the charging gun of the charging pile into the charging port of the electric vehicle for charging. After the charging is completed, the charging gun needs to be pulled out and the charging port cover needs to be closed.

[0004] Therefore, the existing charging method cannot automatically open or close the charging port cover, and the charging gun needs to be manually operated, which affects the automatic charging efficiency and the user experience. SUMMARY

[0005] Therefore, the present application provides an electric vehicle automatic charging method, device and vehicle to improve the automatic charging efficiency and enhance the user experience.

[0006] To achieve the above purpose, the present application provides the following technical solutions:

[0007] The first aspect of the present application discloses an electric vehicle automatic charging method, which is suitable for a central electronic control module (CEM), and the method comprises:

[0008] When receiving a key lock vehicle signal of a current vehicle, it is determined whether the current vehicle meets the charging condition;

[0009] If the current vehicle meets the charging condition, the position data and the body data of the current vehicle are obtained, and the body data at least includes the position of the charging port cover;

[0010] According to the position data and the body data, the position of the target charging pile is calculated, and the charging instruction, the position data, the body data, the position of the target charging pile and the charging port cover are sent to the target charging pile through the wireless communication of the vehicle-mounted terminal controller (TBOX) to determine whether the target charging pile meets the charging demand;

[0011] When receiving the charging demand satisfying information fed back by the target charging pile, the charging port cover of the current vehicle is controlled to be opened, and information that the charging port cover has been opened is sent to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and the body data of the current vehicle, and the positions of the target charging pile and the charging port cover.

[0012] Optionally, the determining whether the current vehicle satisfies the charging condition comprises:

[0013] The CAN message data of the current vehicle sent by the HUT host is received, the CAN message data is obtained by setting charging power information after a user triggers a configuration option on the HUT host, and the CAN message data is sent to the CEM by the HUT host;

[0014] The configuration information of the current vehicle is determined according to the CAN message data, and the configuration information comprises the charging power information;

[0015] If the configuration information is that automatic charging is not performed in rainy days, first weather information sent by a rain light sensor RLS is received;

[0016] If the first weather information is that it is not a rainy day, the power information of the current vehicle sent by a battery management system BMS is received, and the power information of the current vehicle is compared with the charging power information;

[0017] If the power information of the current vehicle matches the charging power information, it is determined that the current vehicle satisfies the charging condition;

[0018] If the power information of the current vehicle does not match the charging power information, it is determined that the current vehicle does not satisfy the charging condition.

[0019] Optionally, the calculating the position of the target charging pile according to the position data and the body data comprises:

[0020] A rectangular coordinate system is established with the position of the charging port cover of the current vehicle as a coordinate origin;

[0021] Based on the rectangular coordinate system, a rear camera position, a radar position, an angle between the camera and the target charging pile, and a distance between the radar and the target charging pile are determined in the position data and the body data;

[0022] The position of the charging pile is obtained by calculation according to a pre-designed calculation formula, the position of the charging port cover, the rear camera position, the radar position, the angle between the camera and the target charging pile, and the distance between the radar and the target charging pile.

[0023] Optionally, the method further comprises:

[0024] When receiving the information of not meeting the charging demand feedback by the target charging pile, the horn is controlled to sound, and the turn signal is controlled to flash.

[0025] Optionally, after sending the charging port cover opened information to the target charging pile, the method further comprises:

[0026] Timing is started;

[0027] When the timing time reaches the preset time, charging gun connection state data sent by a power chassis domain control unit (PDCU) is received;

[0028] If the charging gun connection state data is that the charging gun is not connected, charging pile charging abnormal information is sent to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and the vehicle body data of the current vehicle, and the position of the target charging pile and the charging port cover;

[0029] The charging port cover of the current vehicle is controlled to be closed;

[0030] Based on an application (APP) associated with the CEM, an automatic charging abnormality reminder message is sent to the APP, and the APP responds to the automatic charging abnormality reminder message.

[0031] Optionally, the method further comprises:

[0032] When receiving the successful charging information feedback by the target charging pile, the full charging time of the current vehicle sent by a battery management system (BMS) is received, and the full charging time is sent to the TBOX, so that the TBOX sends the full charging time to a server, so that the server wakes up the CEM at a preset time.

[0033] Optionally, the method further comprises:

[0034] If the current vehicle is fully charged and the CEM is woken up, second weather information sent by the RLS is received;

[0035] If the second weather information is rain, power-off and gun-withdrawal information is sent to the target charging pile, so that the target charging pile controls the charging gun to stop charging the current vehicle, and performs charging timing wake-up confirmation;

[0036] If the second weather information is not rain, charging completion and gun-withdrawal information is sent to the target charging pile, so that the target charging pile controls the charging gun to stop charging the current vehicle, and controls the charging gun to be disconnected from the charging port, and the charging gun is withdrawn;

[0037] When receiving the information that the charging gun sent by the PDCU is disconnected, the charging port cover of the current vehicle is controlled to be closed.

[0038] The second aspect of the embodiment of the application discloses an automatic charging device for an electric vehicle, which is suitable for a central electronic control module (CEM), and the device comprises:

[0039] A judgment unit is configured to determine whether the current vehicle meets the charging condition when receiving the key lock vehicle signal of the current vehicle.

[0040] An acquisition unit is configured to acquire position data and body data of the current vehicle if the current vehicle meets the charging condition, wherein the body data at least includes the position of the charging port cover.

[0041] A calculation unit is configured to calculate the position of a target charging pile according to the position data and the body data, and send the charging instruction, the position data, the body data, the position of the target charging pile and the position of the charging port cover to the target charging pile through the wireless communication of the TBOX, so that the target charging pile determines whether the charging demand is met.

[0042] A control unit is configured to control the charging port cover of the current vehicle to be opened when receiving the information that the charging demand is met which is fed back by the target charging pile, and send the information that the charging port cover is opened to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and the body data of the current vehicle, and the position of the target charging pile and the charging port cover.

[0043] Optionally, the judgment unit configured to determine whether the current vehicle meets the charging condition is specifically configured to:

[0044] The CAN message data of the current vehicle sent by the HUT host is received, the CAN message data is obtained by setting the charging power information after the user triggers the configuration option on the HUT host, and is sent to the CEM by the HUT host; the configuration information of the current vehicle is determined according to the CAN message data, the configuration information includes the charging power information; if the configuration information is not to perform automatic charging in the rainy day, the first weather information sent by the rain light sensor (RLS) is received; if the first weather information is not a rainy day, the power information of the current vehicle sent by the battery management system (BMS) is received, the power information of the current vehicle is compared with the charging power information; if the power information of the current vehicle matches the charging power information, it is determined that the current vehicle meets the charging condition; if the power information of the current vehicle does not match the charging power information, it is determined that the current vehicle does not meet the charging condition.

[0045] The third aspect of the embodiment of the present application discloses a vehicle comprising the automatic charging device for electric vehicles according to the second aspect of the embodiment of the present application.

[0046] Based on the automatic charging method, device and vehicle for electric vehicles provided by the embodiment of the present application, the method comprises: when receiving the key lock vehicle signal of the current vehicle, judging whether the current vehicle meets the charging condition; if the current vehicle meets the charging condition, obtaining the position data and the vehicle body data of the current vehicle, wherein the vehicle body data at least comprises the position of the charging port cover; according to the position data and the vehicle body data, calculating the position of the target charging pile, and sending the charging instruction, the position data, the vehicle body data, the position of the target charging pile and the charging port cover to the target charging pile through the wireless communication of the TBOX wireless terminal controller, so that the target charging pile confirms whether the charging demand is met; when receiving the charging demand met information fed back by the target charging pile, controlling the charging port cover of the current vehicle to be opened, and sending the charging port cover opening information to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and the vehicle body data of the current vehicle, and the position of the target charging pile and the charging port cover. In the present scheme, after the current vehicle meets the charging condition, the position of the target charging pile is calculated according to the position data and the vehicle body data of the current vehicle, and after the target charging pile meets the charging demand, the charging port cover of the current vehicle is controlled to be opened, and the target charging pile controls the charging gun to charge the current vehicle, so as to realize automatic charging, improve the automatic charging efficiency, and improve the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor based on the provided drawings.

[0048] Figure 1 The schematic diagram of the architecture of the automatic charging system for electric vehicles provided by the embodiment of the present application is shown in the figure.

[0049] Figure 2 The schematic diagram of the deployment of the camera radar on the vehicle provided by the embodiment of the present application is shown in the figure.

[0050] Figure 3 The schematic diagram of the flow of the automatic charging method for electric vehicles provided by the embodiment of the present application is shown in the figure.

[0051] Figure 4 The schematic diagram of the flow of judging whether the current vehicle meets the charging condition provided by the embodiment of the present application is shown in the figure.

[0052] Figure 5 A flowchart for calculating the position of a target charging pile is provided for an embodiment of the present application.

[0053] Figure 6 A flowchart for charging pile anomaly and timing wake-up is provided for an embodiment of the present application.

[0054] Figure 7 A flowchart for processing a fully-charged charging gun is provided for an embodiment of the present application.

[0055] Figure 8 A structural diagram of an electric vehicle automatic charging device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0057] In the present application, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or device comprising the element.

[0058] As known from the background, the existing charging method cannot automatically open or close the charging port cover, and the charging gun needs to be manually operated, which affects the automatic charging efficiency and the user's experience.

[0059] Therefore, the embodiments of the present application provide an electric vehicle automatic charging method and device and vehicle. In the present scheme, after the current vehicle meets the charging condition, the position of the target charging pile is calculated according to the position data and body data of the current vehicle. After the target charging pile meets the charging demand, the charging port cover of the current vehicle is opened, and the target charging pile controls the charging gun to charge the current vehicle, so as to realize automatic charging, improve the automatic charging efficiency, and improve the user's experience.

[0060] First, the architecture diagram of an electric vehicle automatic charging system suitable for the electric vehicle automatic charging method / device of the present application is introduced, which is specifically as follows: Figure 1As shown in the figure, the electric vehicle automatic charging system includes a HUT (Head Unit, intelligent cockpit module) host, camera, radar, CEM (central electronic control module), RLS (rain light sensor), PDCU (power chassis domain control unit), BMS (battery management system), TBOX (on-board wireless terminal controller), charging pile and server.

[0061] The HUT host serves as the infotainment terminal in the vehicle system, and users can select automatic charging configuration through the HUT host.

[0062] Among them, the configuration options are: ① The battery level must be below a certain level for automatic charging; ② Whether to automatically charge on rainy days.

[0063] It should be noted that by default, the battery will be automatically charged when the battery level is below 50%, and will not be automatically charged on rainy days.

[0064] Electric vehicles are equipped with charging ports and corresponding charging port covers, multiple cameras and multiple radars. The specific locations can be found in Figure 2 .

[0065] The camera is used to detect the surrounding conditions of the electric vehicle body, including the direction of the charging pile.

[0066] Radar is also used to detect the surrounding conditions of electric vehicles.

[0067] CEM is used to interact with charging piles and perform corresponding automatic charging operations for electric vehicles.

[0068] RLS is used to detect weather conditions.

[0069] PDCU is used to detect the connection status of the charging gun.

[0070] BMS is used to calculate the time required to fully charge the electric vehicle after it is successfully charged, and send the time required to fully charge to TBOX.

[0071] TBOX is used to send the time required for full charging to the server.

[0072] The charging pile is used to interact with the CEM and perform corresponding automatic charging operations for electric vehicles, which may include: when the electric vehicle meets the charging conditions and the charging pile meets the charging requirements, controlling the charging gun to charge the electric vehicle; when the power needs to be cut off during automatic charging without removing the gun, controlling the charging gun to stop charging the current vehicle and performing a charging timer wake-up confirmation; when the automatic charging is completed and the gun needs to be removed, controlling the charging gun to stop charging the current vehicle, and controlling the charging gun to disconnect from the charging port and retract the charging gun.

[0073] The server is used to schedule the wake-up of the CEM.

[0074] based on Figure 1 The disclosed electric vehicle automatic charging system implements the process of electric vehicle automatic charging as follows:

[0075] After the four doors are closed and the engine is turned off, the CEM receives the key lock signal of the current vehicle and receives the CAN message data of the current vehicle sent by the HUT host, and determines the configuration information of the current vehicle according to the CAN message data.

[0076] The CAN message data is obtained by setting the charging capacity information after the user triggers the configuration option on the HUT host, and is sent to the CEM by the HUT host.

[0077] The configuration information includes charging capacity information.

[0078] If the configuration information is not to perform automatic charging in the rain, the CEM receives the first weather information sent by the RLS;

[0079] If the first weather information is not a rainy day, the CEM receives the current vehicle's power information sent by the BMS, compares the current vehicle's power information with the preset charging capacity information, and if the current vehicle's power information matches the preset charging capacity information, it is determined that the current vehicle meets the charging condition; if the current vehicle's power information does not match the preset charging capacity information, it is determined that the current vehicle does not meet the charging condition.

[0080] If the current vehicle meets the charging condition, the CEM obtains the position data and body data of the current vehicle detected by the radar and camera.

[0081] The body data at least includes the position of the charging port cover.

[0082] The CEM calculates the position of the charging pile according to the position data and body data, and after determining that the position of the charging pile is within the radar detection range, sends the charging instruction, position data, body data, and the position of the charging pile and the charging port cover to the charging pile through TBOX wireless communication, so that the charging pile confirms whether it meets the charging demand.

[0083] When the CEM receives the charging pile feedback that does not meet the charging demand information, the CEM controls the horn to sound and controls the turn signal to flash to remind the owner.

[0084] When the CEM receives the charging pile feedback that meets the charging demand information, it controls the charging port cover of the current vehicle to open, and sends the charging port cover opening information to the charging pile while timing, so that the charging pile controls the charging gun to charge the current vehicle based on the position data and body data of the current vehicle, and the position of the charging pile and the charging port cover.

[0085] After 30s, the CEM receives data of whether the PDCU is connected to the charging gun, if not, informs the charging pile of charging abnormity, automatically controls the charging port cover to close, and reminds the user of automatic charging abnormity through the APP.

[0086] After successful charging, the BMS calculates the charging time and informs the CEM of the time required to fully charge, the CEM informs the TBOX of the time, and the TBOX informs the server to wake up the CEM at the scheduled time.

[0087] After the CEM is woken up after fully charging, it receives RLS data whether it is raining, if it is raining, informs the charging pile to only power off but not to pull out the gun, and then wakes up regularly to confirm, if it is not raining, informs the charging pile to complete charging and pull out the gun.

[0088] The PDCU detects that the charging gun has been disconnected, informs the CEM, and the CEM controls the charging port cover to close.

[0089] Based on the above-mentioned electric vehicle automatic charging system, after the current vehicle meets the charging condition, the position of the charging pile is calculated according to the position data and the body data of the current vehicle, the charging port cover of the current vehicle is controlled to open after the charging pile meets the charging demand, and the charging gun of the charging pile controls the current vehicle to charge, so as to realize automatic charging, improve the automatic charging efficiency, and improve the user's use experience.

[0090] Based on the above-mentioned electric vehicle automatic charging system, as shown in Figure 3 , it is a flowchart of an electric vehicle automatic charging method provided by the embodiment of the present application.

[0091] The electric vehicle automatic charging method is applicable to a central electric control module CEM.

[0092] It should be noted that the central electric control module CEM can be Figure 1 CEM.

[0093] The electric vehicle automatic charging method mainly includes the following steps:

[0094] Step S301: when receiving the key lock vehicle signal of the current vehicle, execute step S302, otherwise, end the operation.

[0095] In the process of specifically implementing step S301, when the user drives the current vehicle to the chargeable area of the charging pile in the parking lot, after the current vehicle is parked and turned off, the four doors are closed, the user can trigger the generation of the key lock vehicle signal by operating the key, if the CEM receives the key lock vehicle signal of the current vehicle, execute step S302, if the CEM does not receive the key lock vehicle signal of the current vehicle, directly end the operation.

[0096] Step S302: Determine whether the current vehicle meets the charging conditions. If so, execute step S303; if not, end the operation.

[0097] In the specific implementation of step S302, the CEM obtains the current vehicle power information from the BMS and the user-set charging power information from the HUT host. Based on the two power information, it is determined whether the current vehicle needs to be charged. If so, step S303 is executed. If not, the operation is terminated directly.

[0098] Step S303: Acquire the current vehicle's position data and body data.

[0099] In step S303 , the vehicle body data includes at least the position of the charging port cover.

[0100] In the specific implementation of step S303 , when it is determined that the current vehicle meets the charging conditions, the radar and camera detect the position data and body data of the current vehicle, and the CEM obtains the position data and body data of the current vehicle detected by the radar and camera.

[0101] Step S304: Calculate the location of the target charging pile based on the location data and vehicle body data, and send the charging instruction, location data, vehicle body data, and the location of the target charging pile and the charging port cover to the target charging pile through wireless communication of the on-board wireless terminal controller TBOX, so that the target charging pile can confirm whether the charging requirements are met.

[0102] In step S304, the charging requirements include but are not limited to whether the charging gun is long enough to be inserted into the charging port of the current vehicle to automatically charge the current vehicle.

[0103] In step S304 , the charging instruction is an instruction that the current vehicle needs to be charged at a target charging pile.

[0104] In the specific implementation of step S304, Figure 2 For example, based on Figure 2 The current vehicle's position data and body data are used to calculate the position of the target charging pile X. After determining that the target charging pile is near the current vehicle, that is, the target charging pile is within the radar detection range, the charging instruction, position data, body data, and the position of the target charging pile and charging port cover are sent to the target charging pile via wireless communication of the on-board wireless terminal controller TBOX, so that the target charging pile can confirm whether the charging demand is met.

[0105] Step S305: When the charging demand information fed back by the target charging pile is received, step S306 is executed.

[0106] In the implementation process of step S305, when receiving the charging demand satisfying information fed back by the target charging pile, it is indicated that the target charging pile satisfies the charging demand, and then step S306 is performed.

[0107] Preferably, in some embodiments, when receiving the charging demand not satisfying information fed back by the target charging pile, the CEM controls the horn to sound and controls the turn signal to flash to remind the vehicle owner.

[0108] Step S306: Control the charging port cover of the current vehicle to open, and send the charging port cover opening information to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and the vehicle body data of the current vehicle and the positions of the target charging pile and the charging port cover.

[0109] In the implementation process of step S306, when it is determined that the CEM receives the charging demand satisfying information fed back by the target charging pile, the CEM controls the charging port cover of the current vehicle to open, and sends the charging port cover opening information to the target charging pile, that is, the CEM electrically opens the charging port cover and informs the target charging pile that the charging port cover has been opened, so that the target charging pile determines the position of the charging port based on the position data and the vehicle body data of the current vehicle and the positions of the target charging pile and the charging port cover, and controls the charging gun to be inserted into the charging port of the current vehicle to charge the current vehicle.

[0110] Based on the above-mentioned electric vehicle automatic charging method provided by the embodiments of the application, after the current vehicle satisfies the charging condition, the position of the target charging pile is calculated according to the position data and the vehicle body data of the current vehicle, after the target charging pile satisfies the charging demand, the charging port cover of the current vehicle is controlled to open, and the target charging pile controls the charging gun to charge the current vehicle, so as to realize automatic charging, improve the automatic charging efficiency, and improve the user experience.

[0111] Based on the above-mentioned electric vehicle automatic charging method, the process of performing step S302 to determine whether the current vehicle satisfies the charging condition can be as shown in Figure 4 , including:

[0112] Step S401: Receive the CAN message data of the current vehicle sent by the HUT host.

[0113] In step S401, the CAN message data is obtained by setting the charging power information after the user triggers the configuration option on the HUT host, and is sent to the CEM by the HUT host.

[0114] It should be noted that the configuration options include: ① automatically charge when the power is lower than a certain power; and ② whether to automatically charge on a rainy day.

[0115] In the implementation of step S401, after the user triggers the configuration option on the HUT host of the current vehicle, the charging capacity information is set, the HUT host sends the charging capacity information of the current vehicle set by the user in the form of CAN message data to the CEM, and then the CEM receives the CAN message data of the current vehicle sent by the HUT host.

[0116] Step S402: Determine the configuration information of the current vehicle according to the CAN message data.

[0117] In step S402, the configuration information includes the charging capacity information.

[0118] In the implementation of step S402, the CEM analyzes the CAN message data to obtain the configuration information of the current vehicle, and determines the charging capacity information set by the user for the current vehicle from the configuration information.

[0119] Step S403: Determine whether the configuration information is not to perform automatic charging when it rains, if yes, execute step S404, if no, return to execute step S401.

[0120] Step S404: Receive the first weather information sent by the rain light sensor RLS.

[0121] It should be noted that the first weather information is used to confirm whether it is currently raining, i.e., whether it is currently raining.

[0122] In the implementation of step S404, in the case where the configuration information is not to perform automatic charging when it rains, the CEM receives the first weather information sent by the rain light sensor RLS.

[0123] Step S405: Determine whether the first weather information is non-rainy, if yes, execute step S406, if no, end the operation.

[0124] In the implementation of step S405, since the configuration information indicates that automatic charging is performed when it is not raining, if the first weather information is non-rainy, it means that the current weather condition can perform automatic charging, then step S406 is executed, if the first weather information is rainy, it means that the current weather condition cannot perform automatic charging, then the operation is directly ended.

[0125] Step S406: Receive the current vehicle's power information sent by the battery management system BMS, and compare the current vehicle's power information with the charging capacity information.

[0126] In the implementation process of step S406, in the case that the first weather information is determined to be a non-rainy day, the CEM receives the current vehicle power information sent by the battery management system BMS, compares the current vehicle power information with the charging power information in the configuration information, to determine whether to perform automatic charging.

[0127] Step S407: determining whether the current vehicle power information matches the charging power information, if yes, executing step S408, if no, executing step S409.

[0128] Step S408: determining that the current vehicle meets the charging condition.

[0129] In the implementation process of step S408, in the case that the current vehicle power information matches the charging power information, it is determined that the current vehicle meets the charging condition.

[0130] Step S409: determining that the current vehicle does not meet the charging condition.

[0131] In the implementation process of step S409, in the case that the current vehicle power information does not match the charging power information, it is determined that the current vehicle does not meet the charging condition.

[0132] Based on the above-mentioned electric vehicle automatic charging system provided by the embodiment of the application, according to the current vehicle power information fed back by the BMS and the charging power information set by the user in the HUT host, it is determined whether the current vehicle meets the charging condition, so as to confirm subsequent automatic charging, improve the automatic charging efficiency, and improve the user's use experience.

[0133] Based on the above-mentioned electric vehicle automatic charging method, the process of step S304 of calculating the position of the target charging pile based on the position data and the vehicle body data can be as shown in Figure 5 , including:

[0134] Step S501: establishing a rectangular coordinate system with the position of the current vehicle charging port cover as the coordinate origin.

[0135] In the implementation process of step S501, the current vehicle charging port cover is calibrated to obtain the position of the charging port cover, and a rectangular coordinate system is established with the position of the current vehicle charging port cover as the coordinate origin.

[0136] Step S502: determining the rear camera position, radar position, angle between the camera and the target charging pile, and distance between the radar and the target charging pile in the position data and vehicle body data based on the rectangular coordinate system.

[0137] In the process of implementing step S502, the rear camera position and the radar position are determined in the position data and the vehicle body data based on the rectangular coordinate system. Since the camera can detect the direction of the target charging pile, the angle between the camera and the target charging pile can be determined according to the position of the charging port cover, the rear camera position and the radar position. Since the radar can detect the distance between the radar and the target charging pile, the distance between the radar and the target charging pile is known.

[0138] Step S503: calculating according to the pre-designed formula, the position of the charging port cover, the rear camera position, the radar position, the angle between the camera and the target charging pile and the distance between the radar and the target charging pile to obtain the position of the charging pile.

[0139] In order to better understand the above description, taking Figure 2 for example, assuming that the charging port cover is at the left rear of the vehicle and the charging pile is at the rear of the vehicle, a rectangular coordinate system is established with the charging port cover as the coordinate origin. The black circle in the figure is the camera and the gray circle is the radar. Wherein, B is the charging port cover, A is the camera, C is the radar, and X is the target charging pile. A(c, d), B(0, 0), C(e, f) are known quantities and X(x, y) is an unknown quantity.

[0140] Since the camera can detect the direction of the charging pile but cannot detect the distance of the charging pile, the angle a is a known quantity, and the following formula can be listed:

[0141] tan(a)=(c-x) / (d-y), (1),

[0142] Since the radar can detect the distance CX (the distance between the radar and the target charging pile) as m, the following formula can be listed:

[0143] (x-e) 2 +(y-f) 2 =m 2 , (2),

[0144] x can be obtained by transforming formula (1), that is, x=c-(d-y)*tan(a). y can be calculated by bringing x=c-(d-y)*tan(a) into formula (2).

[0145] There are two values of y, one positive and one negative. Since y is negative, the positive value is discarded.

[0146] After the coordinate X(x, y) is calculated, the distance between BX (the distance between the charging port cover and the target charging pile) can be calculated, and the direction angle b satisfies the formula tan(b)=x / (-y). In this way, the position of the target charging pile can be determined.

[0147] Based on the above embodiment of the application, the position of the target charging pile is calculated according to the position data and the body data of the current vehicle, so that the charging port cover of the current vehicle is opened after the target charging pile meets the charging demand, the target charging pile controls the charging gun to charge the current vehicle, thereby realizing automatic charging, improving the automatic charging efficiency, and improving the user experience.

[0148] Based on the above-mentioned electric vehicle automatic charging method, after the charging port cover opened information is sent to the target charging pile in step S306, as shown in the following step S601, Figure 6 is further included.

[0149] Step S601: start timing.

[0150] In the process of implementing step S601, the CEM electrically opens the charging port cover, informs the target charging pile that the charging port cover has been opened, and simultaneously starts timing. Then, whether the target charging pile successfully charges is determined according to the obtained timing time.

[0151] Step S602: when the timing time reaches the preset time, step S603 is executed, otherwise, step S601 is returned.

[0152] In step S602, the specific value of the preset time can be determined according to the actual situation of the electric vehicle automatic charging, which is not limited in the present application and is within the protection scope of the present application.

[0153] Preferably, in some embodiments, the preset time is 30s.

[0154] In the process of implementing step S602, the timing time is compared with the preset time. If the timing time is greater than or equal to the preset time, it means that the timing time reaches the preset time, and step S603 is executed. If the timing time is less than the preset time, it means that the timing time does not reach the preset time, and the timing continues, i.e., step S601 is returned.

[0155] Step S603: receive the charging gun connection state data sent by the powertrain domain control unit PDCU.

[0156] In step S603, the charging gun connection state data is that the charging gun is not connected or the charging gun is connected.

[0157] In the process of implementing step S603, the charging gun connection state data sent by the powertrain domain control unit PDCU is received when it is determined that the timing time reaches the preset time.

[0158] Step S604: Determine whether the charging gun connection state data is not connected to the charging gun. If yes, execute step S605; if no, execute step S608.

[0159] Step S605: Send the charging pile charging abnormal information to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and body data of the current vehicle, and the position of the target charging pile and the charging port cover.

[0160] In the process of implementing step S605, in the case where the charging gun connection state data is not connected to the charging gun, the charging pile charging abnormal information is generated, and the charging pile charging abnormal information is sent to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and body data of the current vehicle, and the position of the target charging pile and the charging port cover.

[0161] Step S606: Control the charging port cover of the current vehicle to close.

[0162] In the process of implementing step S606, if the charging gun is not connected, the electric control charging port cover is closed after informing the target charging pile of the charging abnormality.

[0163] Step S607: Based on the application program APP associated with the CEM, send an automatic charging abnormality reminder message to the APP, and respond to the automatic charging abnormality reminder message by the APP.

[0164] In the process of implementing step S607, the application program APP associated with the CEM is determined, and based on the APP, an automatic charging abnormality reminder message is sent to the APP, and the APP responds to the automatic charging abnormality reminder message to remind the user of the automatic charging abnormality.

[0165] Step S608: When receiving the successful charging information feedback by the target charging pile, execute step S609; otherwise, continue to execute step S608.

[0166] In the process of implementing step S608, when receiving the successful charging information feedback by the target charging pile, execute step S609; otherwise, it is indicated that although the charging gun has been connected, the charging information feedback by the target charging gun has not been received, and step S608 is continued to be executed.

[0167] Step S609: Receive the full charging time of the current vehicle sent by the battery management system BMS, and send the full charging time to the TBOX, so that the TBOX sends the full charging time to the server, so that the server wakes up the CEM in advance.

[0168] In the process of specifically implementing step S609, after the target charging gun successfully charges the current vehicle, the target charging pile feeds back the successful charging information to the CEM, and the BMS calculates the charging time of the current vehicle and sends the full charging time of the current vehicle to the CEM. In the case where the CEM determines that the successful charging information fed back by the target charging pile is received, the CEM receives the full charging time of the current vehicle sent by the battery management system BMS, and sends the full charging time to the TBOX, so that the TBOX sends the full charging time to the server, so that the server wakes up the CEM at the reserved time.

[0169] That is, after the CEM receives the full charging time of the current vehicle, the CEM informs the TBOX of the full charging time of the current vehicle, and the TBOX informs the server to wake up the CEM at the reserved time.

[0170] It should be noted that the server is informed of the charging time of the current vehicle by the BMS to wake up at the reserved time, which can reduce power consumption. The main reason is that heat is generated during charging, and the controller does not perform low-power consumption, which increases the demand for heat dissipation.

[0171] Based on the above-mentioned electric vehicle automatic charging method provided by the embodiment of the application, the CEM sends the charging port cover opening information to the target charging pile, and after the timing time reaches the preset time, it is determined whether the charging gun is connected according to the received charging gun connection state data, to determine whether to perform automatic charging abnormality reminding. After successful charging, the full charging time of the current vehicle is sent to the server, so that the server wakes up the CEM at the reserved time, so as to facilitate subsequent confirmation of whether the current vehicle is fully charged and whether the charging gun is automatically pulled out, improve the automatic charging efficiency, and improve the user's use experience.

[0172] Based on the above-mentioned electric vehicle automatic charging method, after step S607 is performed to make the server wake up the CEM at the reserved time, as shown in Figure 7 , it further comprises:

[0173] Step S701: Determine whether the current vehicle is fully charged and whether the CEM is woken up. If yes, execute step S702; if no, end the operation.

[0174] Step S702: Receive the second weather information sent by the RLS.

[0175] It should be noted that the second weather information is used to confirm whether it is currently raining, that is, whether it is currently raining.

[0176] In the process of specifically implementing step S702, in the case where it is determined whether the current vehicle is fully charged and whether the CEM is woken up, the CEM receives the second weather information sent by the RLS.

[0177] Step S703: Determine whether the second weather information is rainy, if so, execute step S704, if not, execute step S705.

[0178] In the process of implementing step S703, since the current vehicle is fully charged, if the second weather information is rainy, it means that the current weather condition will make the charging gun easy to be waterlogged if it is pulled out, resulting in failure of the charging gun, then step S704 is executed, if the first weather information is non-rainy, it means that the current weather condition is convenient for pulling out the charging gun, then step S705 is executed.

[0179] Step S704: Send the power-off and gun-not-pulled information to the target charging pile, so that the target charging pile controls the charging gun to stop charging the current vehicle, and performs charging timing wake-up confirmation.

[0180] In the process of implementing step S704, in the case of determining that the second weather information is rainy, the power-off and gun-not-pulled information is generated, and the power-off and gun-not-pulled information is sent to the target charging pile, so that the target charging pile controls the charging gun to stop charging the current vehicle, and performs charging timing wake-up confirmation, so as to facilitate the target charging pile to control the charging gun to disconnect with the charging port after the weather turns fine, and to retrieve the charging gun.

[0181] Step S705: Send the charging-completion-and-gun-pulling information to the target charging pile, so that the target charging pile controls the charging gun to stop charging the current vehicle, and controls the charging gun to disconnect with the charging port and retrieve the charging gun.

[0182] In the process of implementing step S705, in the case of determining that the second weather information is non-rainy, the charging-completion-and-gun-pulling information is generated, and the charging-completion-and-gun-pulling information is sent to the target charging pile, so that the target charging pile controls the charging gun to stop charging the current vehicle, and controls the charging gun to disconnect with the charging port and retrieve the charging gun, that is, the target charging pile controls the charging gun to pull out from the charging port of the current vehicle, and retrieves the charging gun to the target charging pile.

[0183] Step S706: When receiving the charging gun disconnection information sent by the PDCU, execute step S707, otherwise, execute step S706.

[0184] In the process of implementing step S706, the PDCU detects whether the charging gun has disconnected with the charging port, if it is detected that the charging gun has disconnected with the charging port, the charging gun disconnection information is generated, and the charging gun disconnection information is sent to the CEM, then when the CEM receives the charging gun disconnection information sent by the PDCU, step S707 is executed, otherwise, step S706 is continued.

[0185] Step S707: Control the charging port cover of the current vehicle to close.

[0186] In the implementation of step S707, in a case where it is determined that the disconnection information of the charging gun sent by the PDCU is received, the CEM controls the closing of the charging port cover of the current vehicle.

[0187] Based on the automatic charging method for electric vehicles provided in the above embodiment of the application, when the current vehicle is fully charged and the CEM is woken up, whether the charging gun is pulled out is confirmed according to the current weather condition, the automatic charging efficiency is improved, and the user experience is improved.

[0188] According to the automatic charging method for electric vehicles shown in the above embodiment of the application Figure 3 According to the automatic charging method for electric vehicles shown in the above embodiment of the application Figure 8 As shown in the above embodiment of the application, the embodiment of the application also provides an automatic charging device for electric vehicles, which is suitable for a central electronic control module CEM, and the device comprises a judgment unit 801, an acquisition unit 802, a calculation unit 803 and a control unit 804.

[0189] The judgment unit 801 is configured to, when a key lock vehicle signal of a current vehicle is received, judge whether the current vehicle meets a charging condition.

[0190] The acquisition unit 802 is configured to, if the current vehicle meets the charging condition, acquire position data and vehicle body data of the current vehicle, wherein the vehicle body data at least comprises a position of a charging port cover.

[0191] The calculation unit 803 is configured to calculate a position of a target charging pile according to the position data and the vehicle body data, and send a charging instruction, the position data, the vehicle body data, the position of the target charging pile and the position of the charging port cover to the target charging pile through a wireless communication of a vehicle-mounted wireless terminal controller TBOX, so that the target charging pile confirms whether a charging demand is met.

[0192] The control unit 804 is configured to, when receiving the information that the charging demand is met which is fed back by the target charging pile, control the opening of the charging port cover of the current vehicle, and send information that the charging port cover has been opened to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and the vehicle body data of the current vehicle, and the position of the target charging pile and the charging port cover.

[0193] Optionally, based on the judgment unit 801 shown in the above embodiment of the application, the judgment unit 801 is specifically configured to: Figure 8

[0194] ​The CAN message data of the current vehicle sent by the HUT host is received, the CAN message data is obtained by setting the charging power information after triggering the configuration option on the HUT host by the user, and is sent to the CEM by the HUT host; the configuration information of the current vehicle is determined according to the CAN message data, the configuration information includes the charging power information; if the configuration information is not automatically charged in the rain, the first weather information sent by the rain light sensor RLS is received; if the first weather information is not a rainy day, the power information of the current vehicle sent by the battery management system BMS is received, and the power information of the current vehicle is compared with the charging power information; if the power information of the current vehicle matches the charging power information, it is determined that the current vehicle meets the charging condition; if the power information of the current vehicle does not match the charging power information, it is determined that the current vehicle does not meet the charging condition.

[0195] Optionally, based on the above Figure 8 The calculation unit 803 shown is specifically used for:

[0196] The position of the charging port cover of the current vehicle is taken as the coordinate origin to establish a rectangular coordinate system; based on the rectangular coordinate system, the rear camera position, the radar position, the angle between the camera and the target charging pile, and the distance between the radar and the target charging pile are determined in the position data and the vehicle body data; according to a pre-designed calculation formula, the position of the charging port cover, the rear camera position, the radar position, the angle between the camera and the target charging pile, and the distance between the radar and the target charging pile are calculated to obtain the position of the charging pile.

[0197] Optionally, based on the above Figure 8 The electric vehicle automatic charging device shown is combined with Figure 8 The electric vehicle automatic charging device is further provided with a horn reminding module.

[0198] The horn reminding module is used for controlling the horn to sound and controlling the turn signal to flash when receiving the charging demand information not met feedback from the target charging pile.

[0199] Optionally, based on the above Figure 8 The electric vehicle automatic charging device shown is combined with Figure 8 The electric vehicle automatic charging device is further provided with a charging abnormality processing module.

[0200] The charging abnormality processing module is configured to start timing, receive charging gun connection state data sent by a power chassis domain control unit (PDCU) when the timing time reaches a preset time, send charging pile charging abnormality information to the target charging pile if the charging gun connection state data is not connected to the charging gun, make the target charging pile control the charging gun to charge the current vehicle based on position data and vehicle body data of the current vehicle, a position of the target charging pile and the charging port cover, control the charging port cover of the current vehicle to close, and send an automatic charging abnormality reminder message to an application (APP) associated with the CEM, and respond to the automatic charging abnormality reminder message by the APP.

[0201] Optionally, based on the above Figure 8 The electric vehicle automatic charging device shown in the figure is combined with Figure 8 The electric vehicle automatic charging device is further provided with a pre-appointment wake-up module.

[0202] The pre-appointment wake-up module is configured to receive a full-charge required time of the current vehicle sent by a battery management system (BMS) when receiving successful charging information fed back by the target charging pile, send the full-charge required time to the TBOX, make the TBOX send the full-charge required time to a server, and make the server pre-appoint a wake-up time for the CEM.

[0203] Optionally, based on the above Figure 8 The electric vehicle automatic charging device shown in the figure is combined with Figure 8 The electric vehicle automatic charging device is further provided with a charging end processing module.

[0204] The charging end processing module is configured to receive second weather information sent by the RLS if the current vehicle is fully charged and the CEM is woken up, send power-off and unplug information to the target charging pile if the second weather information is rainy, make the target charging pile control the charging gun to stop charging the current vehicle and perform charging timing wake-up confirmation, send charging completion and unplug information to the target charging pile if the second weather information is not rainy, make the target charging pile control the charging gun to stop charging the current vehicle and control the charging gun to disconnect from the charging port, and withdraw the charging gun, and control the charging port cover of the current vehicle to close when receiving charging gun disconnection information sent by the PDCU.

[0205] It should be noted that the specific principles and execution processes of each module in the electric vehicle automatic charging device disclosed in the embodiments of the present application are the same as the electric vehicle automatic charging method described above, and can be referred to the corresponding part of the electric vehicle automatic charging method disclosed in the embodiments of the present application, which will not be repeated here.

[0206] Based on the electric vehicle automatic charging device provided in the embodiments of the present application, after the current vehicle meets the charging condition, the position of the target charging pile is calculated according to the position data and the body data of the current vehicle, and after the target charging pile meets the charging demand, the charging port cover of the current vehicle is opened, and the target charging pile controls the charging gun to charge the current vehicle, so as to realize automatic charging, improve the automatic charging efficiency, and improve the user experience.

[0207] The embodiments of the present application also disclose a vehicle, which comprises the electric vehicle automatic charging device as shown in the above ​

[0208] Each of the embodiments in the present specification is described in a progressive manner, and the same and similar parts of each embodiment can be referred to each other. Each embodiment mainly describes the difference from other embodiments. Especially, the system or system embodiment is basically similar to the method embodiment, so the description is relatively simple, and the related parts can be referred to the part of the method embodiment. The above-described system and system embodiment are only illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, that is, they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to the actual needs. Those skilled in the art can understand and implement without creative labor.

[0209] The skilled person can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in the above description. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0210] ​The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and that the appended claims are intended to cover all such modifications that do not depart from the true spirit and scope of the application. Therefore, the application is not limited to the embodiments shown but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic charging method for an electric vehicle, characterized by, The method is suitable for a central electronic control module (CEM), and the method comprises: When a key lock vehicle signal of a current vehicle is received, it is determined whether the current vehicle meets a charging condition; wherein the process of determining whether the current vehicle meets the charging condition comprises: receiving CAN message data of the current vehicle sent by a smart cockpit module (HUT) host, the CAN message data is obtained by setting charging power information after a user triggers a configuration option on the HUT host, and is sent to the CEM by the HUT host; determining configuration information of the current vehicle according to the CAN message data, the configuration information comprising the charging power information; if the configuration information is not to automatically charge in the rain, receiving first weather information sent by a rain and light sensor (RLS); if the first weather information is not a rainy day, receiving power information of the current vehicle sent by a battery management system (BMS), comparing the power information of the current vehicle with the charging power information; if the power information of the current vehicle matches the charging power information, it is determined that the current vehicle meets the charging condition; if the power information of the current vehicle does not match the charging power information, it is determined that the current vehicle does not meet the charging condition; If the current vehicle meets the charging condition, obtaining position data and body data of the current vehicle, the body data at least comprising a position of a charging port cover; According to the position data and the body data, calculating a position of a target charging pile, and sending a charging instruction, the position data, the body data, the position of the target charging pile and the position of the charging port cover to the target charging pile through wireless communication of a vehicle-mounted terminal controller (TBOX), so that the target charging pile confirms whether the charging demand is met; When receiving the information that the charging demand is met fed back by the target charging pile, controlling the charging port cover of the current vehicle to be opened, and sending information that the charging port cover has been opened to the target charging pile, so that the target charging pile controls a charging gun to charge the current vehicle based on the position data and the body data of the current vehicle, and the positions of the target charging pile and the charging port cover.

2. The method of claim 1, wherein, The calculation of the position of the target charging pile according to the position data and the body data comprises: establishing a rectangular coordinate system with the position of the charging port cover of the current vehicle as the coordinate origin; determining the position of a rear camera, the position of a radar, the angle between the camera and the target charging pile, and the distance between the radar and the target charging pile in the position data and the body data based on the rectangular coordinate system; calculating the position of the charging pile according to a pre-designed calculation formula, the position of the charging port cover, the position of the rear camera, the position of the radar, the angle between the camera and the target charging pile, and the distance between the radar and the target charging pile.

3. The method of claim 1, wherein, Further comprising: When receiving the information that the charging demand is not met fed back by the target charging pile, controlling a horn to emit a sound and controlling a turn signal to flash.

4. The method of claim 1, wherein, After sending the information that the charging port cover has been opened to the target charging pile, further comprising: starting timing; When the timing time reaches the preset time, receive the charging gun connection state data sent by the power chassis domain control unit PDCU; If the charging gun connection state data is not connected to the charging gun, send the charging pile charging exception information to the target charging pile, so that the target charging pile controls the charging gun to charge the current vehicle based on the position data and the vehicle body data of the current vehicle, the position of the target charging pile and the charging port cover; Control the closing of the charging port cover of the current vehicle; Based on the application APP associated with the CEM, send the automatic charging exception reminder message to the APP, and respond to the automatic charging exception reminder message by the APP.

5. The method of claim 4, wherein, Also includes: When receiving the successful charging information feedback by the target charging pile, receive the full charging time of the current vehicle sent by the battery management system BMS, and send the full charging time to the TBOX, so that the TBOX sends the full charging time to the server, so that the server wakes up the CEM for reservation time.

6. The method of claim 5, wherein, Also includes: If the current vehicle is fully charged and the CEM is woken up, receive the second weather information sent by the RLS; If the second weather information is rainy, send the power-off and unplug the gun information to the target charging pile, so that the target charging pile controls the charging gun to stop charging the current vehicle, and performs charging timing wake-up confirmation; If the second weather information is not rainy, send the charging completion and unplug the gun information to the target charging pile, so that the target charging pile controls the charging gun to stop charging the current vehicle, and controls the charging gun to disconnect with the charging port, and withdraws the charging gun; When receiving the charging gun disconnection information sent by the PDCU, control the closing of the charging port cover of the current vehicle.

7. An automatic charging device for an electric vehicle, characterized by comprising: The device is suitable for a central electronic control module CEM, and the device comprises: A judgment unit is configured to determine whether the current vehicle meets the charging condition when receiving the key lock vehicle signal of the current vehicle; wherein the process of determining whether the current vehicle meets the charging condition comprises: receiving CAN message data of the current vehicle sent by a smart cockpit module HUT host, the CAN message data is obtained by setting charging capacity information after a user triggers a configuration option on the HUT host, and is sent to the CEM by the HUT host; determining configuration information of the current vehicle according to the CAN message data, the configuration information comprising the charging capacity information; if the configuration information is not to perform automatic charging in the rain, receiving first weather information sent by a rainfall light sensor RLS; if the first weather information is not rainy, receiving the power information of the current vehicle sent by a battery management system BMS, and comparing the power information of the current vehicle with the charging capacity information; if the power information of the current vehicle matches the charging capacity information, it is determined that the current vehicle meets the charging condition; if the power information of the current vehicle does not match the charging capacity information, it is determined that the current vehicle does not meet the charging condition; An acquisition unit is configured to acquire position data of the current vehicle and body data of the current vehicle if the current vehicle meets a charging condition, the body data at least including a position of a charging port cover; A calculation unit is configured to calculate a position of a target charging pile according to the position data and the body data, and send a charging instruction, the position data, the body data, the position of the target charging pile and the position of the charging port cover to the target charging pile through a TBOX wireless communication, so that the target charging pile confirms whether a charging demand is met; A control unit is configured to control the charging port cover of the current vehicle to be opened when receiving information that the target charging pile meets the charging demand, and send information that the charging port cover has been opened to the target charging pile, so that the target charging pile controls a charging gun to charge the current vehicle based on the position data and the body data of the current vehicle, the position of the target charging pile and the position of the charging port cover.

8. A vehicle characterized by comprising: The electric vehicle automatic charging device of claim 7 is included.

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