Vehicle charging control method and device, vehicle charging equipment and storage medium

Abstract

The invention discloses a vehicle charging control method and device, vehicle charging equipment and a storage medium, and relates to the technical field of vehicle detection. The vehicle charging control method comprises the steps that when it is detected that a charging port in a to-be-charged vehicle is in an open state and the to-be-charged vehicle is in a stopped state, the stress state of a charging gun in the process of plugging and unplugging the charging port is determined; according to the stress state, whether a first change value of force or torque in any direction is larger than a first preset stress change threshold value or not is determined; if yes, the pose of the charging gun is adjusted based on the first change value and a corresponding preset initial stress value in the direction, and the preset initial stress value is used for representing the stress value of the charging gun in the direction in the stop state. According to the embodiment provided by the invention, the to-be-charged vehicle is accurately charged, and the charging efficiency, the stability and the charging experience of a user are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle detection technology, and in particular to a vehicle charging control method, device, vehicle charging equipment and storage medium. Background Art

[0002] At present, with the development of society and the advancement of science and technology, more and more users are beginning to use new energy vehicles as their means of transportation. However, during the charging process of new energy vehicles, it is necessary to manually aim the charging gun at the charging port to charge the vehicle, and the user is in a waiting state during the charging process, which is time-consuming and labor-intensive. In the process of manually inserting and removing the charging gun, manual shaking may cause the charging gun to be unable to be accurately placed at the designated position of the charging port, which in turn causes the charging gun to be unable to accurately charge the vehicle, resulting in poor charging efficiency, stability and user charging experience. Summary of the invention

[0003] The embodiments of the present application provide a control method, device, vehicle charging equipment and storage medium for vehicle charging. The embodiments provided by the present application solve the technical problem in the prior art that the charging gun cannot accurately charge the vehicle, which reduces the charging efficiency and stability while also reducing the user's charging experience. The embodiments provided by the present application achieve accurate charging of the vehicle to be charged, improve the charging efficiency, stability and the user's charging experience.

[0004] In a first aspect of an embodiment of the present application, an embodiment of the present application provides a method for controlling vehicle charging, the method for controlling vehicle charging comprising:

[0005] When detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state, determining the force state of the charging gun during the process of plugging and unplugging the charging port;

[0006] According to the force state, determining whether there is a first change value of force or moment in any direction greater than a first preset force change threshold;

[0007] If so, the posture of the charging gun is adjusted based on the first change value and the corresponding preset initial force value in the direction, wherein the preset initial force value is used to characterize the force value of the charging gun in the direction in the stopped state.

[0008] In a feasible implementation manner, the process of plugging and unplugging the charging port includes a process of inserting the charging port, and the vehicle charging control method further includes:

[0009] During the process of inserting the charging gun into the charging port, collecting a first actual distance of the charging gun inserted into the charging port;

[0010] Based on the first actual distance and the preset depth of the charging port, it is determined whether it is necessary to stop inserting the charging gun, and after the charging gun stops inserting into the charging port, the vehicle to be charged starts to be charged.

[0011] In a feasible implementation manner, the process of plugging and unplugging the charging port includes a process of unplugging the charging port, and the vehicle charging control method further includes:

[0012] When the charging gun is pulled out of the charging port, collecting a second actual distance that the charging gun is pulled out of the charging port;

[0013] Based on the second actual distance, the depth and the preset pull-out height, determine whether it is necessary to stop pulling out the charging gun, and stop charging the vehicle to be charged after the charging gun starts to be pulled out of the charging port, wherein the preset pull-out height is used to characterize the preset height between the charging port and the outside of the vehicle to be charged.

[0014] In a feasible implementation manner, before determining the force state of the charging gun during the process of plugging and unplugging the charging port after detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state, the vehicle charging control method further includes:

[0015] Receiving an initial image of a charging port on a vehicle to be charged captured by a camera;

[0016] Determine the position information of the charging port in the image based on the initial image and a preset charging port feature recognition rule;

[0017] Determining the spatial position coordinates of the charging port based on the position information and a preset three-dimensional spatial coordinate system;

[0018] Based on the spatial position coordinates, determining a target image of the charging port on the vehicle to be charged, wherein the target image is used to represent an image of the charging port captured by the camera based on the spatial position coordinates after the movement;

[0019] Based on the target image and a preset charging port state recognition rule, it is determined whether the charging port is in an open state.

[0020] In a feasible implementation manner, after detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state, and determining the force state of the charging gun during the process of plugging and unplugging the charging port, the vehicle charging control method further includes:

[0021] If the vehicle to be charged moves, the posture of the charging gun is adjusted to the starting position, and the initial image of the charging port on the vehicle to be charged is reacquired.

[0022] In a feasible implementation manner, after determining whether a first change value of force or torque in any direction is greater than a first preset force change threshold value according to the force state, the vehicle charging control method further includes:

[0023] If the first change value of the force or the torque in any direction is not greater than the first preset force change threshold, the posture of the charging gun is not adjusted, and the vehicle to be charged starts to be charged after the charging gun stops being inserted into the charging port.

[0024] In a feasible implementation manner, after determining whether a first change value of force or torque in any direction is greater than a first preset force change threshold value according to the force state, the vehicle charging control method further includes:

[0025] If the first change value of the force or the torque in any direction does not exist and is greater than the first preset force change threshold, the posture of the charging gun is not adjusted, and charging of the vehicle to be charged is stopped after the charging gun starts to be unplugged from the charging port.

[0026] In a second aspect of the embodiment of the present application, the embodiment of the present application provides a vehicle charging control method device comprising:

[0027] A first determination module is used to determine the force state of the charging gun during the process of plugging and unplugging the charging port when detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state;

[0028] A second determination module is used to determine whether a first change value of force or torque in any direction is greater than a first preset force change threshold value according to the force state;

[0029] The third determination module is used to adjust the posture of the charging gun based on the first change value and the corresponding preset initial force value in the direction, wherein the preset initial force value is used to characterize the force value of the charging gun in the direction in the stopped state.

[0030] According to a third aspect of the embodiments of the present application, an embodiment of the present application provides a vehicle charging device, which is used to execute the vehicle charging control method as described in the first aspect.

[0031] In a fourth aspect of the embodiments of the present application, the embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle charging control method as described above are executed.

[0032] The vehicle charging control method, device, vehicle charging equipment and storage medium provided in the embodiments of the present application, compared with the prior art, the embodiments provided by the present application, when the charging port on the vehicle to be charged is in an open state, determine whether the vehicle to be charged moves before the charging gun for charging the vehicle is inserted into the charging port; if the vehicle to be charged has not moved, determine the force state of the charging gun during the process of plugging and unplugging the charging port; based on the force state and the preset force change threshold, determine whether it is necessary to adjust the posture of the charging gun to achieve charging control of the vehicle to be charged. The embodiments provided by the present application, when the charging port on the vehicle to be charged is in an open state In the on state, determine whether the vehicle to be charged moves before the charging gun is inserted into the charging port; if the vehicle to be charged does not move, determine the stress state of the charging gun during the process of plugging and unplugging the charging port; based on the stress state and the preset force change threshold, determine whether it is necessary to adjust the position of the charging gun to achieve charging control of the vehicle to be charged. The present application automatically adjusts and changes the position of the charging gun through the stress state and the preset force change threshold to facilitate better charging control for the vehicle to be charged, thereby achieving precise charging of the vehicle to be charged and improving charging efficiency, stability and user charging experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 One of the flow charts of a vehicle charging control method provided in an embodiment of the present application;

[0034] Figure 2 A structural block diagram of a vehicle charging device provided in an embodiment of the present application;

[0035] Figure 3 A schematic diagram of force analysis in a vehicle charging control method provided in an embodiment of the present application;

[0036] Figure 4 This is a flow chart of a second method for controlling vehicle charging provided in an embodiment of the present application;

[0037] Figure 5 This is a structural block diagram of a vehicle charging control device provided in an embodiment of the present application.

[0038] Figure 4 and Figure 5 The corresponding relationship between the reference numerals and the names of the drawings is as follows:

[0039] 201 charging robot; 202 force control sensor; 203 image acquisition component; 204 charging gun; 205 fixture; 500 vehicle charging control device; 510 acquisition module; 520 first determination module; 530 second determination module; 540 third determination module. DETAILED DESCRIPTION

[0040] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0041] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0042] First, the applicable application scenarios of the present application are introduced. The embodiments provided in the present application are applicable to the field of vehicle detection technology.

[0043] At present, more and more users are starting to use new energy vehicles as their means of transportation. However, during the charging process of new energy vehicles, it is necessary to manually aim the charging gun at the charging port to charge the vehicle, and the user is in a waiting state during the charging process, which is time-consuming and labor-intensive. In addition, during the process of inserting and removing the charging gun, the manual control method of the charging gun may not be able to accurately place the charging gun in the specified position, which will result in the charging gun being unable to accurately charge the vehicle, reducing the charging efficiency and stability while also reducing the user's charging experience.

[0044] However, when inserting and removing the charging gun, the corresponding vehicle needs to be completely stopped. Once the external environment changes and causes the vehicle to move, the charging gun will not be able to accurately charge the vehicle. That is, the existing technology can only perform automatic charging when the vehicle is completely stopped, and cannot achieve automatic charging when the vehicle is moving.

[0045] Based on this, the embodiments of the present application provide a control method, device, vehicle charging equipment and storage medium for vehicle charging. The embodiments provided by the present application solve the technical problem in the prior art that the charging gun will not be able to accurately charge the vehicle, which not only reduces the charging efficiency and stability, but also reduces the user's charging experience. The embodiments provided by the present application realize accurate charging of the vehicle to be charged, improve the charging efficiency, stability and the user's charging experience.

[0046] Figure 1 This is one of the flow charts of a vehicle charging control method provided in an embodiment of the present application. Figure 1 As shown, the vehicle charging control method includes the following steps:

[0047] S101. When it is detected that a charging port on a vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state, determine a stress state of a charging gun during a process of plugging in and out of the charging port.

[0048] Illustratively, before using the above method to automatically charge the vehicle to be charged, the embodiment provided by the present application first needs to determine the specific location of the charging port, and then control the corresponding charging robot to move to the vicinity of the charging port through an external programmable logic controller, and then determine whether the above charging port is unobstructed, that is, whether the cover or dust plug of the above charging port is opened, etc., and when it is determined that the charging port on the vehicle to be charged is in an open state, determine whether the vehicle to be charged is in a stopped state, and when the vehicle to be charged is in a stopped state, perform a force analysis on the plugging and unplugging process of the charging gun.

[0049] It should be noted that the schematic diagram of the structure of the charging robot in the embodiment provided in this application is as follows, please refer to Figure 2 , Figure 2 This is a block diagram of the architecture of a vehicle charging device provided in an embodiment of the present application, such as Figure 2As shown, the vehicle charging device includes a charging robot 201, a force control sensor 202, an image acquisition component 203, a charging gun 204 and a clamp 205. The control end of the charging robot 201 is connected to the fixed end of the force control sensor 202, the tool end of the force control sensor 202 is connected to the fixed end of the clamp 205, the clamping end of the clamp 205 is connected to the charging gun 204, the image acquisition component 203 is fixedly installed on the charging robot 201, and the charging robot 201, the force control sensor 202 and the image acquisition component 203 are all communicatively connected to an external programmable logic controller.

[0050] Among them, the image acquisition component 203 in the embodiment provided in the present application is customized according to different application scenarios and usage requirements, and can be specifically a visual camera, and the visual camera is installed above the fixture 205, and the camera lens is parallel to the center normal direction of the charging port.

[0051] In the above, the embodiment provided by the present application uses a clamp 205 to clamp the charging gun 204, and an external programmable logic controller uses the image acquisition component 203 to collect the image at the charging port in real time, and determine the spatial position of the charging port, and then uses the force control sensor 202 to collect the stress state of the charging gun 204 in the process of plugging and unplugging the charging port in real time, and controls the clamp 205 in real time according to the stress state to adjust the posture of the charging gun 204 on the charging robot 201, while ensuring that the charging gun 204 can be fully inserted into the charging port, and realizes accurate charging of the vehicle to be charged. In the process of posture adjustment or charging, the embodiment provided by the present application allows the user to stay in the vehicle or get on and off the vehicle freely, and the embodiment provided by the present application can be applied to common application scenarios such as other vehicles passing by and causing the ground to shake, thereby avoiding emergency locking of the charging robot 201.

[0052] For example, if the vehicle to be charged is in a moving state, that is, if the spatial position coordinates of the charging port change, the charging gun in the current state and position cannot be directly inserted into the above-mentioned charging port. Therefore, it is necessary to redetermine the position information of the charging port, and then control the corresponding charging robot to move again to the vicinity of the charging port to determine whether the charging port is unobstructed.

[0053] In the above step S101, when it is determined that the above-mentioned vehicle to be charged is in a stopped state, the plugging and unplugging process of charging or stopping charging of the vehicle to be charged is started. At this time, during the plugging and unplugging process of the charging gun, it is necessary to analyze the force state of the movement process of the charging gun in the charging port.

[0054] Here, it is assumed that the embodiment provided in the present application collects the movement process of the charging gun in the charging port through a six-dimensional force control sensor and performs the force state, so as to ensure that the charging gun can move along the center of the above-mentioned charging port, and avoid wear and even damage to the charging port caused by forced skewed insertion.

[0055] For example, Figure 3 A schematic diagram of force analysis in a vehicle charging control method provided in an embodiment of the present application, such as Figure 3 As shown, in the embodiment provided by the present application, the six-dimensional force control sensor collects force information during the plugging and unplugging process of the charging gun, and the process of force analysis is as follows, wherein O is used to represent the reference point for calibration of the force control sensor, and P is used to represent the point of action of the force on the X, Y, and Z axes collected by the force control sensor in real time. In addition, the embodiment provided by the present application collects the force F on the X, Y, and Z axes in real time through the six-dimensional force control sensor. x 、F y 、F z and moment M x 、M y 、M z .

[0056] It should be noted that the embodiments provided in the present application require that the charging gun be located at the center normal of the charging port. The center normal is used to represent a straight line passing through the center of the charging port and perpendicular to the body surface of the vehicle to be charged. This line can help determine the optimal alignment angle of the charging gun relative to the vehicle, ensuring that the plug can be accurately inserted into the charging port.

[0057] In one embodiment, if the vehicle to be charged is in a stopped state, the forces and moments in different directions received by the charging gun during the process of plugging and unplugging the charging port are determined.

[0058] In the above, it is assumed that the embodiment provided by the present application uses a six-dimensional force control sensor to collect the force F on the X, Y, and Z axes in real time. x 、F y 、F z and moment M x 、M y 、M z , and analyze and compare the forces and moments on the X, Y, and Z axes, determine the changes in forces or moments in one direction or multiple directions, and perform force analysis and comparison on the changes in all the forces or moments mentioned above.

[0059] S102. Determine, based on the force state, whether there is a first change value of force or torque in any direction that is greater than a first preset force change threshold.

[0060] It should be noted that, assuming that the preset force change threshold includes a first preset force change threshold, at this time in the process of inserting the charging gun into the charging port, it is determined whether there is a first change value of force or torque in any direction that is greater than the first preset force change threshold. If so, the position of the charging gun is adjusted based on the first change value and the preset initial force value in the direction. If not, the position of the charging gun is not adjusted, and after the charging gun stops being inserted into the charging port, charging of the vehicle to be charged begins.

[0061] In the process of inserting the charging gun into the charging port and charging the vehicle to be charged, although the vehicle to be charged does not move and is in a stopped state, the vehicle to be charged may be in a state of vehicle shaking. At this time, it is necessary to determine whether the first change value of the force or torque in any direction is greater than the first preset force change threshold. Since the charging gun is inserted into the charging port, F z The magnitudes of the frictional force should be substantially equal, and equal to the frictional force of insertion. Therefore, the embodiment provided in the present application only requires the F z Other forces and moments other than x 、F y 、M x 、M y and M z If F is found x 、F y 、M x 、M y and M z When a first change value of a force or torque in one or more directions is greater than a first preset force change threshold, the charging robot is controlled to adjust the posture of the charging gun based on the first change value and the preset initial force value in the direction, so that the force or torque is reduced to the preset initial force value, wherein the preset initial force value is used to characterize the force value in the direction of the charging gun when it is in a stopped state.

[0062] S103: If yes, adjusting the posture of the charging gun based on the first change value and the corresponding preset initial force value in the direction, wherein the preset initial force value is used to represent the force value in the direction of the charging gun in a stopped state.

[0063] Exemplarily, after determining the first change value of the force or torque in one direction or multiple directions, the first change value is adjusted according to the preset initial force value, and after the charging gun stops being inserted into the charging port, charging of the vehicle to be charged is started to achieve charging control of the vehicle to be charged; if there is no first change value greater than the first preset force change threshold, it is determined that there is no need to adjust the posture of the charging gun.

[0064] If there is no first change value of the force or torque in any direction greater than the first preset force change threshold, the charging of the vehicle to be charged begins after the charging gun stops being inserted into the charging port.

[0065] Illustratively, in the embodiment provided by the present application, during the process of inserting the charging gun into the charging port, a first actual distance of the charging gun inserted into the charging port is collected, and based on the first actual distance and a preset depth of the charging port, it is determined whether it is necessary to stop inserting the charging gun, and after the charging gun stops being inserted into the charging port, charging the vehicle to be charged begins.

[0066] It should be noted that the embodiment provided in this application requires the charging gun to be inserted into the charging port by a first actual distance of 1L. z Compare with the depth of the charging port and at the first actual distance 1L z When the depth is the same as the charging port, the charging gun is normally stopped to start charging the vehicle to be charged, and the Z-axis force F y When it increases to the set threshold, the gun insertion is forced to stop to prevent the charging gun from being inserted too much into the charging port.

[0067] For example, the movement path of the charging gun of the charging vehicle when it is stopped is a fixed line segment; while the movement path of the charging gun of the charging vehicle when it is shaking is a curve that follows the change of the spatial position coordinates of the charging port. Therefore, when the charging vehicle shakes, the Z-axis force F y When it decreases to the set threshold, the charging gun is controlled to be inserted in the direction of the Z axis to prevent the charging gun from being pulled out or thrown out manually.

[0068] Exemplarily, the preset force change threshold includes a first preset force change threshold. During the process of pulling the charging gun out of the charging port, it is determined whether there is a first change value of force or torque in any direction that is greater than the first preset force change threshold; if so, the position of the charging gun is adjusted based on the first change value and the preset initial force value in the direction; if not, there is no need to adjust the position of the charging gun.

[0069] It should be noted that, when the charging gun is pulled out of the charging port and the charging of the vehicle to be charged is stopped, it is necessary to determine whether a first change value of the force or torque in any direction is greater than a first preset force change threshold.

[0070] In the above, since the charging gun is inserted into the charging port, F z The magnitudes of the frictional force should be substantially equal, and equal to the frictional force of insertion. Therefore, the embodiment provided in the present application only requires the F z Other forces and moments other than x 、F y 、M x 、My and M z If F is found x 、F y 、M x 、M y and M z When there is a first change value of force or torque in one or more directions that is greater than a first preset force change threshold, the charging robot is controlled to adjust the posture of the charging gun based on the first change value and the preset initial force value in the direction, so that the force or torque is reduced to the preset initial force value, wherein the preset initial force value is used to characterize the force value in the direction of the charging gun when it is stopped.

[0071] Exemplarily, the process of plugging and unplugging the charging port includes the process of unplugging the charging port. During the process of the charging gun being unplugged from the charging port, a second actual distance of the charging gun being unplugged from the inside of the charging port is collected. Based on the second actual distance, the depth, and the preset unplugging height, it is determined whether it is necessary to stop unplugging the charging gun. After the charging gun starts to be unplugged from the charging port, charging of the vehicle to be charged is stopped, wherein the preset unplugging height is used to characterize the preset height between the charging port and the outside of the vehicle to be charged.

[0072] Among them, the embodiment provided in this application requires that the charging gun be pulled out of the charging port by a second actual distance of 2L z Compare with the depth of the charging port and at the second actual distance 2L z After the depth is the same as the charging port, continue to pull out the preset pull-out height and stop the insertion of the charging gun normally to stop charging the vehicle to be charged, and then press the Z-axis force F y After it decreases to the set threshold, continue to pull out the preset pull-out height, and force the normal stop of the charging gun's pull-out.

[0073] Exemplarily, if there is no first change value of the force or torque in any direction greater than the first preset force change threshold, charging of the vehicle to be charged is stopped after the charging gun starts to be pulled out of the charging port.

[0074] Exemplarily, if the vehicle to be charged moves, the posture of the charging gun is adjusted to the starting position, and the initial image of the charging port on the vehicle to be charged is reacquired.

[0075] It should be noted that when it is determined that the vehicle to be charged has moved, it is necessary to control the charging robot to stop inserting the gun and adjust the posture of the charging gun to the starting position, and then identify and locate the initial image of the charging port on the vehicle to be charged again.

[0076] In summary, the vehicle charging control method provided in the embodiment of the present application can achieve: when the vehicle to be charged is in a shaking state, automatically insert the charging gun; when the vehicle to be charged is in a shaking state, the plug-in gun can be kept under control; when the vehicle to be charged is in a shaking state, the charging gun can be automatically pulled out.

[0077] The vehicle charging control method provided in the embodiment of the present application is compared with the prior art. In the embodiment provided in the present application, when the charging port on the vehicle to be charged is in an open state, it is determined whether the vehicle to be charged moves before the charging gun for charging the vehicle is inserted into the charging port; if the vehicle to be charged does not move, the force state of the charging gun during the process of plugging and unplugging the charging port is determined; based on the force state and the preset force change threshold, it is determined whether the position of the charging gun needs to be adjusted to achieve charging control of the vehicle to be charged. In the embodiment provided in the present application, when the charging port on the vehicle to be charged is in an open state, it is determined whether the vehicle to be charged moves before the charging gun for charging the vehicle is inserted into the charging port; if the vehicle to be charged does not move, the force state of the charging gun during the process of plugging and unplugging the charging port is determined; based on the force state and the preset force change threshold, it is determined whether the position of the charging gun needs to be adjusted to achieve charging control of the vehicle to be charged. The present application automatically adjusts and changes the position of the charging gun through the force state and the preset force change threshold to better control the charging of the vehicle to be charged, thereby achieving accurate charging of the vehicle to be charged, while improving charging efficiency and stability, and improving the charging experience of the user.

[0078] Figure 4 This is a flow chart of a second method for controlling vehicle charging provided in an embodiment of the present application, such as Figure 4 As shown, the vehicle charging control method includes the following steps:

[0079] S401: Receive an initial image of a charging port on a vehicle to be charged captured by a camera.

[0080] Exemplarily, the embodiment provided in the present application first needs to scan the area around the charging port through a force control sensor and obtain an initial image of the charging port on the vehicle to be charged.

[0081] It should be noted that the force control sensor in the embodiment provided in the present application can be customized and set according to different application scenarios. Here, the force control sensor in the embodiment provided in the present application can be specifically but not limited to a force control sensor.

[0082] S402: Determine the position information of the charging port in the image based on the initial image and a preset charging port feature recognition rule.

[0083] Exemplarily, the embodiments provided in the present application can perform feature recognition on the above-mentioned initial image according to the feature recognition rules, namely, the national standard GB / T20234.3-2015 "Connection device for conductive charging of electric vehicles Part 3: DC charging interface", and determine the location information of the charging port feature in the initial image.

[0084] S403: Determine the spatial position coordinates of the charging port based on the position information and a preset three-dimensional space coordinate system.

[0085] Exemplarily, after the position information is determined, the spatial position coordinates of the charging port corresponding to the position information are determined according to a preset three-dimensional space coordinate system that is established in advance.

[0086] S404. Determine a target image of the charging port on the vehicle to be charged based on the spatial position coordinates, wherein the target image is used to represent an image of the charging port captured by the camera based on the spatial position coordinates after the movement.

[0087] Exemplarily, after the spatial position coordinates of the charging port are determined, the charging robot is controlled to move toward the spatial position coordinates so that the force control sensor can be closer to the charging port, and then the image acquisition component is used again to capture the target image of the charging port on the vehicle to be charged.

[0088] It should be noted that the image acquisition component in the embodiments provided in the present application can be adaptively selected according to different application scenarios, wherein the image acquisition component in the embodiments provided in the present application can be specifically a visual camera.

[0089] S405: Determine whether the charging port is in an open state based on the target image and a preset charging port state recognition rule.

[0090] Exemplarily, the present application determines whether the charging port in the target image is in an open state according to a preset charging port status recognition rule, i.e., the charging port of B / T20234.2-2015 "Connection device for conductive charging of electric vehicles Part 2: AC charging interface", and when the charging port is in an open state, adjusts the posture of the end tool, i.e., the charging gun, and aligns the charging gun with the center normal of the charging port.

[0091] It should be noted that, for the charging port in the embodiment provided in the present application, when it is determined that the cover and dust plug of the charging port have been opened, it is determined that the charging port in the target image is in an open state; when it is determined that the cover and dust plug of the charging port have not been opened, it is determined that the charging port in the target image is not in an open state.

[0092] S406: When the charging port on the vehicle to be charged is in an open state and before a charging gun for charging the vehicle to be charged is inserted into the charging port, determine whether the vehicle to be charged is moving.

[0093] S407: If the vehicle to be charged does not move, determine the stress state of the charging gun during the process of plugging and unplugging the charging port.

[0094] S408: Based on the force state and a preset force change threshold, determine whether it is necessary to adjust the posture of the charging gun to achieve charging control of the vehicle to be charged.

[0095] The description of S406 and S408 may refer to the description of S101 and S103, and can achieve the same technical effect, which will not be described in detail.

[0096] The vehicle charging control method provided in the embodiment of the present application is compared with the prior art. In the embodiment provided in the present application, when the charging port on the vehicle to be charged is in an open state, it is determined whether the vehicle to be charged moves before the charging gun for charging the vehicle is inserted into the charging port; if the vehicle to be charged does not move, the force state of the charging gun during the process of plugging and unplugging the charging port is determined; based on the force state and the preset force change threshold, it is determined whether the position of the charging gun needs to be adjusted to achieve charging control of the vehicle to be charged. In the embodiment provided in the present application, when the charging port on the vehicle to be charged is in an open state, it is determined whether the vehicle to be charged moves before the charging gun for charging the vehicle is inserted into the charging port; if the vehicle to be charged does not move, the force state of the charging gun during the process of plugging and unplugging the charging port is determined; based on the force state and the preset force change threshold, it is determined whether the position of the charging gun needs to be adjusted to achieve charging control of the vehicle to be charged. The present application automatically adjusts and changes the position of the charging gun through the force state and the preset force change threshold to better control the charging of the vehicle to be charged, thereby achieving accurate charging of the vehicle to be charged, while improving charging efficiency and stability, and improving the charging experience of the user.

[0097] Figure 5 This is a structural block diagram of a vehicle charging control device provided in an embodiment of the present application, such as Figure 5 The vehicle charging control device 500 includes:

[0098] The first determination module 520 is used to determine the force state of the charging gun during the process of plugging and unplugging the charging port when detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state.

[0099] The second determination module 530 is used to determine, according to the force state, whether there is a first change value of force or torque in any direction that is greater than a first preset force change threshold.

[0100] The third determination module 540 is used to adjust the posture of the charging gun based on the first change value and the corresponding preset initial force value in the direction, wherein the preset initial force value is used to represent the force value in the direction of the charging gun in the stopped state.

[0101] Exemplarily, the process of plugging and unplugging the charging port includes a process of inserting the charging port, and during the process of inserting the charging gun into the charging port, a first actual distance of the charging gun inserted into the charging port is collected.

[0102] Based on the first actual distance and the preset depth of the charging port, it is determined whether it is necessary to stop inserting the charging gun, and after the charging gun stops inserting into the charging port, charging of the vehicle to be charged begins.

[0103] Exemplarily, the process of plugging and unplugging the charging port includes a process of unplugging the charging port, and during the process of the charging gun being unplugged from the charging port, a second actual distance of the charging gun being unplugged from the inside of the charging port is collected.

[0104] Based on the second actual distance, depth and preset pull-out height, determine whether it is necessary to stop pulling out the charging gun, and stop charging the vehicle to be charged after the charging gun starts to be pulled out of the charging port, wherein the preset pull-out height is used to characterize the preset height between the charging port and the outside of the vehicle to be charged.

[0105] Exemplarily, the vehicle charging control device 500 further includes: an acquisition module 510, and the acquisition module 510 is used to:

[0106] Acquire an initial image of the charging port on the vehicle to be charged; receive the initial image of the charging port on the vehicle to be charged captured by a camera; determine the position information of the charging port in the image based on the initial image and a preset charging port feature recognition rule; determine the spatial position coordinates of the charging port based on the position information and a preset three-dimensional spatial coordinate system; determine a target image of the charging port on the vehicle to be charged based on the spatial position coordinates; determine whether the charging port is in an open state based on the target image and a preset charging port state recognition rule; wherein the target image is used to represent the image of the charging port captured by the camera based on the spatial position coordinates after the movement.

[0107] Exemplarily, if the vehicle to be charged moves, the posture of the charging gun is adjusted to the starting position, and the initial image of the charging port on the vehicle to be charged is reacquired.

[0108] The vehicle charging control device 500 provided in the embodiment of the present application, compared with the prior art, is a control device for vehicle charging provided in the embodiment of the present application. When the charging port on the vehicle to be charged is in an open state, the control device determines whether the vehicle to be charged moves before the charging gun for charging the vehicle is inserted into the charging port; if the vehicle to be charged does not move, the force state of the charging gun during the process of plugging and unplugging the charging port is determined; based on the force state and the preset force change threshold, it is determined whether the position of the charging gun needs to be adjusted to achieve charging control of the vehicle to be charged. When the charging port on the vehicle to be charged is in an open state, the control device determines whether the vehicle to be charged moves before the charging gun for charging the vehicle is inserted into the charging port; if the vehicle to be charged does not move, the control device determines whether the charging gun needs to be adjusted based on the force state and the preset force change threshold, so as to achieve charging control of the vehicle to be charged. Before the charging gun of the charging vehicle is inserted into the charging port, whether the vehicle to be charged moves; if the vehicle to be charged does not move, determine the stress state of the charging gun during the process of plugging and unplugging the charging port; based on the stress state and the preset force change threshold, determine whether it is necessary to adjust the posture of the charging gun to achieve charging control of the vehicle to be charged. This application automatically adjusts and changes the posture of the charging gun through the stress state and the preset force change threshold to facilitate better charging control for the vehicle to be charged, thereby achieving precise charging of the vehicle to be charged, while improving the charging efficiency and stability, and enhancing the user's charging experience.

[0109] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 to Figure 2 The specific implementation of the steps of the vehicle charging control method in the method embodiment shown can be found in the method embodiment, which will not be repeated here.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0111] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0113] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0116] An embodiment of the present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of a vehicle charging control method.

[0117] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instruction can be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instruction can be transmitted from a website site, a computer, a server or a data center by wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server, a data center, etc. that includes one or more available media integration. Available media can be magnetic media, (for example, floppy disk, hard disk, tape), optical media (for example, DVD), or semiconductor media (for example, solid-state hard disk (SSD)) etc.

[0118] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0119] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0120] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0122] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-On l yMemory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0123] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0124] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0125] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A vehicle charging control method, characterized in that: The vehicle charging control method comprises: When detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state, determining the force state of the charging gun during the process of plugging and unplugging the charging port; According to the force state, determining whether there is a first change value of force or torque in any direction greater than a first preset force change threshold; If so, the posture of the charging gun is adjusted based on the first change value and the corresponding preset initial force value in the direction, wherein the preset initial force value is used to characterize the force value of the charging gun in the direction in the stopped state.

2. The vehicle charging control method according to claim 1, characterized in that: The process of plugging and unplugging the charging port includes a process of inserting the charging port, and the vehicle charging control method further includes: During the process of inserting the charging gun into the charging port, collecting a first actual distance of the charging gun inserted into the charging port; Based on the first actual distance and the preset depth of the charging port, it is determined whether it is necessary to stop inserting the charging gun, and after the charging gun stops inserting into the charging port, the vehicle to be charged starts to be charged.

3. The vehicle charging control method according to claim 1, characterized in that: The process of plugging and unplugging the charging port includes a process of unplugging the charging port, and the vehicle charging control method further includes: When the charging gun is pulled out of the charging port, collecting a second actual distance that the charging gun is pulled out of the charging port; Based on the second actual distance, the depth and the preset pull-out height, determine whether it is necessary to stop pulling out the charging gun, and stop charging the vehicle to be charged after the charging gun starts to be pulled out of the charging port, wherein the preset pull-out height is used to characterize the preset height between the charging port and the outside of the vehicle to be charged.

4. The vehicle charging control method according to claim 1, characterized in that: Before determining the force state of the charging gun during the process of plugging and unplugging the charging port after detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state, the vehicle charging control method further includes: Receiving an initial image of a charging port on a vehicle to be charged captured by a camera; Based on the initial image and a preset charging port feature recognition rule, determining position information of the charging port in the initial image; Determine the spatial position coordinates of the charging port in the three-dimensional space coordinate system based on the position information of the charging port in the initial image and a preset three-dimensional space coordinate system; Based on the spatial position coordinates, determining a target image of the charging port on the vehicle to be charged, wherein the target image is used to represent an image of the charging port captured by the camera based on the spatial position coordinates after the movement; Based on the target image and a preset charging port state recognition rule, it is determined whether the charging port is in an open state.

5. The vehicle charging control method according to claim 1, characterized in that: After detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state, and determining the force state of the charging gun during the process of plugging and unplugging the charging port, the vehicle charging control method further includes: If the vehicle to be charged moves, the posture of the charging gun is adjusted to the starting position, and the initial image of the charging port on the vehicle to be charged is reacquired.

6. The vehicle charging control method according to claim 2, characterized in that: After determining, according to the force state, whether a first change value of force or torque in any direction is greater than a first preset force change threshold, the vehicle charging control method further includes: If the first change value of the force or the torque in any direction is not greater than the first preset force change threshold, the vehicle to be charged starts to be charged after the charging gun stops being inserted into the charging port.

7. The vehicle charging control method according to claim 3, characterized in that: After determining, according to the force state, whether a first change value of force or torque in any direction is greater than a first preset force change threshold, the vehicle charging control method further includes: If the first change value of the force or the torque in any direction does not exceed the first preset force change threshold, charging of the vehicle to be charged is stopped after the charging gun starts to be pulled out of the charging port.

8. A vehicle charging control device, characterized in that: The vehicle charging control method device comprises: A first determination module is used to determine the force state of the charging gun during the process of plugging and unplugging the charging port when detecting that the charging port on the vehicle to be charged is in an open state and the vehicle to be charged is in a stopped state; A second determination module is used to determine whether a first change value of force or torque in any direction is greater than a first preset force change threshold value according to the force state; The third determination module is used to adjust the posture of the charging gun based on the first change value and the corresponding preset initial force value in the direction, wherein the preset initial force value is used to characterize the force value of the charging gun in the direction in the stopped state.

9. A vehicle charging device, characterized in that: The vehicle charging device is used to execute the vehicle charging control method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle charging control method as described in any one of claims 1 to 7 are executed.

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