Charging system control method and device for vehicle, equipment and medium

Abstract

The invention discloses a charging system control method and device for a vehicle, equipment and a medium, and relates to the technical field of vehicle-mounted interaction, and the method comprises the steps: receiving a charging reservation request sent by the vehicle, generating reserved parking space information, and sending the reserved parking space information to the vehicle, so as to enable the vehicle to receive the reserved vehicle information and then feed back the information, feedback information is received to confirm vehicle information, and when the vehicle information passes verification, a barrier gate is controlled to be opened; when the vehicle finishes parking and is in a static state, an instruction is sent to the vehicle to control a charging port of the vehicle to be opened, the position of the charging port of the vehicle is obtained, and a charging mechanical arm is controlled to execute an automatic charging process according to the position of the charging port of the vehicle; automatic management of the whole process from charging reservation to automatic parking, charging port opening, mechanical arm automatic charging and vehicle moving after charging is completed is achieved, charging convenience is improved, and operation complexity is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted interaction technology, and in particular to a charging system control method, device, equipment and medium for a vehicle. Background Art

[0002] With the widespread popularity of new energy vehicles, the charging experience has become the focus of more and more users. Users have an increasing demand for convenient, fast and intelligent charging. In the current new energy vehicle charging scenario, users often face the following challenges: difficulty in finding charging piles, difficulty in parking, needing to get out of the car to operate the bulky charging gun, manually start the charging pile for charging, etc. In addition, the occupation of the charging parking space after charging is completed also leads to a waste of resources.

[0003] Currently, the market adopts hardware structures, including hoisting brackets, hoisting mechanical arms, control cabinets, charging piles and parking spaces. Visual docking technology and hoisting mechanical arms are used to realize the plugging and unplugging of charging guns and return them to their original positions, thus improving the charging management capability and safety. However, this solution occupies a large area, is cumbersome to control, and only supports automatic plugging of guns, lacking linkage with the full automation of the vehicle.

[0004] The existing vehicle automated charging uses a hoisting robot arm that occupies a large area, has a cumbersome control process, and does not support linkage with the vehicle's full automation, limiting its application scope and convenience. Therefore, a more efficient vehicle charging control method is urgently needed to achieve a truly automated charging experience, reduce user operation complexity, and improve charging efficiency. Summary of the invention

[0005] The main purpose of the present application is to provide a method, device, equipment and medium for controlling a charging system for a vehicle, aiming to solve the technical problem of how to reduce the operational complexity of vehicle charging for users.

[0006] To achieve the above objectives, the present application proposes a charging system control method for a vehicle, the method comprising:

[0007] Receive charging reservation requests sent by vehicles and generate reserved parking space information;

[0008] Sending the reserved parking space information to the vehicle, so that the vehicle feeds back information after receiving the reserved vehicle information;

[0009] Receiving the feedback information to confirm vehicle information;

[0010] When the vehicle information is verified, the gate is controlled to open;

[0011] When the vehicle has completed parking and is in a stationary state, a command is sent to the vehicle to control the charging port of the vehicle to open;

[0012] The position of the vehicle charging port is obtained, and the charging robot arm is controlled to execute the automated charging process according to the position of the vehicle charging port.

[0013] In one embodiment, the step of obtaining the position of the vehicle charging port and controlling the charging robot arm to perform the automated charging process according to the position of the vehicle charging port includes:

[0014] Obtain theoretical absolute coordinate parameters of the vehicle charging port corresponding to the vehicle corresponding to the vehicle information;

[0015] Control the robotic arm to perform rough positioning and precise positioning of the vehicle, and obtain rough positioning parameters and precise positioning parameters;

[0016] Correcting the theoretical absolute coordinate parameters of the vehicle charging port based on the coarse positioning parameters and the precise positioning parameters to obtain the target coordinates;

[0017] The charging robot arm is controlled to move the charging gun to the target coordinate to realize the plug-and-grab charging operation.

[0018] In one embodiment, the step of controlling the mechanical arm to perform coarse positioning and precise positioning of the vehicle to obtain coarse positioning parameters and precise positioning parameters includes:

[0019] Perform a preliminary scan on the charging port of the vehicle to obtain coarse positioning parameters, wherein the coarse positioning parameters include the position and direction of the charging port of the vehicle;

[0020] Based on the coarse positioning parameters, the position of the charging robot arm is adjusted to a preset distance range directly above the vehicle charging port for precise positioning scanning to obtain precise positioning parameters, which include the detailed position coordinates and precise angle of the charging port.

[0021] In one embodiment, after the step of controlling the charging robot arm to move the charging gun to the target coordinates to implement the plug-and-grab charging operation, the step includes:

[0022] Monitor the charging process in real time to obtain the charging status;

[0023] When the charging state is complete, controlling the robotic arm to execute an automated gun drawing process;

[0024] Send an exit instruction to the vehicle, so that the vehicle drives to a temporary parking space.

[0025] In one embodiment, when the vehicle has completed parking and is in a stationary state, the step of sending a command to the vehicle to control the opening of the charging port of the vehicle and obtaining the position of the charging port of the vehicle includes:

[0026] Get vehicle speed, gear status and charging port status;

[0027] When the vehicle speed is a preset value and the gear state is the P gear, a charging port opening instruction is sent to the vehicle so that the vehicle performs an operation of opening the charging port and updates the charging port state to an open state.

[0028] In one embodiment, the step of obtaining the position of the vehicle charging port and controlling the charging robot arm to perform the automated charging process according to the position of the vehicle charging port includes:

[0029] Adjust the position and posture of the charging mechanical arm according to the position of the vehicle charging port to obtain the position of the charging mechanical arm;

[0030] When the charging mechanical arm is located directly above the vehicle charging port, the charging plug is controlled to be inserted into the vehicle charging port for charging.

[0031] In one embodiment, after the step of controlling the charging plug to be inserted into the vehicle charging port for charging, the method further includes:

[0032] Obtaining the charging gun torque and depth in real time;

[0033] The charging gun position is adjusted based on the charging gun torque and depth to perform a charging operation.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a charging system control device for a vehicle, the charging system control device for a vehicle comprising:

[0035] A receiving module, used to receive a charging reservation request sent by a vehicle and generate reserved parking space information;

[0036] A sending module, used for sending the reserved parking space information to the vehicle, so that the vehicle feeds back information after receiving the reserved vehicle information;

[0037] An identification module, used for receiving the feedback information to confirm vehicle information;

[0038] A verification module, used to control the gate to open when the vehicle information is verified;

[0039] The confirmation module is further used to send a command to the vehicle to control the opening of the charging port of the vehicle when the vehicle completes parking and is in a stationary state;

[0040] The execution module is used to obtain the position of the vehicle charging port and control the charging robot arm to execute the automated charging process according to the position of the vehicle charging port.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a medium, which is a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the charging system control method for a vehicle as described above are implemented.

[0042] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the charging system control method for a vehicle as described above are implemented.

[0043] The present application receives a charging reservation request sent by a vehicle, generates a reserved parking space information, and sends the reserved parking space information to the vehicle, so that the vehicle can feedback information after receiving the reserved vehicle information, and receives the feedback information to confirm the vehicle information. When the vehicle information verification is passed, the barrier gate is controlled to open; when the vehicle completes parking and is in a stationary state, a command is sent to the vehicle to control the opening of the vehicle's charging port, obtain the position of the vehicle's charging port, and control the charging robotic arm to execute an automated charging process according to the position of the vehicle's charging port, thereby realizing automated management of the entire process from charging reservation to automatic parking, opening of the charging port, automatic charging of the robotic arm, and moving the vehicle after charging is completed, thereby improving charging convenience and reducing operational complexity. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 This is a flow chart of a first embodiment of a method for controlling a charging system of a vehicle according to the present application;

[0046] Figure 2 This is a flow chart of a second embodiment of a charging system control method for a vehicle according to the present application;

[0047] Figure 3 This is a flow chart of a third embodiment of a method for controlling a charging system of a vehicle according to the present application;

[0048] Figure 4 A schematic diagram of the module structure of a charging system control device for a vehicle according to a first embodiment of a charging system control method for a vehicle of the present application;

[0049] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle charging system control method in the embodiment of the present application.

[0050] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0052] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0053] The main solution of the embodiment of the present application is: by receiving the charging reservation request sent by the vehicle and generating the reservation parking space information, the reservation parking space information is sent to the vehicle, so that the vehicle can feedback the information after receiving the reservation vehicle information, and the feedback information is received to confirm the vehicle information. When the vehicle information verification is passed, the barrier gate is controlled to open; when the vehicle completes parking and is in a stationary state, a command is sent to the vehicle to control the opening of the vehicle's charging port, the position of the vehicle's charging port is obtained, and the charging robot arm is controlled to execute the automated charging process according to the position of the vehicle's charging port.

[0054] Based on this, the present application embodiment provides a charging system control method for a vehicle, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a charging system control method for a vehicle of the present application. The method is applied to a charging system, which includes a gate, a mechanical arm for controlling a charging gun, and a charging system control device for a vehicle.

[0055] In this embodiment, the vehicle charging system control method includes steps S10 to S60:

[0056] Step S10, receiving a charging reservation request sent by a vehicle and generating reserved parking space information.

[0057] It should be noted that when the charging station platform receives a charging reservation request sent by a smart driving vehicle, the charging station platform will first parse the information in the request, including but not limited to the user's personal information, vehicle information (such as vehicle model, VIN code), desired charging time and location, etc. Subsequently, the charging station platform will intelligently select the most suitable target charging station based on the current real-time usage of each charging station and the needs provided by the user, and assign a specific reservation parking space to the user. In this process, the charging station platform will also take into account factors such as the geographical location of the charging station, the number of currently idle charging piles, and the type of charging pile (fast charging or slow charging) to ensure that the best charging service experience is provided to users.

[0058] Once the reserved parking space is confirmed, the charging station platform will generate detailed reserved parking space information, including the parking space number, specific location, estimated arrival time, etc., and push this information to the user's smart driving vehicle in real time through the cloud communication module. In addition, the charging station platform will also synchronously send the relevant information of the reserved parking space to the management system inside the charging station to prepare for the user's vehicle. For example, if the user's vehicle is about to arrive, the charging station platform can notify the gate system in advance to open, ensuring that the user's vehicle can enter the charging station smoothly.

[0059] Step S20, sending the reserved parking space information to the vehicle, so that the vehicle feeds back information after receiving the reserved vehicle information.

[0060] It should be noted that the charging station platform packages detailed parking reservation information into data packets and sends them to the user's smart driving vehicle through a secure data transmission protocol. This information usually includes the specific number of the reserved parking space, the location of the charging station, the estimated arrival time window, the type of charging pile (fast charging or standard charging), and any special instructions or precautions. In order to ensure the security of information, encryption technology will be used during the data transmission process to prevent the information from being intercepted or tampered with by a third party.

[0061] Once the vehicle receives the reserved parking space information, the vehicle's onboard system analyzes the data and displays it to the user, letting the user know about the upcoming schedule. At the same time, the vehicle automatically confirms the reservation information, including checking whether its own charging needs match the reservation information, confirming the distance between the vehicle's current location and the target charging station, etc. If everything is normal, the onboard system will send a confirmation message to the charging station platform, indicating that the vehicle is ready to go to the designated charging station according to the reservation plan.

[0062] Step S30, receiving feedback information to confirm vehicle information.

[0063] Step S40, when the vehicle information verification is passed, the gate is controlled to open.

[0064] It should be noted that after receiving the confirmation information sent back by the vehicle, the charging station platform will further verify the identity information of the vehicle. This step is very important because it ensures that only legally reserved vehicles can enter the charging station and use the reserved parking space. The verification process may include comparing the vehicle's VIN code (vehicle identification number), license plate number and other information to confirm the authenticity and legitimacy of the vehicle's identity. If the vehicle information is verified, the charging station platform will send an instruction to the gate control system at the entrance, instructing the gate to open at the scheduled time to allow the reserved vehicle to enter the charging station. In addition, the charging station platform will continue to monitor the driving status of the reserved vehicle to ensure that it can smoothly arrive at the designated reserved parking space. If any abnormal situation occurs during this process, such as the vehicle deviates from the scheduled route, the estimated arrival time is delayed, etc., the platform will promptly notify the user and provide corresponding help or suggestions based on the actual situation, such as re-planning the route or extending the reservation time window to ensure that the user can successfully complete the charging reservation.

[0065] Step S50, when the vehicle completes parking and is in a stationary state, a command is sent to the vehicle to control the opening of the charging port of the vehicle, and the position of the charging port of the vehicle is obtained.

[0066] It should be noted that when the user's smart driving vehicle successfully completes parking and is stationary, the charging station platform will immediately take a series of automated steps to ensure the smooth charging process.

[0067] Further, step S50 includes obtaining the vehicle speed, gear status and charging port status. First, the charging station platform detects the vehicle status information, including speed, gear status and brake status, through real-time communication with the vehicle, and confirms that the vehicle has completely stopped and is in the P gear (parking gear) state, indicating that the vehicle has been safely parked.

[0068] Furthermore, when the vehicle speed is a preset value and the gear state is P gear, a command to open the charging port is sent to the vehicle so that the vehicle performs the operation of opening the charging port and updates the charging port state to the open state. The charging station platform sends a control command to the vehicle through the wireless communication module, requiring the vehicle to automatically open the charging port cover. This command contains detailed information such as the time and method of opening the charging port cover to ensure the accuracy and safety of the operation. After the vehicle receives the command to open the charging port cover, the on-board control system will perform the corresponding operation and provide real-time feedback on the status of the charging port cover to the charging station platform to ensure that the platform can grasp the opening status of the charging port cover in a timely manner. After confirming that the charging port cover has been fully opened, the charging station platform will further obtain the specific location information of the vehicle charging port, which is usually achieved through a variety of sensors and technical means, such as a high-definition camera to capture the vehicle image and identify the location of the charging port through an image processing algorithm, a laser ranging sensor to measure the distance between the charging port and the charging robot arm, and provide high-precision positioning data, or by reading the RFID tag near the vehicle charging port to determine the location of the charging port.

[0069] Step S60, controlling the charging robot arm to execute the automated charging process according to the position of the vehicle charging port.

[0070] It should be noted that after obtaining the charging port location information, the charging station platform will perform data verification to ensure the accuracy and reliability of the information. Once the verification is passed, the platform will send the charging port location information to the charging robot arm system responsible for the gun insertion operation. After receiving the charging port location information, the charging robot arm system adjusts the position and posture of the robot arm according to these data to ensure that the robot arm can accurately insert the charging gun into the vehicle's charging port. The robot arm will continuously monitor in real time during the gun insertion process to ensure the safety and accuracy of the gun insertion action.

[0071] The present embodiment provides a method for controlling a charging system for a vehicle, by receiving a charging reservation request sent by the vehicle and generating reserved parking space information, and sending the reserved parking space information to the vehicle, so that the vehicle feedbacks information after receiving the reserved vehicle information, and the feedback information is received to confirm the vehicle information, and when the vehicle information verification is passed, the gate is controlled to open; when the vehicle completes parking and is in a stationary state, a command is sent to the vehicle to control the opening of the vehicle's charging port, obtain the position of the vehicle's charging port, and control the charging robot arm to execute an automated charging process according to the position of the vehicle's charging port, thereby realizing automated management of the entire process from charging reservation to automatic parking, opening of the charging port, automatic charging of the robot arm, and moving the vehicle after charging is completed, thereby improving charging convenience and reducing operational complexity.

[0072] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2The vehicle charging system control method step S60 further includes steps S601 to S604:

[0073] Step S601, obtaining theoretical absolute coordinate parameters of a vehicle charging port corresponding to the vehicle corresponding to the vehicle information.

[0074] It should be noted that when the charging station platform receives confirmation that the vehicle has completed parking and is stationary, it will immediately retrieve detailed information about the vehicle, including vehicle model, VIN code, etc., to ensure the accuracy of subsequent operations. Next, the charging station platform will obtain the theoretical absolute coordinate parameters of the charging port of the corresponding vehicle from the database based on the vehicle information. These parameters are pre-measured and stored when the vehicle leaves the factory, and contain the precise position information of the charging port in the vehicle coordinate system, such as X, Y, and Z coordinate values, as well as the direction and angle of the charging port. The charging station platform transmits these theoretical coordinate parameters to the charging robot arm system so that the robot arm can preliminarily adjust its position and posture based on these data, in preparation for subsequent precise gun insertion operations.

[0075] Step S602, controlling the robot arm to perform coarse positioning and precise positioning of the vehicle to obtain coarse positioning parameters and precise positioning parameters.

[0076] It should be noted that after the charging station platform obtains the theoretical absolute coordinate parameters of the vehicle's charging port, it will control the charging robotic arm to perform coarse and precise positioning of the vehicle to ensure that the charging gun can be accurately inserted into the charging port.

[0077] Furthermore, the charging port of the vehicle is preliminarily scanned to obtain coarse positioning parameters, which include the position and direction of the vehicle charging port. Specifically, the charging robot arm moves to a preliminary position above the vehicle charging port according to the theoretical coordinate parameters of the vehicle charging port for coarse positioning. At this stage, the robot arm uses the built-in visual detection camera to perform an initial scan and photograph of the vehicle charging port, calculates the approximate position and posture of the charging port through the image processing algorithm, and generates coarse positioning parameters.

[0078] Furthermore, based on the coarse positioning parameters, the position of the charging robot arm is adjusted to a preset distance range directly above the vehicle charging port for precise positioning scanning to obtain precise positioning parameters, which include the detailed position coordinates and precise angles of the charging port. Specifically, the robot arm adjusts its own position according to the coarse positioning parameters and approaches the charging port for precise positioning. In this process, the robot arm again uses the visual inspection camera to perform high-precision scanning and photographing of the charging port to obtain more detailed charging port location information and generate precise positioning parameters. Through the two steps of coarse positioning and precise positioning, the charging robot arm can accurately determine the position of the charging port to ensure the accuracy and safety of the gun insertion operation.

[0079] Step S603: Correct the theoretical absolute coordinate parameters of the vehicle charging port based on the coarse positioning parameters and the precise positioning parameters to obtain the target coordinates.

[0080] It should be noted that after the charging robot arm completes the coarse positioning and precise positioning of the vehicle charging port, it will correct the theoretical absolute coordinate parameters of the vehicle charging port based on the coarse positioning parameters and the precise positioning parameters to obtain the final target coordinates. Specifically, the robot arm will compare the coarse positioning parameters with the theoretical absolute coordinate parameters to identify the deviation between the two. Then, the robot arm adjusts its own position according to these deviations, moves closer to the charging port, and performs precise positioning. During the precise positioning process, the robot arm uses a high-precision visual inspection camera to scan the charging port again to obtain more detailed charging port location information and generate precise positioning parameters. The system combines the precise positioning parameters with the coarse positioning parameters, calculates the final deviation values ​​through an algorithm, and applies these deviation values ​​to the theoretical absolute coordinate parameters for correction. The final target coordinates can more accurately reflect the actual position of the charging port, ensure that the charging gun can be smoothly and safely inserted into the charging port, and improve the success rate and reliability of the gun insertion.

[0081] Step S604, control the charging robot arm to move the charging gun to the target coordinate to implement the plug-and-grab charging operation.

[0082] It should be noted that after the charging robot arm obtains the final target coordinates through rough positioning and precise positioning, the charging station platform will control the charging robot arm to move the charging gun precisely to the target coordinate position to realize the gun plug-in charging operation. First, the charging robot arm adjusts its own position and posture according to the target coordinate parameters to ensure that the axis of the charging gun is aligned with the axis of the vehicle charging port. During the movement, the robot arm will monitor the position and posture of the charging gun in real time to ensure that each operation is performed on the predetermined trajectory. When the charging gun approaches the charging port, the robot arm will slow down and make fine adjustments to ensure that the charging gun can be smoothly inserted into the charging port. During the gun insertion process, the robot arm will also monitor the gun insertion torque in real time to ensure that the gun insertion action is carried out within a safe range to avoid damage to the charging port or charging gun. Once the charging gun is successfully inserted into the charging port, the robot arm will continue to maintain a certain pressure to ensure the stability and reliability of the connection. Finally, after the charging station platform confirms that the gun is successfully inserted, it will start the charging circuit and start charging the vehicle.

[0083] Further, step S604 also includes: adjusting the position and posture of the charging mechanical arm according to the position of the vehicle charging port to obtain the position of the charging mechanical arm, and when the position of the charging mechanical arm is directly above the position of the vehicle charging port, controlling the charging plug gun to be inserted into the vehicle charging port for charging. Specifically, the servo motor carried by the charging mechanical arm responds immediately to accurately control the mechanical arm to move along the calculated path, while adjusting its posture to ensure that the charging gun can be perfectly docked with the vehicle charging port. During the movement, the sensor on the mechanical arm continuously feeds back position information and fine-tunes the path and posture of the mechanical arm to cope with any possible deviations. When the charging mechanical arm is precisely positioned directly above the vehicle charging port, the system will make a final confirmation to ensure that the alignment accuracy of the charging gun and the charging port meets the charging requirements. Once the position is confirmed to be correct, the charging mechanical arm slowly and steadily inserts the charging gun into the vehicle charging port to start the charging process. Furthermore, during the charging process, it also includes: obtaining the charging plug gun torque and depth in real time, adjusting the plug gun position based on the charging plug gun torque and depth, and performing the charging operation. Specifically, during the entire process of plugging in the charging gun, the torque sensor monitors the plugging force in real time to ensure that the operation is both accurate and gentle, avoiding any damage to the vehicle charging port. After charging begins, the charging robot arm continues to maintain the ability to fine-tune its position and posture to adapt to the slight movement of the vehicle during the charging process, ensuring the continued stability of the charging connection.

[0084] Furthermore, after step S604, it also includes: real-time monitoring of the charging process to obtain the charging status, and when the charging status is complete, controlling the robotic arm to execute the automated gun extraction process, and sending a command to the vehicle to drive out of the parking space, so that the vehicle drives to a temporary parking space. Specifically, when the charging robotic arm successfully inserts the charging gun into the vehicle's charging port and starts charging, the charging station platform will monitor the entire charging process in real time to ensure the normal and safe charging status. The charging station platform obtains key parameters such as charging current, voltage, and temperature through real-time communication with the charging pile and the vehicle, and monitors the charging progress and status. If any abnormal situation is found during the charging process, such as overheating, short circuit, or unstable current, the platform will immediately take measures to stop charging and issue an alarm to ensure charging safety.

[0085] In addition, when the charging status shows that charging is complete, the charging station platform will automatically trigger a series of automated processes. First, the platform will control the charging robot arm to perform the gun extraction operation. According to the preset program, the robot arm will slowly loosen the connection between the charging gun and the charging port and gradually pull it out. During this process, the robot arm will monitor the gun extraction torque in real time to ensure that the operation is smooth and does not cause damage to the charging port or charging gun. Once the charging gun is completely pulled out, the robot arm will safely return it to the designated position on the charging pile. Next, the charging station platform will send an exit instruction to the vehicle through the wireless communication module. After receiving the instruction, the vehicle will automatically start and drive to the temporary parking space according to the preset route. This process is also controlled by the intelligent driving system to ensure that the vehicle can safely and smoothly drive out of the charging parking space and park in the designated temporary parking space. Temporary parking spaces are usually located in or near the charging station, which is convenient for users to continue using the vehicle after charging is completed.

[0086] This embodiment obtains the theoretical absolute coordinate parameters of the vehicle charging port corresponding to the vehicle corresponding to the vehicle information; controls the mechanical arm to roughly and precisely locate the vehicle to obtain the rough positioning parameters and the precise positioning parameters; corrects the theoretical absolute coordinate parameters of the vehicle charging port based on the rough positioning parameters and the precise positioning parameters to obtain the target coordinates, and controls the charging mechanical arm to move the charging gun to the target coordinates to implement the plug-in charging operation. Through this series of automated processes, users do not need to manually operate the plug-in and unplugging of the charging gun, nor do they have to worry about the problem of the vehicle occupying the charging parking space after charging is completed, thereby making better use of charging station resources and improving overall operational efficiency.

[0087] Based on the above, the present application embodiment also provides a charging system control method for a vehicle, referring to Figure 3 , Figure 3 This is a flow chart of a third embodiment of a charging system control method for a vehicle according to the present application.

[0088] In this embodiment, the charging system control method for a vehicle includes steps S201 to S205, which are applied to the vehicle:

[0089] Step S201, obtaining a charging reservation request.

[0090] It should be noted that the user initiates a charging reservation request through the vehicle system or mobile phone APP. In the vehicle system, the user can select the "charging reservation" function and enter or select the desired charging time and charging station location. If through the mobile phone APP, the user can select the charging time and location in the APP, generate a charging reservation request, and then the vehicle system receives the above charging reservation request.

[0091] Step S202: Generate a driving route to a target charging station according to the charging reservation request.

[0092] It should be noted that after receiving the charging reservation request, it will be processed and the reserved parking space information will be generated. According to the current real-time usage of each charging station, the best target charging station will be intelligently selected for the user, and detailed driving navigation information will be generated. This information will be pushed to the user in real time through the vehicle system or mobile phone APP.

[0093] Step S203: Send a charging reservation request to the target charging station before arriving at the target charging station according to the driving route.

[0094] It should be noted that the vehicle system will calculate the reasonable distance between the vehicle and the target charging station based on the navigation route and estimated arrival time set by the user. Usually, when the vehicle is within a certain range (such as 5-10 kilometers) from the charging station, the instruction to send a charging reservation request is triggered. This is to ensure that the charging station has enough time to prepare, while also avoiding the waste of resources caused by sending requests too early.

[0095] The on-board system collects necessary information, including the vehicle's VIN code (vehicle identification number), current power, estimated charging time, vehicle location, etc., and packages this information into a charging reservation request. The request will also include the user's personal information (such as mobile phone number, account number) and specific charging requirements (such as fast charging or slow charging). Next, the on-board system sends the charging reservation request to the management system of the target charging station via a wireless network. After receiving the request, the charging station platform will immediately parse the key information and select a suitable charging parking space based on the current usage of the charging station. The platform will consider the type of charging pile (fast charging or slow charging), the idle state of the charging pile, and the needs of the user to allocate the best charging parking space for the user.

[0096] At the same time, after the charging station platform generates detailed information about the reserved parking space, it will be pushed to the user in real time through the vehicle system or mobile phone APP. This information includes the parking space number, specific location, estimated arrival time window, etc., to ensure that users can understand the charging arrangements in advance. At the same time, the charging station platform will synchronously send the relevant information of the reserved parking space to the management system of the charging station so that the charging station can prepare to welcome the user's vehicle, such as notifying the gate system in advance that it is ready to open. In order to ensure the validity and accuracy of the reservation, the charging station platform will also perform a series of verification work. The platform will check the user's vehicle information to ensure that it is consistent with the information submitted at the time of the reservation, and check the status of the reserved parking space to ensure that the parking space is still available when the user arrives. Only when all verifications are passed will the platform officially confirm the reservation and send the final confirmation information to the user's vehicle to guide the user's vehicle to arrive at the designated reserved parking space smoothly.

[0097] Step S204, receiving the reserved parking space information, and parking and charging are performed according to the reserved parking space information.

[0098] It should be noted that when the vehicle receives the reserved parking space information sent by the charging station platform, the on-board system will automatically parse this information, including the parking space number, specific location, estimated arrival time window, etc. The user can view and confirm this information through the on-board display to ensure the accuracy of the reserved parking space. The on-board system will automatically generate a navigation route based on the specific location of the reserved parking space to guide the vehicle to reach the target charging station smoothly. When the vehicle approaches the target charging station, the on-board system will communicate with the management system of the charging station in real time to confirm the parking space status. The charging station platform will notify the gate system to open, allowing the user's vehicle to enter the charging station. After the vehicle enters the charging station, the on-board system will continue to navigate and guide the vehicle to park accurately at the reserved parking space. When the vehicle successfully parks at the reserved parking space, the on-board system will automatically detect the status of the vehicle to ensure that the vehicle has completely stopped and is in the P gear (parking gear) state. At this time, the on-board system will send a confirmation message to the charging station platform, indicating that the vehicle is in place and ready to charge. At the same time, after receiving the confirmation message, the charging station platform sends information to the vehicle to control the charging port cover to open and obtain the specific location information of the vehicle charging port. The charging station platform will send the charging port location information to the charging robot arm system, and the robot arm will perform precise gun insertion operations based on this information. After the gun is successfully inserted, the charging station platform will start the charging circuit and start charging the vehicle.

[0099] Step S205, when the charging state is completed, receiving an exit instruction to drive to a temporary parking space.

[0100] It should be noted that when the charging station platform detects that the charging status is complete, it will automatically send an exit instruction to the user's smart driving vehicle. After receiving the instruction, the on-board system will immediately start and perform a series of preparatory operations to ensure that the vehicle can safely and smoothly exit the charging parking space. First, the on-board system will check the various states of the vehicle, including battery power, tire pressure, brake system, etc., to ensure that the vehicle is in good operating condition. At the same time, the on-board system will communicate with the charging station platform to confirm that the charging gun has been completely pulled out and returned to its position to avoid accidents during the exit process. After confirming that everything is normal, the on-board system will activate the automatic driving mode and guide the vehicle to exit the charging parking space smoothly according to the pre-stored navigation route. When the vehicle leaves the charging parking space, the on-board system will monitor the surrounding environment in real time, such as other vehicles, pedestrians and obstacles, to ensure driving safety. If any potential danger is detected, the system will immediately take avoidance measures or suspend driving until the danger is lifted. After exiting the charging parking space, the on-board system will guide the vehicle to the temporary parking space in the charging station. Temporary parking spaces are usually located inside or near charging stations, making it convenient for users to continue using the vehicle after charging is completed.

[0101] This embodiment obtains a charging reservation request, generates a driving route to the target charging station according to the charging reservation request, sends a charging reservation request to the target charging station according to the driving route before arriving at the target charging station, receives the reserved parking space information, and performs parking charging according to the reserved parking space information. When the charging state is completed, it receives the exit parking space instruction and drives to a temporary parking space. By realizing the automated management of the entire process from charging reservation to automatic parking, charging port opening, automatic charging of the robotic arm, and moving the vehicle after charging is completed, the charging efficiency and user experience are improved.

[0102] Based on the first and second embodiments of the present application, the present application also provides a charging system control device for a vehicle, which is applied to a charging station platform. Please refer to Figure 4 , the device comprises:

[0103] The receiving module 10 is used to receive a charging reservation request sent by a vehicle and generate reserved parking space information.

[0104] The sending module 20 is used to send the reserved parking space information to the vehicle, so that the vehicle feeds back the information after receiving the reserved vehicle information.

[0105] The identification module 30 is used to receive feedback information to confirm vehicle information.

[0106] The verification module 40 is used to control the gate to open when the vehicle information verification is passed.

[0107] The confirmation module 50 is further used to send a command to the vehicle to control the opening of the charging port of the vehicle when the vehicle completes parking and is in a stationary state.

[0108] The execution module 60 is used to obtain the position of the vehicle charging port and control the charging robot arm to execute the automated charging process according to the position of the vehicle charging port.

[0109] The charging system control device for a vehicle provided by the present application adopts the charging system control method for a vehicle in the above-mentioned embodiment, and can solve the technical problem of how to reduce the complexity of the user's operation of charging a vehicle. Compared with the prior art, the beneficial effects of the charging system control device for a vehicle provided by the present application are the same as the beneficial effects of the charging system control method for a vehicle provided by the above-mentioned embodiment, and the other technical features in the charging system control device for a vehicle are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0110] In one embodiment, the execution module 60 is also used to obtain the theoretical absolute coordinate parameters of the vehicle charging port corresponding to the vehicle corresponding to the vehicle information; control the robotic arm to perform coarse positioning and fine positioning of the vehicle to obtain coarse positioning parameters and fine positioning parameters; correct the theoretical absolute coordinate parameters of the vehicle charging port based on the coarse positioning parameters and fine positioning parameters to obtain the target coordinates; control the charging robotic arm to move the charging gun to the target coordinates to realize the plug-in charging operation.

[0111] In one embodiment, the execution module 60 is also used to perform a preliminary scan of the charging port of the vehicle to obtain coarse positioning parameters, which include the position and direction of the vehicle charging port; based on the coarse positioning parameters, the position of the charging robot arm is adjusted to a preset distance range directly above the vehicle charging port for precise positioning scanning to obtain precise positioning parameters, which include the detailed position coordinates and precise angle of the charging port.

[0112] In one embodiment, the execution module 60 is also used to monitor the charging process in real time to obtain the charging status; when the charging status is complete, control the robotic arm to execute the automatic gun drawing process; send an exit instruction to the vehicle, so that the vehicle drives to a temporary parking space.

[0113] In one embodiment, the confirmation module 50 is also used to obtain the vehicle speed, gear status and charging port status; when the vehicle speed is a preset value and the gear status is P gear, a charging port opening command is sent to the vehicle to enable the vehicle to execute the charging port opening operation and update the charging port status to the open state.

[0114] In one embodiment, the execution module 60 is also used to adjust the position and posture of the charging robot arm according to the position of the vehicle charging port to obtain the position of the charging robot arm; when the position of the charging robot arm is directly above the position of the vehicle charging port, the charging plug is controlled to be inserted into the vehicle charging port for charging.

[0115] In one embodiment, the execution module 60 is further used to obtain the charging gun insertion torque and depth in real time; adjust the insertion position of the charging gun based on the charging gun insertion torque and depth, and perform the charging operation.

[0116] The charging system control device for a vehicle provided by the present application adopts the charging system control method for a vehicle in the above-mentioned embodiment, and can solve the technical problem of how to reduce the complexity of the user's operation of charging a vehicle. Compared with the prior art, the beneficial effects of the charging system control device for a vehicle provided by the present application are the same as the beneficial effects of the charging system control method for a vehicle provided by the above-mentioned embodiment, and the other technical features in the charging system control device for a vehicle are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0117] The present application provides a charging system control device for a vehicle, the charging system control device for a vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the charging system control method for a vehicle in the above-mentioned embodiment 1.

[0118] Reference below Figure 5 , which shows a schematic diagram of the structure of a charging system control device for a vehicle suitable for implementing an embodiment of the present application. The charging system control device for a vehicle in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The charging system control device for a vehicle shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0119] like Figure 5As shown, the charging system control device for a vehicle may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the charging system control device for a vehicle are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the charging system control device for a vehicle to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a charging system control device for a vehicle with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0120] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0121] The charging system control device for a vehicle provided by the present application adopts the charging system control method for a vehicle in the above-mentioned embodiment, which can solve the technical problem of how to reduce the complexity of the user's operation of charging a vehicle. Compared with the prior art, the beneficial effects of the charging system control device for a vehicle provided by the present application are the same as the beneficial effects of the charging system control method for a vehicle provided by the above-mentioned embodiment, and the other technical features in the charging system control device for a vehicle are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0122] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0123] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0124] The present application provides a computer-readable medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the charging system control method for a vehicle in the above-mentioned embodiment.

[0125] The computer-readable medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0126] The computer-readable medium may be included in the charging system control device for a vehicle; or may exist independently without being assembled into the charging system control device for a vehicle.

[0127] The computer-readable medium carries one or more programs, and when the one or more programs are used for the charging system control device of the vehicle to execute, the charging system control device for the vehicle can be used to write computer program codes for performing the operations of the present application in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, through the Internet using an Internet service provider).

[0128] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0129] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0130] The readable medium provided in the present application is a computer-readable medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for controlling the charging system of a vehicle, and can solve the technical problem of how to reduce the complexity of the user's operation for charging the vehicle. Compared with the prior art, the beneficial effects of the computer-readable medium provided in the present application are the same as the beneficial effects of the method for controlling the charging system of a vehicle provided in the above-mentioned embodiment, and will not be repeated here.

[0131] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned charging system control method for a vehicle when the computer program is executed by a processor.

[0132] The computer program product provided by the present application can solve the technical problem of how to reduce the complexity of the user's operation of charging a vehicle. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the charging system control method for a vehicle provided by the above embodiment, which will not be repeated here.

[0133] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for controlling a charging system for a vehicle, characterized in that: The method comprises: Receive charging reservation requests sent by vehicles and generate reserved parking space information; Sending the reserved parking space information to the vehicle, so that the vehicle feeds back information after receiving the reserved vehicle information; Receiving the feedback information to confirm vehicle information; When the vehicle information is verified, the gate is controlled to open; When the vehicle has completed parking and is in a stationary state, a command is sent to the vehicle to control the charging port of the vehicle to open; The position of the vehicle charging port is obtained, and the charging robot arm is controlled to execute the automated charging process according to the position of the vehicle charging port.

2. The method according to claim 1, characterized in that The step of obtaining the position of the vehicle charging port and controlling the charging mechanical arm to execute the automated charging process according to the position of the vehicle charging port includes: Obtain theoretical absolute coordinate parameters of the vehicle charging port corresponding to the vehicle corresponding to the vehicle information; Control the robotic arm to perform rough positioning and precise positioning of the vehicle, and obtain rough positioning parameters and precise positioning parameters; Correcting the theoretical absolute coordinate parameters of the vehicle charging port based on the coarse positioning parameters and the precise positioning parameters to obtain the target coordinates; The charging robot arm is controlled to move the charging gun to the target coordinate to realize the plug-and-grab charging operation.

3. The method according to claim 2, characterized in that The step of controlling the mechanical arm to perform rough positioning and precise positioning of the vehicle to obtain rough positioning parameters and precise positioning parameters includes: Perform a preliminary scan on the charging port of the vehicle to obtain coarse positioning parameters, wherein the coarse positioning parameters include the position and direction of the charging port of the vehicle; Based on the coarse positioning parameters, the position of the charging robot arm is adjusted to a preset distance range directly above the vehicle charging port for precise positioning scanning to obtain precise positioning parameters, which include the detailed position coordinates and precise angle of the charging port.

4. The method according to claim 2, characterized in that After the step of obtaining the position of the vehicle charging port and controlling the charging mechanical arm to move the charging gun to the target coordinates to implement the plug-and-grab charging operation, the method includes: Monitor the charging process in real time to obtain the charging status; When the charging state is complete, controlling the robotic arm to execute an automated gun drawing process; Send an exit instruction to the vehicle, so that the vehicle drives to a temporary parking space.

5. The method according to claim 1, characterized in that The step of sending a command to the vehicle to control the opening of the charging port of the vehicle when the vehicle has completed parking and is in a stationary state includes: Get vehicle speed, gear status and charging port status; When the vehicle speed is a preset value and the gear state is the P gear, a charging port opening instruction is sent to the vehicle so that the vehicle performs an operation of opening the charging port and updates the charging port state to an open state.

6. The method according to claim 1, characterized in that The step of obtaining the position of the vehicle charging port and controlling the charging mechanical arm to execute the automated charging process according to the position of the vehicle charging port includes: Adjust the position and posture of the charging mechanical arm according to the position of the vehicle charging port to obtain the position of the charging mechanical arm; When the charging mechanical arm is located directly above the vehicle charging port, the charging plug is controlled to be inserted into the vehicle charging port for charging.

7. The method according to claim 6, characterized in that After the step of controlling the charging plug to be inserted into the vehicle charging port for charging, the method further includes: Obtaining the charging gun torque and depth in real time; The charging gun position is adjusted based on the charging gun torque and depth to perform a charging operation.

8. A charging system control device for a vehicle, characterized in that: The device comprises: A receiving module, used to receive a charging reservation request sent by a vehicle and generate reserved parking space information; A sending module, used for sending the reserved parking space information to the vehicle, so that the vehicle feeds back information after receiving the reserved vehicle information; An identification module, used for receiving the feedback information to confirm vehicle information; A verification module, used to control the gate to open when the vehicle information is verified; The confirmation module is further used to send a command to the vehicle to control the opening of the charging port of the vehicle when the vehicle completes parking and is in a stationary state; The execution module is used to obtain the position of the vehicle charging port and control the charging robot arm to execute the automated charging process according to the position of the vehicle charging port.

9. A charging system control device for a vehicle, characterized in that: The device includes: a memory, a processor, and a charging system control program for a vehicle stored in the memory and running on the processor, wherein the charging system control program for the vehicle is configured to implement the steps of the charging system control method for a vehicle as described in any one of claims 1-7.

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

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