Vehicle charging method, vehicle charging device and vehicle charging system

Abstract

The invention provides a vehicle charging method, a vehicle charging device and a vehicle charging system. The method is applied to a charging cloud platform. The vehicle charging method comprises the steps of determining a target charging gun of a target vehicle under the condition that the target vehicle is determined to be automatically charged; an automatic charging instruction is sent to a mechanical arm cloud platform, so that the mechanical arm cloud platform controls a mechanical arm to move to connect a target charging gun with a charging port of the target vehicle; wherein the automatic charging instruction comprises an identifier of a target charging gun; in response to a feedback instruction of the mechanical arm cloud platform, a charging pile corresponding to the target charging gun is controlled to be started, so that the target charging gun charges the target vehicle; wherein the feedback instruction is used for indicating that the target charging gun is connected with the charging port of the target vehicle. According to the method, the data transmission quantity of the charging cloud platform can be reduced in the vehicle charging process.

Description

Technical Field

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

[0002] With the popularization of automobiles, more and more users regard vehicles as an essential means of transportation, and the way to charge new energy vehicles has also become a hot topic among users.

[0003] At present, the charging cloud platform needs to obtain information sent by the charging device and the user during the process of controlling vehicle charging, and process the information sent by the charging device and the user. In this process, the amount of data transmission is large, and errors are prone to occur, resulting in charging termination. Therefore, how to reduce the amount of data transmission of the charging cloud platform during the vehicle charging process has become an urgent problem to be solved. Summary of the invention

[0004] The present application provides a vehicle charging method, a vehicle charging device and a vehicle charging system. The method can reduce the amount of data transmission on a charging cloud platform during the vehicle charging process.

[0005] In a first aspect, a vehicle charging method is provided, the method being applied to a charging cloud platform, the method comprising:

[0006] In the case of determining to automatically charge the target vehicle, determining a target charging gun for the target vehicle;

[0007] Sending an automatic charging instruction to the robotic arm cloud platform so that the robotic arm cloud platform controls the robotic arm to move and connect the target charging gun to the charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun;

[0008] In response to the feedback instruction of the robotic arm cloud platform, the charging pile corresponding to the target charging gun is controlled to start so that the target charging gun charges the target vehicle; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

[0009] The above technical scheme, when determining to automatically charge the target vehicle, determines the target charging gun of the target vehicle, and sends an automatic charging instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle, and the automatic charging instruction includes the identification of the target charging gun; in response to the feedback instruction of the robotic arm cloud platform, controls the charging pile corresponding to the target charging gun to start, so that the target charging gun charges the target vehicle, and the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle; compared with the prior art in which the charging cloud platform is directly connected to the charging device during vehicle charging, and the instructions are directly sent to the directly connected device through the charging cloud platform, in this scheme, the charging cloud platform and the robotic arm cloud platform transmit data to automatically charge the target vehicle, and part of the charging data is processed by the robotic arm cloud platform, and there is no need to transmit this part of the charging data to the charging cloud platform, thereby reducing the data transmission volume of the charging cloud platform and improving the data processing efficiency of the charging cloud platform.

[0010] In combination with the first aspect, in some possible implementations, the method further includes: acquiring identification information of the target vehicle and / or target parking space information; wherein the target parking space information is used to indicate the parking space information where the target vehicle is located;

[0011] Based on the identification information of the target vehicle and / or the target parking space information, it is determined whether to automatically charge the target vehicle.

[0012] The above technical solution determines whether to automatically charge the target vehicle through the identification information of the target vehicle and / or the target parking space information, thereby eliminating the need for the user to perform relevant operations. The charging cloud platform can determine whether to automatically charge the target vehicle based on the identification information of the target vehicle and / or the target parking space information, thereby reducing the user's operations during the vehicle charging process and improving the convenience of vehicle charging.

[0013] In combination with the first aspect and the above implementations, in some possible implementations, the method further includes: obtaining a charging whitelist;

[0014] The determining whether to automatically charge the target vehicle based on the identification information of the target vehicle and / or the target parking space information includes:

[0015] Determining whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist; or,

[0016] Based on the identification information of the target vehicle, the target parking space information and the charging whitelist, it is determined whether to automatically charge the target vehicle.

[0017] The above technical solution determines whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist; or determines whether to automatically charge the target vehicle based on the identification information of the target vehicle, the target parking space information and the charging whitelist; determines whether to automatically charge the target vehicle through multi-dimensional data related to the target vehicle, which can improve the accuracy of determining whether to automatically charge the target vehicle while reducing the user's operations during the vehicle charging process.

[0018] In combination with the first aspect and the above implementations, in some possible implementations,

[0019] The determining whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist includes:

[0020] Based on the identification information of the target vehicle, determining the charging mode configuration information of the target vehicle; wherein the charging mode configuration information includes an automatic charging mode and / or a manual charging mode;

[0021] If the charging mode configuration information includes the automatic charging mode, and the charging whitelist includes the identification information of the target vehicle, determining to automatically charge the target vehicle;

[0022] If the charging mode configuration information does not include the automatic charging mode, and / or the charging whitelist does not include the identification information of the target vehicle, it is determined not to automatically charge the target vehicle.

[0023] According to the above technical solution, if the charging mode configuration information includes the automatic charging mode and the charging whitelist includes the identification information of the target vehicle, it is determined that the target vehicle is automatically charged; if the charging whitelist does not include the identification information of the target vehicle, and / or the charging mode configuration information does not include the automatic charging mode, it is determined that the target vehicle is not automatically charged; thus, only when the charging mode configuration information includes the automatic charging mode and the charging whitelist includes the identification information of the target vehicle, it is determined that the target vehicle is automatically charged, which can ensure the accuracy of the automatic charging of the target vehicle, thereby improving the user experience.

[0024] In combination with the first aspect and the above implementations, in some possible implementations,

[0025] The determining whether to automatically charge the target vehicle based on the identification information of the target vehicle, the target parking space information and the charging whitelist includes:

[0026] If the target parking space information is an automatic charging parking space, and the charging whitelist includes the identification information of the target vehicle, determining to automatically charge the target vehicle;

[0027] If the charging whitelist does not include the identification information of the target vehicle, and / or the target parking space information is not the automatic charging parking space, it is determined not to automatically charge the target vehicle.

[0028] According to the above technical solution, if the target parking space information is an automatic charging parking space and the charging whitelist includes the identification information of the target vehicle, it is determined that the target vehicle is automatically charged; if the charging whitelist does not include the identification information of the target vehicle, and / or the target parking space information is not an automatic charging parking space, it is determined that the target vehicle is not automatically charged; thereby determining the user's current intention through the target parking space information where the target vehicle is located, and combining the user's current intention with the charging authorization conditions of the target vehicle to determine that the target vehicle is automatically charged, and thus no user intervention is required, thereby ensuring the accuracy of determining that the target vehicle is automatically charged.

[0029] In combination with the first aspect and the above implementation manner, in some possible implementation manners, determining a target charging gun of the target vehicle includes:

[0030] Based on the target parking space information where the target vehicle is located, determining a charging gun corresponding to the target parking space;

[0031] The charging gun corresponding to the target parking space is used as the target charging gun.

[0032] The above technical solution determines the charging gun corresponding to the target parking space through the target parking space information, and uses the charging gun corresponding to the target parking space as the target charging gun; since the parking space is equipped with a corresponding charging gun, the target charging gun corresponding to the target vehicle can be determined through the target parking space information, thereby ensuring the accuracy of determining the target charging gun.

[0033] In a second aspect, a vehicle charging method is provided, the method being applied to a robotic arm cloud platform, the method comprising:

[0034] In response to an automatic charging instruction from a charging cloud platform, the robot arm is controlled to move to connect the target charging gun to the charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun;

[0035] A feedback instruction is sent to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start, and charges the target vehicle through the target charging gun; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

[0036] The above technical solution responds to the automatic charging instruction of the charging cloud platform, controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle, and the automatic charging instruction includes the identification of the target charging gun; and sends a feedback instruction to the charging cloud platform to enable the charging cloud platform to control the charging pile corresponding to the target charging gun to start, and charge the target vehicle through the target charging gun, and the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle; the target vehicle is charged by transmitting data between the charging cloud platform and the robotic arm cloud platform, so that part of the charging data is processed by the robotic arm cloud platform, and there is no need to transmit this part of the charging data to the charging cloud platform. Compared with sending instructions to directly connected devices through the charging cloud platform, the present application can reduce the amount of data transmission, thereby improving the processing efficiency of charging data.

[0037] In combination with the second aspect, in some possible implementations, controlling the mechanical arm to move and connect the target charging gun to the charging port of the target vehicle includes:

[0038] Determining a target position of a charging port of the target vehicle;

[0039] Based on the target position of the charging port, the robot arm is controlled to move to connect the target charging gun with the charging port of the target vehicle.

[0040] The above technical solution controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle through the target position of the charging port of the target vehicle; it can ensure the accuracy of the connection between the target charging gun and the charging port of the target vehicle.

[0041] In combination with the second aspect and the above implementations, in some possible implementations, determining the target position of the charging port of the target vehicle includes:

[0042] Acquire a target image of the target vehicle in a parking state and a target model of the target vehicle;

[0043] Based on the target image or the target vehicle model, a target position of the charging port is determined.

[0044] The above technical solution determines the target position of the charging port through the target image of the target vehicle in the parking state or the target model of the target vehicle; thereby, when the same model exists, the target position of the charging port of the target vehicle is directly determined, which can improve the efficiency of determining the target position of the charging port.

[0045] In combination with the second aspect and the above implementation manner, in some possible implementation manners, determining the target position of the charging port based on the target image or the target vehicle model includes:

[0046] If the target vehicle model exists in the preset position relationship, determine the target position of the charging port; wherein the preset position relationship is used to indicate the corresponding relationship between the vehicle model and the position of the charging port;

[0047] If the target vehicle type does not exist in the preset position relationship, the target image is identified to obtain the target position of the charging port.

[0048] In the above technical scheme, if the target vehicle model exists in the preset position relationship, the target position of the charging port is determined, and the preset position relationship indicates the correspondence between the vehicle model and the position of the charging port. If the target vehicle model does not exist in the preset position relationship, the target image is identified to obtain the target position of the charging port. On the one hand, if the target vehicle model exists in the preset position relationship, the target position of the charging port of the target vehicle can be directly determined through the target vehicle model and the preset position relationship, which can improve the efficiency of determining the target position of the charging port of the target vehicle. On the other hand, if the target vehicle model does not exist in the preset position relationship, the target position of the charging port of the target vehicle can be determined by identifying the target image regardless of whether the target vehicle model exists in the preset position relationship, thereby determining the accuracy of the target position of the charging port.

[0049] In a third aspect, a vehicle charging device is provided, wherein the device is configured on a charging cloud platform; the device comprises:

[0050] A determination module, used to determine a target charging gun of the target vehicle when it is determined that the target vehicle is to be automatically charged;

[0051] A transmission module, used for sending an automatic charging instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the robotic arm to move and connect the target charging gun to the charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun;

[0052] A control module is used to respond to the feedback instruction of the robotic arm cloud platform to control the charging pile corresponding to the target charging gun to start, so that the target charging gun can charge the target vehicle; wherein, the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

[0053] In a fourth aspect, a vehicle charging device is provided, wherein the device is configured on a robotic arm platform; the device comprises:

[0054] A control module, in response to an automatic charging instruction of a charging cloud platform, controls the mechanical arm to move and connect the target charging gun to the charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun;

[0055] A transmission module is used to send a feedback instruction to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start and charge the target vehicle through the target charging gun; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

[0056] In a fifth aspect, a vehicle prompt system is provided, including a charging cloud platform and a robotic arm cloud platform;

[0057] Wherein, the charging cloud platform is used to execute the vehicle charging method in the above-mentioned first aspect or any possible implementation manner of the first aspect;

[0058] The robotic arm cloud platform is used to execute the vehicle charging method in the above-mentioned second aspect or any possible implementation of the second aspect.

[0059] In a sixth aspect, a vehicle charging device is provided, comprising a memory and a processor, the memory being used to store executable program code; the processor being used to call and run the executable program code from the memory, so that the vehicle charging device executes the vehicle charging method in the above-mentioned first aspect or any possible implementation of the first aspect, or executes the vehicle charging method in the above-mentioned second aspect or any possible implementation of the second aspect.

[0060] In the seventh aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle charging method in the above-mentioned first aspect or any possible implementation of the first aspect, or executes the vehicle charging method in the above-mentioned second aspect or any possible implementation of the second aspect.

[0061] In an eighth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle charging method of the first aspect or any possible implementation of the first aspect, or to execute the vehicle charging method of the second aspect or any possible implementation of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 is a schematic diagram of a scenario of a vehicle charging method provided in an embodiment of the present application;

[0063] Figure 2 It is a schematic diagram of a framework of a vehicle charging method provided in an embodiment of the present application;

[0064] Figure 3 is a schematic flow chart of a vehicle charging method provided in an embodiment of the present application;

[0065] Figure 4 is a schematic flow chart of another vehicle charging method provided in an embodiment of the present application;

[0066] Figure 5 is a schematic flow chart of another vehicle charging method provided in an embodiment of the present application;

[0067] Figure 6 is a schematic flow chart of controlling a robotic arm provided in an embodiment of the present application;

[0068] Figure 7 is an interactive flow chart of a vehicle charging method provided in an embodiment of the present application;

[0069] Figure 8 is a structural schematic diagram of a vehicle charging device provided in an embodiment of the present application;

[0070] Fig. 9 is a structural schematic diagram of another vehicle charging device provided in an embodiment of the present application;

[0071] Fig.10 It is a structural schematic diagram of a vehicle charging device provided in an embodiment of the present application;

[0072] Fig.11 It is a structural schematic diagram of another vehicle charging device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0074] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0075] It should be noted that the charging cloud platform needs to obtain information sent by the charging device and the user during the process of controlling vehicle charging, and process the information sent by the charging device and the user. During this process, the amount of data transmission is large, and errors are prone to occur, resulting in charging termination. In view of this, the present application provides a vehicle charging method, a vehicle charging device, and a vehicle charging system, which can reduce the amount of data transmission of the charging cloud platform during the vehicle charging process.

[0076] Figure 1 It is a scenario schematic diagram of a vehicle charging method provided in an embodiment of the present application.

[0077] For example, Figure 1 As shown, when it is determined that the target vehicle 100 is parked in the target parking space 110 (parking space 1), the identification information (such as the license plate number) of the target vehicle 100 is obtained; based on the identification information of the target vehicle 100, the charging mode configuration information of the target vehicle 100 is determined, the charging mode configuration information of the target vehicle 100 includes an automatic charging mode, and the charging whitelist includes the identification information of the target vehicle 100, and it is determined that the target vehicle 100 is automatically charged.

[0078] When it is determined that the target vehicle 100 is to be automatically charged, the charging gun corresponding to the target parking space 110 is determined through the target parking space information of the target vehicle 100, and the charging gun corresponding to the target parking space 110 is used as the target charging gun 130 of the target vehicle 100, and the target position of the charging port of the target vehicle 100 is determined, and the robot arm 140 is controlled by the robot arm cloud platform to move to connect the target charging gun 130 with the charging port of the target vehicle 100.

[0079] After receiving the feedback instruction sent by the robotic arm cloud platform, the charging cloud platform instructs the target charging gun 130 to complete the connection with the charging port of the target vehicle 100, and controls the charging pile 120 corresponding to the target charging gun 130 to start, so that the target charging gun 130 can charge the target vehicle 100.

[0080] Furthermore, when it is determined that charging of the target vehicle 100 is completed, a stop charging instruction is sent to the charging pile 130 corresponding to the target charging gun 130, and in response to the confirmation instruction of the charging pile 130, a charging end instruction is sent to the robotic arm cloud platform, so that the robotic arm cloud platform controls the robotic arm 140 to move the target charging gun 130 to disconnect from the charging port of the target vehicle 100.

[0081] In the above technical solution, the charging cloud platform and the robotic arm cloud platform transmit data to automatically charge the target vehicle, and part of the charging data is processed by the robotic arm cloud platform, and there is no need to transmit this part of the charging data to the charging cloud platform, thereby reducing the data transmission volume of the charging cloud platform and improving the data processing efficiency of the charging cloud platform.

[0082] It should be noted that the charging cloud platform (charging server) belongs to the integrated control center, which transmits data with the robotic arm cloud platform and the auxiliary parts cloud platform, and interacts with the target terminal through the charging cloud platform, thereby realizing automatic charging of the target vehicle.

[0083] The robotic arm cloud platform is used to manage the robotic arm, and the robotic arm cloud platform and the charging cloud platform exchange data through the "cloud-to-cloud protocol" to achieve interconnection between the robotic arm cloud platform and the charging cloud platform, thereby sending relevant signals of the robotic arm to the charging cloud platform and receiving control instructions from the charging cloud platform to control the robotic arm to connect the charging gun to the charging port of the vehicle.

[0084] The auxiliary cloud platform is used to manage auxiliary equipment such as target cameras and ground locks, and the auxiliary cloud platform and the charging cloud platform exchange data through the "cloud-to-cloud protocol" to achieve interconnection between the auxiliary cloud platform and the charging cloud platform, thereby sending relevant signals of the auxiliary equipment to the charging cloud platform and receiving control instructions from the charging cloud platform.

[0085] The robotic arm is used to connect the charging gun to the charging port of the vehicle. The robotic arm has multiple joints, can rotate 360 ​​degrees, and can perform posture adjustment, path planning, etc. The robotic arm is equipped with a camera, and can identify the location of the charging gun, charging port cover, charging port, etc. through image recognition algorithms.

[0086] The target camera is used to acquire vehicle images, identify the vehicle images, and determine the vehicle information. The vehicle information may include the vehicle identification information (license plate number, VIN code), the vehicle parking space information, the parking space status, etc.

[0087] The charging pile is used to indicate an AC charging pile or a DC charging pile. The charging pile transmits data with the charging cloud platform and receives control instructions from the charging cloud platform. The ground lock is connected to the auxiliary cloud platform and can send unlocking (lowering lock) instructions and locking (raising lock) instructions through the auxiliary cloud platform to control the lifting and lowering of the ground lock.

[0088] Figure 2 It is a schematic diagram of a framework of a vehicle charging method provided in an embodiment of the present application.

[0089] For example, Figure 2As shown, data is transmitted through the charging cloud platform, the robotic arm cloud platform and the auxiliary parts cloud platform, thereby charging the vehicle 1 (target vehicle).

[0090] Exemplarily, the target camera captures a vehicle image of vehicle 1 and determines the area where vehicle 1 is located based on the vehicle image. When vehicle 1 is located in the preset area of ​​parking space 1, a parking instruction for vehicle 1 is sent to the auxiliary cloud platform, and the auxiliary cloud platform controls the ground lock 1 to unlock (lower the lock) so that vehicle 1 can be parked in parking space 1.

[0091] When vehicle 1 is parked in the target parking space (parking space 1), the identification information of vehicle 1 is sent to the charging cloud platform through the auxiliary cloud platform. The identification information may include the license plate number, VIN code, etc.; and the target parking space information is sent to the charging cloud platform through the auxiliary cloud platform. The target parking space information is used to indicate the parking space information where vehicle 1 is located, for example, the parking space number of parking space 1. The charging configuration information of vehicle 1 is determined through the identification information of vehicle 1. The charging configuration information includes the automatic charging mode and / or the manual charging mode; when the charging configuration information of vehicle 1 includes the automatic charging mode, it is determined whether the identification information of vehicle 1 is included in the charging whitelist. If the identification information of vehicle 1 is included in the charging whitelist, it is determined that vehicle 1 is automatically charged.

[0092] Furthermore, when it is determined that vehicle 1 is to be automatically charged, based on the information of parking space 1 where vehicle 1 is located, the charging gun corresponding to parking space 1 is determined to be charging gun 1, and the target position of the charging port of vehicle 1, based on the target position of the charging port of vehicle 1, the movement of the robotic arm is controlled and the charging gun 1 is connected to the charging port of vehicle 1 through the gripper of the robotic arm. After controlling the connection between the charging gun 1 and the charging port of vehicle 1, the robotic arm cloud platform sends a feedback instruction to the charging cloud platform, and controls the charging pile 1 corresponding to the charging gun 1 to start, so that the charging gun 1 charges vehicle 1.

[0093] In addition, when the charging pile and the robotic arm are communicatively connected, if the robotic arm does not receive the first control instruction sent by the charging cloud platform, the charging cloud platform can send the first control instruction to the charging pile, and send the first control instruction to the robotic arm through the charging pile; or, if the charging pile does not receive the second control instruction sent by the charging cloud platform, the charging cloud platform can send the second control instruction to the robotic arm cloud platform, and the robotic arm cloud platform transmits the second control instruction to the robotic arm, so as to send the second control instruction to the charging pile through the robotic arm, thereby ensuring the reliability of charging data transmission.

[0094] Exemplarily, the feedback instruction instructs the target charging gun to complete the connection with the charging port of the target vehicle.

[0095] Exemplarily, based on the information of parking space 1 where vehicle 1 is located, the charging gun corresponding to parking space 1 is determined. Specifically, the charging cloud platform stores the correspondence between parking spaces and charging guns, and when the parking space is determined, the charging gun corresponding to the parking space can be determined.

[0096] The above technical solution determines that the target vehicle is automatically charged when the charging mode configuration information includes the automatic charging mode and the charging whitelist includes the identification information of the target vehicle; the accuracy of determining whether to automatically charge the target vehicle can be improved through the charging mode configuration information and the multi-dimensional data of the charging whitelist. Furthermore, when it is determined that the target vehicle is automatically charged, the target vehicle is automatically charged through data transmission between the charging cloud platform and the robotic arm cloud platform, and part of the charging data is processed by the robotic arm cloud platform, without the need to transmit the part of the charging data to the charging cloud platform, thereby reducing the data transmission volume of the charging cloud platform and improving the data processing efficiency of the charging cloud platform.

[0097] Figure 3 It is a schematic flow chart of a vehicle charging method provided in an embodiment of the present application.

[0098] For example, Figure 3 The method shown can be executed by a charging cloud platform.

[0099] For example, Figure 3 As shown, the method 300 includes the following processes:

[0100] S310: When it is determined that the target vehicle is to be automatically charged, a target charging gun of the target vehicle is determined.

[0101] It should be noted that the automatic charging instruction for the target vehicle does not require user intervention (user operation). The charging cloud platform can determine whether to automatically charge the target vehicle based on the information of the target vehicle. When it is determined that the target vehicle is to be automatically charged, data is transmitted between the charging cloud platform and the robotic arm cloud platform, thereby enabling the target vehicle to be charged without the user's perception.

[0102] Exemplarily, when it is determined that the target vehicle is to be automatically charged, the target charging gun of the target vehicle is determined, and an automatic charging instruction is sent to the robotic arm cloud platform. Since the automatic charging instruction includes the identification of the target charging gun, after receiving the automatic charging instruction, the robotic arm cloud platform can control the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle, thereby charging the target vehicle.

[0103] In one example, the identification information of the target vehicle is used to determine whether to automatically charge the target vehicle. Specifically, the identification information of the target vehicle is obtained, and the information of the target vehicle is used to determine whether to automatically charge the target vehicle, and then when it is determined that the target vehicle is automatically charged, the target charging gun of the target vehicle is determined.

[0104] The above technical solution determines whether to automatically charge the target vehicle through the identification information of the target vehicle, thereby eliminating the need for the user to perform relevant operations. The charging cloud platform can determine whether the target vehicle needs to be automatically charged based on the identification information of the target vehicle, which can reduce the user's operations during the vehicle charging process and improve the convenience of vehicle charging.

[0105] Optionally, the information of the target vehicle may be determined based on actual conditions, which is not specifically limited here.

[0106] Optionally, the identification information of the target vehicle may be a license plate number of the target vehicle, or may be a vehicle identification number (VIN) of the target vehicle.

[0107] In another example, the target parking space information of the target vehicle is obtained, and whether to automatically charge the target vehicle is determined based on the target parking space information. That is, if the target parking space information indicates that the parking space is an automatic charging space, then when it is determined that the target vehicle is automatically charged, the target charging gun of the target vehicle is determined.

[0108] In yet another example, identification information of a target vehicle and target parking space information are obtained; and based on the identification information of the target vehicle and the target parking space information, it is determined whether to automatically charge the target vehicle.

[0109] The above technical solution determines whether to automatically charge the target vehicle through the identification information of the target vehicle and / or the target parking space information, thereby eliminating the need for the user to perform relevant operations. The charging cloud platform can determine whether to automatically charge the target vehicle based on the identification information of the target vehicle and / or the target parking space information, thereby reducing the user's operations during the vehicle charging process and improving the convenience of vehicle charging.

[0110] Exemplarily, when the target vehicle is parked in the target parking space, a vehicle image of the target vehicle is acquired through the target camera, the vehicle image includes the area where the target vehicle is located, and the vehicle image is identified to determine whether the target vehicle is parked in the target parking space; if the target vehicle is not parked in the target parking space, continue to execute the step of acquiring the vehicle image of the target vehicle; if the target vehicle is parked in the target parking space, a parking instruction is sent to the charging cloud platform, and the parking instruction includes the information of the target parking space, so that when the target vehicle is parked in the target parking space, the identification information of the target vehicle is acquired.

[0111] Optionally, the charging cloud platform receives a parking instruction sent by a target camera; or, the charging cloud platform receives a parking instruction sent by an auxiliary cloud platform, that is, the auxiliary cloud platform obtains the parking status of the target vehicle through the target camera, and sends a parking instruction to the charging cloud platform when the target vehicle is parked in the target parking space.

[0112] Optionally, the target camera may be a camera installed in a parking lot.

[0113] In addition, if there is a ground lock in the parking space, the target camera will obtain the vehicle image of the target vehicle and send the vehicle image to the auxiliary cloud platform. The auxiliary cloud platform will determine whether the target vehicle is a new energy vehicle through the vehicle image. If the target vehicle is a new energy vehicle, the ground lock of the parking space will be unlocked (lowered) to allow the target vehicle to park in the target parking space. This will prevent fuel vehicles from parking in charging spaces and occupying resources, and improve the convenience of charging new energy vehicles.

[0114] The above technical solution obtains the identification information of the target vehicle when the target vehicle is parked in the target parking space; compared with real-time acquisition of the target vehicle information, by obtaining the identification information of the target vehicle when the target vehicle has a charging demand, it is possible to reduce the amount of data processing and save data processing resources.

[0115] Exemplarily, the charging cloud platform can receive the identification information of the target vehicle sent by the target camera; or, receive the identification information of the target vehicle sent by the auxiliary cloud platform. In addition, the charging cloud platform can receive the target parking space information sent by the target camera; or, receive the target parking space information sent by the auxiliary cloud platform.

[0116] Specifically, the target camera identifies the target vehicle, determines the identification information of the target vehicle, and sends the identification information of the target vehicle to the charging cloud platform; or, after determining the information of the target vehicle, the target camera uploads the identification information of the target vehicle to the auxiliary cloud platform, and sends the identification information of the target vehicle to the charging cloud platform through the auxiliary cloud platform.

[0117] Of course, the target camera can also identify the target parking space, determine the target parking space information (for example, the parking space number), and send the target parking space information to the charging cloud platform; or, the target camera sends the target parking space information to the charging cloud platform after determining the target parking space information.

[0118] The above technical solution receives the identification information of the target vehicle sent by the target camera; or receives the identification information of the target vehicle sent by the auxiliary cloud platform; because the charging cloud platform can receive the identification information of the target vehicle sent by the target camera and the auxiliary cloud platform, when there is a fault in any transmission channel, it will not affect the transmission of information, thereby ensuring the high efficiency of data transmission.

[0119] Exemplarily, based on the identification information of the target vehicle, whether to automatically charge the target vehicle can be determined. Whether to automatically charge the target vehicle can be determined only through the charging mode configuration information of the target vehicle (determined by the identification information of the target vehicle); of course, whether to automatically charge the target vehicle can also be determined through the charging mode configuration information of the target vehicle and the charging whitelist.

[0120] Example 1: Determine whether to automatically charge the target vehicle based on the charging mode configuration information of the target vehicle.

[0121] Exemplarily, based on the identification information of the target vehicle, the charging mode configuration information of the target vehicle is determined, the charging mode configuration information includes an automatic charging mode and / or a manual charging mode; based on the charging mode configuration information, it is determined whether to automatically charge the target vehicle.

[0122] Optionally, the charging mode configuration information may include only the automatic charging mode, or only the manual charging mode; of course, the charging mode configuration information may include both the automatic charging mode and the manual charging mode.

[0123] Exemplarily, the charging mode configuration information may be the charging mode selected by the user when registering an account on the target terminal; for example, the user registers an account on the target terminal, enters the license plate number and VIN number (vehicle identification information), and selects the charging mode as automatic charging mode (charging mode configuration information). Then, through the identification information of the target vehicle, it is determined that the charging mode configuration information of the vehicle includes the automatic charging mode.

[0124] Furthermore, when the charging mode configuration information of the target vehicle is determined, the charging cloud platform can determine whether to automatically charge the target vehicle through the charging mode configuration information; that is, if the charging mode configuration information includes an automatic charging mode, the target vehicle is automatically charged; if the charging mode configuration information does not include an automatic charging mode, the target vehicle is not automatically charged.

[0125] In addition, if the charging mode configuration information does not include an automatic charging mode, an inquiry message may also be output to determine whether to automatically charge the target vehicle based on the user's reply to the inquiry message. If the user's reply to the inquiry message indicates automatic charging, it is determined that the target vehicle is automatically charged. If the user's reply to the inquiry message does not indicate automatic charging, it is determined that the target vehicle is not automatically charged.

[0126] Optionally, the target terminal may be a charging application or a charging applet, which is not specifically limited here.

[0127] The above technical solution determines the charging mode configuration information of the vehicle based on the identification information of the target vehicle, and determines whether to automatically charge the target vehicle based on the charging mode configuration information; since the charging mode configuration information includes an automatic charging mode and / or a manual charging mode, the charging mode configuration information of the vehicle is determined through the identification information of the target vehicle, and then it is determined whether to automatically charge the target vehicle. In this process, no user intervention is required, which can improve the convenience of vehicle charging.

[0128] Example 2: Determine whether to automatically charge the target vehicle based on the target vehicle's charging mode configuration information and charging whitelist.

[0129] Exemplarily, a charging whitelist is obtained, and based on the identification information of the target vehicle, the charging mode configuration information of the vehicle is determined, and based on the charging mode configuration information and the charging whitelist, it is determined whether to automatically charge the target vehicle.

[0130] Exemplarily, the charging whitelist may be stored in the charging cloud platform; or, the charging whitelist may be obtained from the target terminal. The method for obtaining the charging whitelist may be determined according to actual conditions and is not specifically limited here.

[0131] Exemplarily, the charging whitelist includes vehicle identification information that allows automatic charging; the charging whitelist includes vehicle models and vehicle identification information that allow automatic charging; no specific limitation is made here.

[0132] The above technical solution determines whether to automatically charge the target vehicle based on the charging mode configuration information and the charging whitelist; through the multi-dimensional data determination of the charging mode configuration information and the charging whitelist, the accuracy of determining whether to automatically charge the target vehicle can be improved.

[0133] Specifically, determine whether the charging mode configuration information includes an automatic charging mode, and whether the charging whitelist includes the identification information of the target vehicle; if the charging mode configuration information includes the automatic charging mode, and the charging whitelist includes the identification information of the target vehicle, determine to automatically charge the target vehicle; if the charging mode configuration information includes the automatic charging mode and the charging whitelist does not include the identification information of the target vehicle, or the charging mode configuration information does not include the automatic charging mode, determine not to automatically charge the target vehicle.

[0134] In addition, if the charging mode configuration information includes an automatic charging mode and the charging whitelist does not include the identification information of the target vehicle, or the charging mode configuration information does not include the automatic charging mode, an inquiry message may also be output to determine whether to automatically charge the target vehicle based on the user's reply to the inquiry message. If the user's reply to the inquiry message indicates automatic charging, it is determined that the target vehicle is automatically charged. If the user's reply to the inquiry message does not indicate automatic charging, it is determined that the target vehicle is not automatically charged.

[0135] According to the above technical solution, if the charging mode configuration information includes the automatic charging mode and the charging whitelist includes the identification information of the target vehicle, it is determined that the target vehicle is automatically charged; if the charging mode configuration information includes the automatic charging mode and the charging whitelist does not include the identification information of the target vehicle, or the charging mode configuration information does not include the automatic charging mode, it is determined that the target vehicle is not automatically charged; thus, only when the charging mode configuration information includes the automatic charging mode and the charging whitelist includes the identification information of the target vehicle, it is determined that the target vehicle is automatically charged, which can ensure the accuracy of the automatic charging of the target vehicle, thereby improving the user experience.

[0136] In the above implementation, it is possible to determine whether to automatically charge the target vehicle by the target vehicle's charging mode configuration information, or by the target vehicle's charging mode configuration information and the charging whitelist. In addition to the above, it is also possible to determine whether to automatically charge the target vehicle by the target parking space information where the target vehicle is located, or by the target parking space information where the target vehicle is located, the target vehicle's identification information and the charging whitelist. The following is a specific explanation through Examples 3 and 4.

[0137] Example 3: Determine whether to automatically charge the target vehicle based on the target parking space information where the target vehicle is located.

[0138] Exemplarily, the target parking space information of the target vehicle is obtained, and it is determined whether the target parking space information of the target vehicle is an automatic charging parking space. If the target parking space information of the target vehicle is an automatic charging parking space, it is determined that the target vehicle is automatically charged; if the target parking space information of the target vehicle is not an automatic charging parking space, it is determined that the target vehicle is not automatically charged.

[0139] For example, assume that parking space identifications 1 to 20 are automatic charging parking spaces, and parking space identifications 21 to 50 are non-automatic charging parking spaces. The target parking space information where the target vehicle is located is obtained as parking space identification 10, and the target parking space information where the target vehicle is located is determined to be an automatic charging parking space, and the target vehicle is determined to be automatically charged. Alternatively, the target parking space information where the target vehicle is located is obtained as parking space identification 21, and the target parking space information where the target vehicle is located is determined to be a non-automatic charging parking space, and the target vehicle is determined not to be automatically charged.

[0140] Example 4: Determine whether to automatically charge the target vehicle based on the target parking space information where the target vehicle is located, the identification information of the target vehicle, and the charging whitelist.

[0141] Exemplarily, the target parking space information and the charging whitelist of the target vehicle are obtained, and based on the target parking space information, the identification information of the target vehicle and the charging whitelist, it is determined whether to automatically charge the target vehicle.

[0142] The above technical solution determines whether to automatically charge the target vehicle through the target parking space information of the target vehicle and the charging whitelist; thereby determining the user's current intention through the target parking space information of the target vehicle, and determining whether to automatically charge the target vehicle in combination with the user's current intention and the charging whitelist, which can improve the accuracy of determining whether to automatically charge the target vehicle.

[0143] Exemplarily, determine whether the target parking space information where the target vehicle is located is an automatic charging parking space, and whether the charging whitelist includes the identification information of the target vehicle. If the target parking space information is an automatic charging parking space, and the charging whitelist includes the identification information of the target vehicle, determine to automatically charge the target vehicle; if the charging whitelist does not include the identification information of the target vehicle, and / or the target parking space information is not an automatic charging parking space, determine not to automatically charge the target vehicle.

[0144] Specifically, if the charging whitelist does not include the identification information of the target vehicle, it is determined that the target vehicle will not be automatically charged; if the target parking space information is not an automatic charging parking space, it is determined that the target vehicle will not be automatically charged; if the charging whitelist does not include the identification information of the target vehicle, and the target parking space information is not an automatic charging parking space, it is determined that the target vehicle will not be automatically charged.

[0145] According to the above technical solution, if the target parking space information is an automatic charging parking space and the charging whitelist includes the identification information of the target vehicle, it is determined that the target vehicle is automatically charged; if the charging whitelist does not include the identification information of the target vehicle, and / or the target parking space information is not an automatic charging parking space, it is determined that the target vehicle is not automatically charged; thereby determining the user's current intention through the target parking space information, and combining the user's current intention with the charging condition of the target vehicle to determine that the target vehicle is automatically charged, and thus no user intervention is required, thereby ensuring the accuracy of determining that the target vehicle is automatically charged.

[0146] Furthermore, when it is determined that the target vehicle is to be automatically charged, the target charging gun of the target vehicle is determined. Specifically, the target parking space information of the target vehicle is determined, and based on the target parking space information, the charging gun corresponding to the target parking space is determined, and the charging gun corresponding to the target parking space is used as the target charging gun.

[0147] It can be understood that the charging cloud platform stores preset parking space relationships, which indicate the corresponding relationship between the preset parking space and the charging gun. Therefore, when the parking space is determined, the charging gun corresponding to the parking space can be determined through the preset parking space relationship and the parking space.

[0148] Optionally, the target parking space information may be a parking space number.

[0149] Optionally, the charging guns corresponding to different parking spaces may be the same charging guns or different charging guns.

[0150] The above technical solution determines the charging gun corresponding to the target parking space through the target parking space information, and uses the charging gun corresponding to the target parking space as the target charging gun; since the parking space is equipped with a corresponding charging gun, the target charging gun corresponding to the target vehicle can be determined through the target parking space information, thereby ensuring the accuracy of determining the target charging gun.

[0151] S320, sending an automatic charging instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle.

[0152] Exemplarily, the automatic charging instruction includes an identifier of a target charging gun, so that by sending the automatic charging instruction to the robotic arm cloud platform, the robotic arm cloud platform can determine the target charging gun that needs to be grasped.

[0153] Exemplarily, an automatic charging instruction is sent to the robotic arm cloud platform, the robotic arm cloud platform determines the target position of the charging port of the target vehicle, and based on the target position of the charging port of the target vehicle, controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle to charge the target vehicle.

[0154] Exemplarily, the target position of the charging port indicates the position of the charging port of the target vehicle on the target vehicle; for example, the charging port of vehicle 1 is located directly in front of vehicle 1 at a height of 0.8 meters.

[0155] Specifically, the target position of the charging port of the target vehicle is determined through the robotic arm cloud platform, and the target position of the charging port indicates the position of the charging port on the target vehicle, and the target position includes the height of the charging port; further, the target position of the charging port of the vehicle is determined at the end position in the parking area, and the starting position of the robotic arm is located, and a moving path is generated based on the starting position and the end position. Through the moving path, the robotic arm is controlled to move to the end position, and the target charging gun is connected to the charging port of the target vehicle (the target charging gun is inserted into the charging port of the target vehicle).

[0156] The above technical solution controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle through the target position of the charging port of the target vehicle; it can ensure the accuracy of the connection between the target charging gun and the charging port of the target vehicle.

[0157] Exemplarily, the target position of the charging port of the target vehicle is determined. Specifically, a target image of the target vehicle in a parking state and a target model of the target vehicle are obtained, and the target position of the charging port is determined based on the target image or the target model.

[0158] Optionally, the target image of the target vehicle in a parking state includes a vehicle image of the target vehicle and an image of an area where the target vehicle is located.

[0159] It is understandable that the positions of the charging ports of vehicles of the same model are the same. Therefore, for vehicles of the same model, the target position can be determined by referring to the positions of the charging ports of other vehicles of the same model.

[0160] Specifically, in response to a parking instruction from the auxiliary cloud platform, it is determined that the target vehicle is in a parking state, and a target image of the target vehicle in a parking state is acquired through a target camera, or a target image of the target vehicle in a parking state is acquired through a camera on a robotic arm, thereby determining the target position of the charging port of the target vehicle based on the target image of the target vehicle in a parking state or the target model of the target vehicle.

[0161] The above technical solution determines the target position of the charging port through the target image of the target vehicle in the parking state or the target model of the target vehicle; thereby, when the same model exists, the efficiency of determining the target position of the charging port can be improved.

[0162] Exemplarily, the target position of the charging port is determined based on the target image or the target vehicle model. Specifically, it is determined whether the target vehicle model exists in the preset position relationship. If the target vehicle model exists in the preset position relationship, the target position of the charging port of the target vehicle is determined. The preset position relationship is used to indicate the corresponding relationship between the vehicle model and the position of the vehicle charging port. The target position of the charging port of the target vehicle is determined by the target vehicle model and the preset position relationship of the target vehicle; if the target vehicle model does not exist in the preset position relationship, the target image is identified to obtain the target position of the charging port of the target vehicle.

[0163] In the above technical scheme, if the target vehicle model exists in the preset position relationship, the target position of the charging port is determined, and the preset position relationship indicates the correspondence between the vehicle model and the position of the charging port. If the target vehicle model does not exist in the preset position relationship, the target image is identified to obtain the target position of the charging port. On the one hand, if the target vehicle model exists in the preset position relationship, the target position of the charging port of the target vehicle can be directly determined through the target vehicle model and the preset position relationship, which can improve the efficiency of determining the target position of the charging port of the target vehicle. On the other hand, if the target vehicle model does not exist in the preset position relationship, the target position of the charging port of the target vehicle can be determined by identifying the target image regardless of whether the target vehicle model exists in the preset position relationship, thereby determining the accuracy of the target position of the charging port.

[0164] In addition, if the target vehicle model does not exist in the preset position relationship, the target vehicle model and the target position of the charging port can be added to the preset position relationship, so that the preset position relationship can be continuously updated to improve the efficiency of determining the target position of the charging port of the target vehicle.

[0165] S330, in response to the feedback instruction of the robot arm cloud platform, control the charging pile corresponding to the target charging gun to start, so that the target charging gun charges the target vehicle.

[0166] Exemplarily, the feedback instruction is used to instruct the target charging gun to complete the connection with the charging port of the target vehicle, that is, the charging cloud platform controls the robotic arm to unplug the target charging gun from the charging port of the target vehicle.

[0167] For example, in response to the feedback instruction of the robot arm cloud platform, the charging pile corresponding to the target charging gun is controlled to start, so that the target charging gun charges the target vehicle. In addition, the charging cloud platform receives the charging data, billing data, etc. sent by the charging pile, and generates a charging list according to the charging data and billing data sent by the charging pile.

[0168] Exemplarily, when it is determined that charging of the target vehicle is completed, a stop charging instruction is sent to the charging pile corresponding to the target charging gun; in response to the confirmation instruction of the charging pile, a charging end instruction is sent to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to disconnect the target charging gun from the charging port of the target vehicle.

[0169] Optionally, in response to a full charge instruction of the target vehicle, it is determined that charging of the target vehicle is finished; or in response to a stop charge instruction of the target terminal, it is determined that charging of the target vehicle is finished; or in response to a stop instruction of the charging pile, it is determined that charging of the target vehicle is finished. The method for determining the end of charging of the target vehicle can be determined according to actual conditions and is not specifically limited here.

[0170] The above technical solution, when determining that charging of the target vehicle is completed, sends a stop charging instruction to the charging pile corresponding to the target charging gun, and in response to the confirmation instruction of the charging pile, sends a charging end instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to disconnect the target charging gun from the charging port of the target vehicle. When the charging cloud platform determines that charging of the target vehicle is completed, the user does not need to perform related operations, and the robotic arm cloud platform can control the robotic arm to draw the gun, thereby improving the convenience of vehicle charging.

[0171] Furthermore, the robotic arm cloud platform controls the movement of the robotic arm to disconnect the target charging gun from the charging port of the target vehicle, returns the charging gun to its position through the robotic arm, and sends an end command to the charging cloud platform. The charging cloud platform automatically deducts fees based on the identification information of the target vehicle, and outputs the deduction information or deduction prompt information through the target terminal.

[0172] The above technical scheme, when determining to automatically charge the target vehicle, determines the target charging gun of the target vehicle, sends an automatic charging instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle, and the automatic charging instruction includes the identification of the target charging gun; in response to the feedback instruction of the robotic arm cloud platform, controls the charging pile corresponding to the target charging gun to start, so that the target charging gun charges the target vehicle, and the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle; charges the target vehicle by transmitting data between the charging cloud platform and the robotic arm cloud platform; compared with the prior art in which the charging cloud platform is directly connected to the charging device during vehicle charging, and the instructions are directly sent to the directly connected device through the charging cloud platform, this scheme can reduce the data transmission volume of the charging cloud platform and improve the data processing efficiency of the charging cloud platform.

[0173] Figure 4 It is a schematic flow chart of another vehicle charging method provided in an embodiment of the present application.

[0174] For example, Figure 4 The method shown can be executed by a charging cloud platform.

[0175] For example, Figure 4 As shown, the method 400 includes the following processes:

[0176] S401, when a target vehicle is parked in a target parking space, obtaining identification information of the target vehicle.

[0177] Exemplarily, a vehicle image of the target vehicle is acquired through a target camera, the vehicle image includes the area where the target vehicle is located, and the vehicle image is identified to determine whether the target vehicle is parked in a target parking space; if the target vehicle is not parked in the target parking space, the step of acquiring the vehicle image of the target vehicle is continued; if the target vehicle is parked in the target parking space, a parking instruction is sent to the charging cloud platform, and the parking instruction includes information about the target parking space, so that when the target vehicle is parked in the target parking space, the identification information of the target vehicle is acquired.

[0178] Exemplarily, when the target vehicle is parked in the target parking space, the target camera identifies the target vehicle, determines the identification information of the target vehicle, and sends the identification information of the target vehicle to the charging cloud platform; or, when the target camera determines the identification information of the target vehicle, it uploads the identification information of the target vehicle to the auxiliary cloud platform, and the identification information of the target vehicle is sent to the charging cloud platform through the auxiliary cloud platform. Optionally, the identification information of the target vehicle can be the license plate number of the target vehicle or the VIN code of the target vehicle.

[0179] S402: Determine charging mode configuration information of the target vehicle based on identification information of the target vehicle.

[0180] Optionally, the charging mode configuration information may include only the automatic charging mode, or only the manual charging mode; of course, the charging mode configuration information may include both the automatic charging mode and the manual charging mode.

[0181] Exemplarily, the charging mode configuration information may be the charging mode selected by the user when registering an account on the target terminal; for example, the user registers an account on the target terminal, enters the license plate number and VIN number (vehicle identification information), and selects the charging mode as automatic charging mode (charging mode configuration information). Then, through the identification information of the target vehicle, it is determined that the charging mode configuration information of the vehicle includes the automatic charging mode.

[0182] Exemplarily, the charging mode configuration information of the vehicle is stored in the charging cloud platform, that is, the charging mode configuration information of the vehicle is the correspondence between the vehicle's identification information and the charging mode, and the charging mode configuration information of the target vehicle is determined through the identification information of the target vehicle.

[0183] Optionally, the target terminal may be a charging application or a charging applet, which is not specifically limited here.

[0184] S403, determining whether the charging mode configuration information includes an automatic charging mode; if not, executing S404; if not, executing S405.

[0185] Exemplarily, it is determined whether the charging mode configuration information includes the automatic charging mode. If the charging mode configuration information includes the automatic charging mode, it is determined that the user has an intention of automatic charging.

[0186] S404, determining not to automatically charge the target vehicle.

[0187] Exemplarily, it is determined whether the charging mode configuration information of the target vehicle includes the automatic charging mode. If the charging mode configuration information of the target vehicle does not include the automatic charging mode, it is determined not to automatically charge the target vehicle.

[0188] S405, whether the charging whitelist includes the identification information of the target vehicle; if not, execute S406; if not, execute S407.

[0189] Exemplarily, determine whether the charging mode configuration information of the target vehicle includes an automatic charging mode. If the charging mode configuration information of the target vehicle includes an automatic charging mode, determine whether the charging whitelist includes the identification information of the target vehicle, thereby determining whether to automatically charge the target vehicle based on the charging whitelist.

[0190] Exemplarily, the charging whitelist may be stored in the charging cloud platform; or, the charging whitelist may be obtained from the target terminal. The method for obtaining the charging whitelist may be determined according to actual conditions and is not specifically limited here.

[0191] Exemplarily, the charging whitelist includes vehicle identification information of vehicles that are allowed to be automatically charged; the charging whitelist includes vehicle models and vehicle identification information of vehicles that are allowed to be automatically charged.

[0192] S406, determining not to automatically charge the target vehicle.

[0193] Exemplarily, determine whether the charging mode configuration information of the target vehicle includes an automatic charging mode. If the charging mode configuration information of the target vehicle includes an automatic charging mode, determine whether the charging whitelist includes the identification information of the target vehicle. If the charging whitelist does not include the identification information of the target vehicle, determine not to automatically charge the target vehicle.

[0194] S407, determining to automatically charge the target vehicle.

[0195] Exemplarily, determining whether the charging mode configuration information of the target vehicle includes an automatic charging mode, if the charging mode configuration information of the target vehicle includes an automatic charging mode, determining whether the charging whitelist includes the identification information of the target vehicle, the charging whitelist includes the identification information of the target vehicle, determining to automatically charge the target vehicle

[0196] S408, determining the target parking space information where the target vehicle is located.

[0197] Exemplarily, when it is determined to automatically charge the target vehicle, the target charging gun of the target vehicle is determined through the target parking space information where the target vehicle is located.

[0198] Exemplarily, the target parking space information where the target vehicle is located is determined by a target camera, and the target parking space information where the target vehicle is located is sent to the charging cloud platform.

[0199] Optionally, the target parking space information may be a parking space number.

[0200] S409: Determine the charging gun corresponding to the target parking space based on the target parking space information.

[0201] Exemplarily, when it is determined that the target vehicle is to be automatically charged, the target charging gun of the target vehicle is determined. Specifically, the target parking space information of the target vehicle is determined, and based on the target parking space information, the charging gun corresponding to the target parking space is determined, and the charging gun corresponding to the target parking space is used as the target charging gun.

[0202] It can be understood that the charging cloud platform stores preset parking space relationships, which indicate the corresponding relationship between the preset parking space and the charging gun. Therefore, when the parking space is determined, the charging gun corresponding to the parking space can be determined through the preset parking space relationship and the parking space.

[0203] Optionally, the target parking space information may be a parking space number.

[0204] Optionally, the charging guns corresponding to different parking spaces may be the same charging guns or different charging guns.

[0205] S410: Use the charging gun corresponding to the target parking space as the target charging gun.

[0206] When it is determined that the target vehicle is to be automatically charged, a target charging gun of the target vehicle is determined. Specifically, the target parking space information of the target vehicle is determined, and based on the target parking space information, the charging gun corresponding to the target parking space is determined, and the charging gun corresponding to the target parking space is used as the target charging gun.

[0207] S411, sending an automatic charging instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle.

[0208] Exemplarily, the automatic charging instruction includes an identifier of a target charging gun, so that by sending the automatic charging instruction to the robotic arm cloud platform, the robotic arm cloud platform can determine the target charging gun that needs to be grasped.

[0209] Exemplarily, an automatic charging instruction is sent to the robotic arm cloud platform, the robotic arm cloud platform determines the target position of the charging port of the target vehicle, and based on the target position of the charging port of the target vehicle, controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle to charge the target vehicle.

[0210] Specifically, the target position of the charging port of the target vehicle is determined through the robotic arm cloud platform, the target position of the charging port indicates the position of the charging port on the target vehicle, and the target position includes the height of the charging port; further, the target position of the charging port of the vehicle is determined to be the end position in the parking area, and the starting position of the robotic arm, and a moving path is generated based on the starting position and the end position. Through the moving path, the robotic arm is controlled to move to the end position, and the target charging gun is connected to the charging port of the target vehicle.

[0211] S412, in response to the feedback instruction of the robot arm cloud platform, control the charging pile corresponding to the target charging gun to start, so that the target charging gun charges the target vehicle.

[0212] Exemplarily, the feedback instruction is used to instruct the target charging gun to complete the connection with the charging port of the target vehicle, that is, the charging cloud platform controls the robotic arm to unplug the target charging gun from the charging port of the target vehicle.

[0213] Exemplarily, in response to the feedback instruction of the robotic arm cloud platform, the charging pile corresponding to the target charging gun is controlled to start, so that the target charging gun charges the target vehicle.

[0214] S413, when it is determined that charging of the target vehicle is finished, a stop charging instruction is sent to the charging pile corresponding to the target charging gun.

[0215] Exemplarily, when it is determined that charging of the target vehicle is finished, a stop charging instruction is sent to the charging pile corresponding to the target charging gun, so that the charging pile corresponding to the target charging gun stops charging.

[0216] Optionally, in response to a full charge instruction of the target vehicle, it is determined that charging of the target vehicle is finished; or in response to a stop charge instruction of the target terminal, it is determined that charging of the target vehicle is finished; or in response to a stop instruction of the charging pile, it is determined that charging of the target vehicle is finished. The method for determining the end of charging of the target vehicle can be determined according to actual conditions and is not specifically limited here.

[0217] S414, in response to the confirmation instruction of the charging pile, sending a charging end instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to disconnect the target charging gun from the charging port of the target vehicle.

[0218] Exemplarily, when it is determined that charging of the target vehicle is completed, a stop charging instruction is sent to the charging pile corresponding to the target charging gun; in response to the confirmation instruction of the charging pile, a charging end instruction is sent to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to disconnect the target charging gun from the charging port of the target vehicle.

[0219] Furthermore, the robotic arm cloud platform controls the movement of the robotic arm to disconnect the target charging gun from the charging port of the target vehicle, returns the charging gun to its position through the robotic arm, and sends an end command to the charging cloud platform. The charging cloud platform automatically deducts the fee according to the identification information of the target vehicle, and outputs the deduction information or deduction prompt information through the target terminal.

[0220] The above technical solution determines to automatically charge the target vehicle when the charging mode configuration information includes the automatic charging mode and the charging whitelist includes the identification information of the target vehicle; the accuracy of determining whether to automatically charge the target vehicle can be improved through the charging mode configuration information and the multi-dimensional data of the charging whitelist. Furthermore, when it is determined that the target vehicle is to be automatically charged, the target vehicle is charged by transmitting data between the charging cloud platform and the robotic arm cloud platform; compared with the prior art in which the charging cloud platform is directly connected to the charging device during the vehicle charging process and the charging cloud platform directly sends instructions to the directly connected device, this solution can reduce the amount of data transmission of the charging cloud platform and improve the data processing efficiency of the charging cloud platform.

[0221] Figure 5 It is a schematic flow chart of another vehicle charging method provided in an embodiment of the present application.

[0222] For example, Figure 5 The method shown can be performed by a robotic arm cloud platform.

[0223] For example, Figure 5 As shown, the method 500 includes the following processes:

[0224] S510, in response to the automatic charging instruction of the charging cloud platform, control the robot arm to move and connect the target charging gun with the charging port of the target vehicle.

[0225] Exemplarily, the automatic charging instruction includes an identifier of a target charging gun, so that upon receiving the automatic charging instruction sent by the charging cloud platform, the robotic arm is controlled to move and connect the target charging gun to the charging port of the target vehicle.

[0226] Exemplarily, in response to an automatic charging instruction sent by the charging cloud platform, the target position of the charging port of the target vehicle is determined, and based on the target position of the charging port of the target vehicle, the robotic arm is controlled to move to connect the target charging gun with the charging port of the target vehicle to charge the target vehicle.

[0227] Specifically, the target position of the charging port of the target vehicle is determined, the target position of the charging port indicates the position of the charging port on the target vehicle, and the target position includes the height of the charging port; further, the target position of the charging port of the vehicle is determined as the end position in the parking area, and the starting position of the robotic arm, a moving path is generated based on the starting position and the end position, and the robotic arm is controlled to move to the end position through the moving path, and the target charging gun is connected to the charging port of the target vehicle.

[0228] The above technical solution controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle through the target position of the charging port of the target vehicle; it can ensure the accuracy of the connection between the target charging gun and the charging port of the target vehicle.

[0229] Exemplarily, the target position of the charging port of the target vehicle is determined. Specifically, a target image of the target vehicle in a parking state and a target model of the target vehicle are obtained, and the target position of the charging port is determined based on the target image or the target model.

[0230] Optionally, the target image of the target vehicle in a parking state includes a vehicle image of the target vehicle and an image of an area where the target vehicle is located.

[0231] It is understandable that the positions of the charging ports of vehicles of the same model are the same. Therefore, for vehicles of the same model, the target position can be determined by referring to the positions of the charging ports of other vehicles of the same model.

[0232] Specifically, in response to a parking instruction from the auxiliary cloud platform, it is determined that the target vehicle is in a parking state, and a target image of the target vehicle in a parking state is acquired through a target camera, or a target image of the target vehicle in a parking state is acquired through a camera on a robotic arm, thereby determining the target position of the charging port of the target vehicle based on the target image of the target vehicle in a parking state or the target model of the target vehicle.

[0233] The above technical solution determines the target position of the charging port through the target image of the target vehicle in the parking state or the target model of the target vehicle; thereby, when the same model exists, the target position of the charging port of the target vehicle is directly determined, which can improve the efficiency of determining the target position of the charging port.

[0234] Exemplarily, the target position of the charging port is determined based on the target image or the target vehicle model. Specifically, it is determined whether the target vehicle model exists in the preset position relationship. If the target vehicle model exists in the preset position relationship, the target position of the charging port of the target vehicle is determined. The preset position relationship is used to indicate the corresponding relationship between the vehicle model and the position of the vehicle charging port. The target position of the charging port of the target vehicle is determined by the target vehicle model and the preset position relationship of the target vehicle; if the target vehicle model does not exist in the preset position relationship, the target image is identified to obtain the target position of the charging port of the target vehicle.

[0235] In the above technical scheme, if the target vehicle model exists in the preset position relationship, the target position of the charging port is determined, and the preset position relationship indicates the correspondence between the vehicle model and the position of the charging port. If the target vehicle model does not exist in the preset position relationship, the target image is identified to obtain the target position of the charging port. On the one hand, if the target vehicle model exists in the preset position relationship, the target position of the charging port of the target vehicle can be directly determined through the target vehicle model and the preset position relationship, which can improve the efficiency of determining the target position of the charging port of the target vehicle. On the other hand, if the target vehicle model does not exist in the preset position relationship, the target position of the charging port of the target vehicle can be determined by identifying the target image regardless of whether the target vehicle model exists in the preset position relationship, thereby determining the accuracy of the target position of the charging port.

[0236] In addition, if the target vehicle model does not exist in the preset position relationship, the target vehicle model and the target position of the charging port can be added to the preset position relationship, so that the preset position relationship can be continuously updated to improve the efficiency of determining the target position of the charging port of the target vehicle.

[0237] S520, sending a feedback instruction to the charging cloud platform, so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start, and charges the target vehicle through the target charging gun.

[0238] Exemplarily, the feedback instruction is used to instruct the target charging gun to complete the connection with the charging port of the target vehicle.

[0239] Exemplarily, a feedback instruction is sent to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start, so as to charge the target vehicle through the target charging gun.

[0240] For example, when it is determined that charging of the target vehicle is finished, a stop charging instruction is sent to the charging pile corresponding to the target charging gun through the charging cloud platform, so that the charging cloud platform can confirm the instruction of the charging pile. Furthermore, if an end instruction sent by the charging cloud platform is received, the mechanical arm is controlled to move to disconnect the target charging gun from the charging port of the target vehicle.

[0241] Optionally, the charging cloud platform determines that charging of the target vehicle is finished through a full charge instruction of the target vehicle; or, the charging cloud platform determines that charging of the target vehicle is finished through a stop charge instruction of the target charging pile; or, the charging cloud platform determines that charging of the target vehicle is finished through a stop instruction of the charging pile. The method for determining that charging of the target vehicle is finished can be determined according to actual conditions and is not specifically limited here.

[0242] Furthermore, the robot arm is controlled to move to disconnect the target charging gun from the charging port of the target vehicle, the charging gun is returned to its position through the robot arm, and an end instruction is sent to the charging cloud platform. The charging cloud platform generates automatic deductions based on the identification information of the target vehicle, and outputs the deduction information or deduction prompt information through the target terminal.

[0243] The above technical solution controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle in response to the automatic charging instruction of the charging cloud platform, wherein the automatic charging instruction includes the identification of the target charging gun; and sends a feedback instruction to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start, and charges the target vehicle through the target charging gun, wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle; and charges the target vehicle by transmitting data between the charging cloud platform and the robotic arm cloud platform, thereby processing part of the charging data through the robotic arm cloud platform. Compared with sending instructions to directly connected devices through the charging cloud platform, the amount of data transmission can be reduced, thereby improving the processing efficiency of charging data.

[0244] Figure 6 It is a schematic flow chart of controlling a robotic arm provided in an embodiment of the present application.

[0245] For example, Figure 6 The method shown can be performed by a robotic arm cloud platform.

[0246] For example, Figure 6 As shown, the method 600 includes the following processes:

[0247] S610, in response to an automatic charging instruction from a charging cloud platform, obtaining a target image of a target vehicle in a parking state and a target model of the target vehicle.

[0248] Exemplarily, the automatic charging instruction includes an identifier of a target charging gun, so that upon receiving the automatic charging instruction sent by the charging cloud platform, the robotic arm is controlled to move and connect the target charging gun to the charging port of the target vehicle.

[0249] Exemplarily, a target image of the target vehicle in a parking state is obtained. Specifically, in response to a parking instruction from the auxiliary cloud platform, it is determined that the target vehicle is in a parking state, and a target image of the target vehicle in a parking state is obtained through a target camera, or a target image of the target vehicle in a parking state is obtained through a camera on a mechanical arm, thereby determining the target position of the charging port of the target vehicle based on the target image of the target vehicle in a parking state or the target model of the target vehicle.

[0250] S620, determine whether the target vehicle model exists in the preset position relationship; if not, execute S630; if so, execute S640.

[0251] Exemplarily, in response to an automatic charging instruction from a charging cloud platform, a target image of a target vehicle in a parking state and a target vehicle model of the target vehicle are obtained to determine whether the target vehicle model exists in a preset position relationship, thereby determining whether the target position of the charging port of the target vehicle can be directly determined.

[0252] Optionally, the preset position relationship is stored in the robot cloud platform; or, the preset position relationship is stored in the target terminal, and the preset position relationship is sent to the robot cloud platform. The storage method of the preset position relationship can be determined according to actual conditions and is not specifically limited here.

[0253] S630, identifying the target image to obtain the target position of the charging port.

[0254] Exemplarily, a target image of a target vehicle in a parking state and a target vehicle model of the target vehicle are obtained to determine whether the target vehicle model exists in a preset position relationship; if the target vehicle model does not exist in the preset position relationship, the target image is identified to obtain the target position of the charging port.

[0255] S640, determining a target position of the charging port based on the target vehicle model.

[0256] Exemplarily, a target image of a target vehicle in a parking state and a target vehicle model of the target vehicle are acquired to determine whether the target vehicle model exists in a preset position relationship; if the target vehicle model exists in the preset position relationship, the target position of the charging port of the target vehicle is determined based on the target vehicle model.

[0257] It is understandable that the positions of the charging ports of vehicles of the same model are the same. Therefore, for vehicles of the same model, the target position can be determined by referring to the positions of the charging ports of other vehicles of the same model.

[0258] S650, based on the target position of the charging port, control the robot arm to move and connect the target charging gun to the charging port of the target vehicle.

[0259] Exemplarily, the automatic charging instruction includes an identification of a target charging gun, and after determining a target position of a charging port of a target vehicle, the robot arm is controlled to move to connect the target charging gun to the charging port of the target vehicle.

[0260] Specifically, when determining the target position of the charging port of the target vehicle, the target position of the charging port indicates the position of the charging port on the target vehicle, and the target position includes the height of the charging port; further, the target position of the charging port of the vehicle is determined as the end position in the parking area, and the starting position of the robotic arm, and a moving path is generated based on the starting position and the end position. Through the moving path, the robotic arm is controlled to move to the end position, and the target charging gun is connected to the charging port of the target vehicle.

[0261] S660, sending a feedback instruction to the charging cloud platform, so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start, and charges the target vehicle through the target charging gun.

[0262] Exemplarily, the feedback instruction is used to instruct the target charging gun to complete the connection with the charging port of the target vehicle, that is, the charging cloud platform controls the robotic arm to unplug the target charging gun from the charging port of the target vehicle.

[0263] Exemplarily, a feedback instruction is sent to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start, so as to charge the target vehicle through the target charging gun.

[0264] For example, when it is determined that charging of the target vehicle is finished, a stop charging instruction is sent to the charging pile corresponding to the target charging gun through the charging cloud platform, so that the charging cloud platform can confirm the instruction of the charging pile. Furthermore, if an end instruction sent by the charging cloud platform is received, the mechanical arm is controlled to move to disconnect the target charging gun from the charging port of the target vehicle.

[0265] Optionally, the charging cloud platform determines that charging of the target vehicle is finished through a full charge instruction of the target vehicle; or, the charging cloud platform determines that charging of the target vehicle is finished through a stop charge instruction of the target charging pile; or, the charging cloud platform determines that charging of the target vehicle is finished through a stop instruction of the charging pile. The method for determining that charging of the target vehicle is finished can be determined according to actual conditions and is not specifically limited here.

[0266] Furthermore, the robot arm is controlled to move to disconnect the target charging gun from the charging port of the target vehicle, the charging gun is returned to its original position through the robot arm, and an end instruction is sent to the charging cloud platform.

[0267] In the above technical solution, if the target vehicle model exists in the preset position relationship, the target position of the charging port of the target vehicle is directly determined by the target vehicle model and the preset position relationship, which can improve the efficiency of determining the target position of the charging port of the target vehicle. If the target vehicle model does not exist in the preset position relationship, the target position of the charging port of the target vehicle can be determined by identifying the target image, regardless of whether the target vehicle model exists in the preset position relationship, thereby determining the accuracy of the target position of the charging port. Furthermore, when the target position of the charging port is determined, the target vehicle is charged by transmitting data between the charging cloud platform and the robotic arm cloud platform, so that part of the charging data is processed by the robotic arm cloud platform. Compared with sending instructions to directly connected devices through the charging cloud platform, the amount of data transmission can be reduced, thereby improving the processing efficiency of charging data.

[0268] Figure 7 It is a schematic flowchart of determining the location of a charging port provided in an embodiment of the present application.

[0269] For example, Figure 7 As shown, the method 700 includes the following processes:

[0270] S701, self-check status information.

[0271] It is understandable that S701 to S704 can be executed when the vehicle is detected to be parked in a parking space, or S701 to S704 can be executed after each charging list is generated; of course, S701 to S704 can be executed at preset intervals, which is not specifically limited here.

[0272] Exemplarily, the robot arm self-check status information, the robot arm status information may include the robot arm usage status, the robot arm idle status, the robot arm fault status, etc.

[0273] S702: Report status information.

[0274] Exemplarily, the robotic arm cloud platform obtains status information of the robotic arm and reports the status information of the robotic arm to the charging cloud platform.

[0275] S703, self-check status information.

[0276] Exemplarily, the charging pile self-check status information, the status information of the charging pile may include the charging pile usage status, the charging pile idle status, the charging pile fault status, etc.

[0277] S704, determine the availability of the robotic arm and the charging pile.

[0278] Exemplarily, the charging cloud platform determines the availability of the robotic arm and the charging pile based on the status information of the robotic arm and the status information of the charging pile; it can be understood that, whether it is the robotic arm or the charging pile, the robotic arm or the charging pile is available only when the status information of the robotic arm or the charging pile indicates an idle state.

[0279] S705, register an account and enter vehicle information.

[0280] It is understandable that S705 to S706 may be synchronized after the target terminal detects that a new account has been registered.

[0281] Exemplarily, the user registers an account on the target terminal and enters the vehicle information.

[0282] Optionally, the vehicle information includes the vehicle identification, the vehicle charging preference (charging mode configuration information), and the like.

[0283] S706, vehicle owner account database.

[0284] Exemplarily, the charging cloud platform generates a database of vehicle owner accounts based on the vehicle information uploaded by the target terminal, and stores the database of vehicle owners in the charging cloud platform.

[0285] S707, the target vehicle is parked within a preset range of the target parking space.

[0286] Exemplarily, the preset range is used to indicate an area at a preset distance from the target parking space; for example, the preset range indicates a circular area with the center point of the target parking space as the midpoint and the preset distance as the radius.

[0287] S708, identifying the license plate number and parking space number.

[0288] Exemplarily, the target vehicle is parked within a preset range of the target parking space, and the license plate number and parking space number of the target vehicle are identified by a camera (i.e., the target camera), and the license plate number and parking space number are sent to the auxiliary cloud platform.

[0289] S709, issuing a ground lock lowering instruction according to the license plate number.

[0290] Exemplarily, the auxiliary cloud platform determines whether the target vehicle is a new energy vehicle based on the license plate number. If the target vehicle is a new energy vehicle, a lock lowering command is sent to the ground lock, and the license plate number and parking space number are sent to the charging cloud platform.

[0291] S710, down lock.

[0292] Exemplarily, the ground lock performs a lock lowering operation upon receiving a lock lowering instruction sent by the auxiliary cloud platform.

[0293] S711, the target vehicle parks in the target parking space.

[0294] S712, receiving the license plate number and the parking space number, determining the corresponding state of the robotic arm and the charging pile, and determining the corresponding charging preference.

[0295] Exemplarily, when the target vehicle is parked in the target parking space, the charging cloud platform obtains the license plate number and parking space number of the target vehicle, determines the corresponding status of the target charging gun, robotic arm and charging pile corresponding to the target vehicle, and determines the charging preference corresponding to the target vehicle.

[0296] It can be understood that the charging preference (ie, the charging mode configuration information) includes an automatic charging mode and / or a manual charging mode.

[0297] S713, whether it is automatic charging; if not, execute S714; if so, execute S715.

[0298] Exemplarily, it is determined whether the charging preference is automatic charging, that is, whether the charging mode configuration information includes automatic charging.

[0299] S714, prompts manual charging.

[0300] Exemplarily, it is determined whether the charging mode configuration information includes automatic charging. If the charging mode configuration information does not include automatic charging, a prompt message is output to prompt the user to charge manually.

[0301] S715: Send an automatic charging instruction.

[0302] Exemplarily, it is determined whether the charging mode configuration information includes automatic charging. If the charging mode configuration information includes automatic charging, it is determined to automatically charge the target vehicle, and the charging cloud platform sends an automatic charging instruction to the robotic arm cloud platform.

[0303] S716: Issue a capture instruction.

[0304] S717, grab the target charging gun.

[0305] S718, the robot arm connects the charging port to the target charging gun.

[0306] Exemplarily, after receiving the automatic charging instruction sent by the charging cloud platform, the robotic arm cloud platform sends a grabbing instruction to the robotic arm, so that the robotic arm grabs the target charging gun and connects the target charging gun to the charging port.

[0307] S719, send completion command and return to position.

[0308] Exemplarily, after the robotic arm connects the target charging gun to the charging port, a completion instruction is sent to the robotic arm cloud platform, and homing is performed (ie, the robotic arm returns to the initial position).

[0309] S720, sending a feedback instruction.

[0310] Exemplarily, after determining that the target charging gun is connected to the charging port of the target vehicle, the robotic arm cloud platform sends a feedback instruction to the charging cloud platform.

[0311] S721, control the charging pile to start.

[0312] Exemplarily, upon receiving the feedback instruction, the charging cloud platform controls the charging pile to start, so that the target charging pile charges the target vehicle.

[0313] S722, stop charging when full.

[0314] S723, actively stop charging.

[0315] S724, stop charging.

[0316] S725, sending a stop charging instruction to the charging pile.

[0317] S726, send a confirmation instruction.

[0318] S727, issue a charging end instruction.

[0319] For example, if any of the following occurs: the target vehicle stops charging when fully charged, the charging pile stops charging actively, or the target terminal triggers the termination of charging, it is determined that the charging of the target vehicle is finished, and a stop charging instruction is sent to the charging pile. After the charging pile stops charging, the charging pile sends a confirmation instruction to the charging cloud platform, so that the charging cloud platform determines that the charging pile stops charging, and then sends a charging end instruction to the robotic arm cloud platform.

[0320] S728, issue a control instruction.

[0321] S729, remove the target charging gun.

[0322] S730, sending the robot arm status.

[0323] Exemplarily, when the robotic arm cloud platform receives the charging end instruction, it sends a control instruction to the robotic arm to make the robotic arm pull out the target charging gun (the robotic arm moves to disconnect the target charging gun from the charging port of the target vehicle), return the target charging gun to its position, and send the robotic arm status to the robotic arm cloud platform.

[0324] S731, generate a charging list.

[0325] S732, display charging cost and charging completion.

[0326] Exemplarily, when the status of the robotic arm indicates an idle state, it is determined that the target charging gun is disconnected from the charging port of the target vehicle, a charging list is generated through the charging cloud platform, and the charging list is displayed on the target terminal. The charging list includes charging fees, unit price of electricity, charging completion, etc. The content of the charging list can be determined based on actual conditions and is not specifically limited here.

[0327] S733, the target vehicle drives away.

[0328] S734, identifying the parking space status.

[0329] S735, sending a lock raising command after reading the parking space status.

[0330] S736, lift lock.

[0331] For example, when the robotic arm pulls out the target charging gun, the target vehicle can drive out of the parking space, and the parking space status can be identified by the camera. The auxiliary cloud platform can read the parking space status identified by the camera and send a lock raising command to the ground lock to raise the lock.

[0332] The above technical scheme, when determining to automatically charge the target vehicle, determines the target charging gun of the target vehicle, sends an automatic charging instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle, and the automatic charging instruction includes the identification of the target charging gun; in response to the feedback instruction of the robotic arm cloud platform, controls the charging pile corresponding to the target charging gun to start, so that the target charging gun charges the target vehicle, and the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle; charges the target vehicle by transmitting data between the charging cloud platform and the robotic arm cloud platform; compared with the prior art in which the charging cloud platform is directly connected to the charging device during vehicle charging, and the instructions are directly sent to the directly connected device through the charging cloud platform, this scheme can reduce the data transmission volume of the charging cloud platform and improve the data processing efficiency of the charging cloud platform.

[0333] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0334] Combination of the above Figures 1 to 7 The vehicle charging method provided by the embodiment of the present application is described in detail; Figure 8 and Fig.11The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0335] Figure 8 It is a structural schematic diagram of a vehicle charging device provided in an embodiment of the present application.

[0336] Among them, the vehicle charging device is configured on the charging cloud platform.

[0337] For example, Figure 8 As shown, the vehicle charging device 800 includes:

[0338] A determination module 810, configured to determine a target charging gun of the target vehicle when it is determined that the target vehicle is to be automatically charged;

[0339] The transmission module 820 is used to send an automatic charging instruction to the robot cloud platform, so that the robot cloud platform controls the robot to move and connect the target charging gun to the charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun;

[0340] The control module 830 is used to respond to the feedback instruction of the robotic arm cloud platform to control the charging pile corresponding to the target charging gun to start, so that the target charging gun can charge the target vehicle; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

[0341] Optionally, as an embodiment, the vehicle charging device 800 further includes an acquisition module, and the acquisition module is specifically used to:

[0342] Obtaining identification information of a target vehicle and / or target parking space information; wherein the target parking space information is used to indicate the parking space information where the target vehicle is located;

[0343] Based on the identification information of the target vehicle and / or the target parking space information, it is determined whether to automatically charge the target vehicle.

[0344] Optionally, as an embodiment, the acquisition module is specifically used for:

[0345] Get the charging whitelist;

[0346] Determine whether to automatically charge the target vehicle based on the target vehicle's identification information and the charging whitelist; or,

[0347] Based on the identification information of the target vehicle, the target parking space information and the charging whitelist, determine whether to automatically charge the target vehicle.

[0348] Optionally, as an embodiment, the acquisition module is specifically used for:

[0349] Determining charging mode configuration information of the target vehicle based on identification information of the target vehicle; wherein the charging mode configuration information includes an automatic charging mode and / or a manual charging mode;

[0350] If the charging mode configuration information includes an automatic charging mode, and the charging whitelist includes identification information of the target vehicle, determining to automatically charge the target vehicle;

[0351] If the charging mode configuration information does not include the automatic charging mode, and / or the charging whitelist does not include the identification information of the target vehicle, it is determined that the target vehicle is not automatically charged.

[0352] Optionally, as an embodiment, the acquisition module is specifically used for:

[0353] If the target parking space information is an automatic charging parking space, and the charging whitelist includes the identification information of the target vehicle, it is determined to automatically charge the target vehicle;

[0354] If the charging whitelist does not include the identification information of the target vehicle, and / or the target parking space information is not an automatic charging parking space, it is determined not to automatically charge the target vehicle.

[0355] Optionally, as an embodiment, the determining module 810 is specifically configured to:

[0356] Based on the target parking space information where the target vehicle is located, determine the charging gun corresponding to the target parking space;

[0357] The charging gun corresponding to the target parking space is used as the target charging gun.

[0358] Fig. 9 It is a schematic diagram of the structure of another vehicle charging device provided in an embodiment of the present application.

[0359] Among them, the vehicle charging device is configured on the robotic arm cloud platform.

[0360] For example, Fig. 9 As shown, the vehicle charging device 900 includes:

[0361] The control module 910 controls the robot arm to move and connect the target charging gun to the charging port of the target vehicle in response to the automatic charging instruction of the charging cloud platform; wherein the automatic charging instruction includes the identification of the target charging gun;

[0362] The transmission module 920 is used to send a feedback instruction to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start and charge the target vehicle through the target charging gun; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

[0363] Optionally, as an embodiment, the control module 910 is specifically configured to:

[0364] determining a target location of a charging port of a target vehicle;

[0365] Based on the target position of the charging port, the robot arm is controlled to move to connect the target charging gun with the charging port of the target vehicle.

[0366] Optionally, as an embodiment, the control module 910 is specifically configured to:

[0367] Acquire a target image of a target vehicle in a parking state and a target model of the target vehicle;

[0368] Based on the target image or target vehicle model, the target position of the charging port is determined.

[0369] Optionally, as an embodiment, the control module 910 is specifically configured to:

[0370] If the target vehicle model exists in the preset position relationship, determine the target position of the charging port; wherein the preset position relationship is used to indicate the corresponding relationship between the vehicle model and the position of the charging port;

[0371] If the target vehicle model does not exist in the preset position relationship, the target image is recognized to obtain the target position of the charging port.

[0372] It should be noted that the above-mentioned vehicle charging device 800 or vehicle charging device 900 is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0373] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0374] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0375] Fig.10It is a structural schematic diagram of a vehicle charging device provided in an embodiment of the present application.

[0376] For example, Fig.10 As shown, the vehicle charging device 1000 includes: a memory 1010 and a processor 1020, wherein the memory 1010 stores an executable program code 1030, and the processor 1020 is used to call and execute the executable program code 1030 to perform a vehicle charging method.

[0377] Exemplarily, the memory 1010 can be used to store relevant programs of the vehicle charging method provided in the embodiments of the present application; the processor 1020 can call the relevant programs of the vehicle charging method stored in the memory 1010 to execute the vehicle charging method in the embodiments of the present application; for example, when it is determined that the target vehicle is to be automatically charged, the target charging gun of the target vehicle is determined; an automatic charging instruction is sent to the robotic arm cloud platform so that the robotic arm cloud platform controls the movement of the robotic arm to connect the target charging gun with the charging port of the target vehicle; wherein the automatic charging instruction includes an identification of the target charging gun; in response to the feedback instruction of the robotic arm cloud platform, the charging pile corresponding to the target charging gun is controlled to start, so that the target charging gun charges the target vehicle; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

[0378] Fig.11 It is a structural schematic diagram of a vehicle charging device provided in an embodiment of the present application.

[0379] For example, Fig.11 As shown, the vehicle charging device 1100 includes: a memory 1110 and a processor 1120, wherein the memory 1110 stores an executable program code 1130, and the processor 1120 is used to call and execute the executable program code 1130 to perform a vehicle charging method.

[0380] Exemplarily, the memory 1110 can be used to store relevant programs of the vehicle charging method provided in the embodiments of the present application; the processor 1120 can call the relevant programs of the vehicle charging method stored in the memory 1110 to execute the vehicle charging method in the embodiments of the present application; for example, in response to the automatic charging instruction of the charging cloud platform, the robotic arm is controlled to move to connect the target charging gun with the charging port of the target vehicle; wherein the automatic charging instruction includes the identification of the target charging gun; a feedback instruction is sent to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start, and charges the target vehicle through the target charging gun; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

[0381] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0382] In the case of dividing each functional module according to each function, the device may also include a determination module, a transmission module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0383] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle charging method, and thus can achieve the same effect as the above-mentioned implementation method.

[0384] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes, etc.

[0385] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0386] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle charging method provided in the above embodiments.

[0387] The present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle charging method provided in the above-mentioned embodiment. Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (DVD), compact disc read-only memory (CD-ROM), microdrives and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read only memory (EEPROM), dynamic random access memory (DRAM), video random access memory (VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0388] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle charging method provided in the above-mentioned embodiment.

[0389] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0390] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0391] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or 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 device, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0392] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the 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.

Claims

1. A vehicle charging method, characterized in that: The method is applied to a charging cloud platform, and the method comprises: In the case of determining to automatically charge the target vehicle, determining a target charging gun for the target vehicle; Sending an automatic charging instruction to the robotic arm cloud platform so that the robotic arm cloud platform controls the robotic arm to move and connect the target charging gun to the charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun; In response to the feedback instruction of the robotic arm cloud platform, the charging pile corresponding to the target charging gun is controlled to start so that the target charging gun charges the target vehicle; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

2. The method according to claim 1, characterized in that The method further comprises: Acquire identification information and / or target parking space information of the target vehicle; wherein the target parking space information is used to indicate the parking space information where the target vehicle is located; Based on the identification information of the target vehicle and / or the target parking space information, it is determined whether to automatically charge the target vehicle.

3. The method according to claim 2, characterized in that The method further comprises: Get the charging whitelist; The determining whether to automatically charge the target vehicle based on the identification information of the target vehicle and / or the target parking space information includes: Determining whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist; or, Based on the identification information of the target vehicle, the target parking space information and the charging whitelist, it is determined whether to automatically charge the target vehicle.

4. The method according to claim 3, characterized in that The determining whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist includes: Based on the identification information of the target vehicle, determining the charging mode configuration information of the target vehicle; wherein the charging mode configuration information includes an automatic charging mode and / or a manual charging mode; If the charging mode configuration information includes the automatic charging mode, and the charging whitelist includes the identification information of the target vehicle, determining to automatically charge the target vehicle; If the charging mode configuration information does not include the automatic charging mode, and / or the charging whitelist does not include the identification information of the target vehicle, it is determined not to automatically charge the target vehicle.

5. The method according to claim 3, characterized in that: The determining whether to automatically charge the target vehicle based on the identification information of the target vehicle, the target parking space information and the charging whitelist includes: If the target parking space information is an automatic charging parking space, and the charging whitelist includes the identification information of the target vehicle, determining to automatically charge the target vehicle; If the charging whitelist does not include the identification information of the target vehicle, and / or the target parking space information is not the automatic charging parking space, it is determined not to automatically charge the target vehicle.

6. The method according to any one of claims 1 to 5, characterized in that The step of determining a target charging gun of the target vehicle includes: Based on the target parking space information where the target vehicle is located, determining a charging gun corresponding to the target parking space; The charging gun corresponding to the target parking space is used as the target charging gun.

7. A vehicle charging method, characterized in that: The method is applied to a robotic arm cloud platform, and the method comprises: In response to an automatic charging instruction from a charging cloud platform, the robot arm is controlled to move to connect a target charging gun to a charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun; A feedback instruction is sent to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start, and charges the target vehicle through the target charging gun; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

8. The method according to claim 7, characterized in that The controlling the mechanical arm to move and connect the target charging gun to the charging port of the target vehicle includes: Determining a target position of a charging port of the target vehicle; Based on the target position of the charging port, the robot arm is controlled to move to connect the target charging gun with the charging port of the target vehicle.

9. The method according to claim 8, characterized in that The determining a target position of a charging port of the target vehicle includes: Acquire a target image of the target vehicle in a parking state and a target model of the target vehicle; Based on the target image or the target vehicle model, a target position of the charging port is determined.

10. The method according to claim 9, characterized in that The determining the target position of the charging port based on the target image or the target vehicle model includes: If the target vehicle model exists in the preset position relationship, determine the target position of the charging port; wherein the preset position relationship is used to indicate the corresponding relationship between the vehicle model and the position of the charging port; If the target vehicle type does not exist in the preset position relationship, the target image is identified to obtain the target position of the charging port.

11. A vehicle charging device, characterized in that: The device is configured on a charging cloud platform, and includes: A determination module, used to determine a target charging gun of the target vehicle when it is determined that the target vehicle is to be automatically charged; A transmission module, used for sending an automatic charging instruction to the robotic arm cloud platform, so that the robotic arm cloud platform controls the robotic arm to move and connect the target charging gun to the charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun; A control module is used to respond to the feedback instruction of the robotic arm cloud platform to control the charging pile corresponding to the target charging gun to start, so that the target charging gun can charge the target vehicle; wherein, the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

12. A vehicle charging device, characterized in that: The device is configured on a robotic arm platform, and the device comprises: A control module, in response to an automatic charging instruction from a charging cloud platform, controls the mechanical arm to move and connect a target charging gun to a charging port of the target vehicle; wherein the automatic charging instruction includes an identifier of the target charging gun; A transmission module is used to send a feedback instruction to the charging cloud platform so that the charging cloud platform controls the charging pile corresponding to the target charging gun to start and charge the target vehicle through the target charging gun; wherein the feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle.

13. A vehicle charging system, characterized in that: Including charging cloud platform and robotic arm cloud platform; Wherein, the charging cloud platform is used to execute the vehicle charging method according to any one of claims 1 to 6; The robotic arm cloud platform is used to execute the vehicle charging method as described in any one of claims 7 to 10.

Images