Vehicle charging method, vehicle charging device, and vehicle charging system

Abstract

The application 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 following steps: in the case of determining to automatically charge a target vehicle, determining a target charging gun of the target vehicle; sending an automatic charging instruction to a mechanical arm cloud platform, so that the mechanical arm cloud platform controls a mechanical arm to move and connect the target charging gun with a charging port of the target vehicle; wherein the automatic charging instruction comprises an identifier of the target charging gun; in response to a feedback instruction of the mechanical arm cloud platform, controlling a charging pile corresponding to the target charging gun 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 with the charging port of the target vehicle. The method can reduce the data transmission amount of the charging cloud platform 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] Currently, charging cloud platforms need to obtain and process information sent by charging devices and users during vehicle charging. This process involves a large amount of data transmission, making it prone to errors and potentially leading to charging interruptions. Therefore, reducing the amount of data transmitted by charging cloud platforms during vehicle charging has become a pressing issue. 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 solution, 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 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.

[0010] In conjunction 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 the target vehicle needs to be automatically charged based on the identification information of the target vehicle and / or the target parking space information, which can reduce the user's operations during the vehicle charging process and improve 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; and determines whether to automatically charge the target vehicle through multi-dimensional data related to the target vehicle, which can reduce the user's operations during the vehicle charging process and improve the accuracy of determining whether to automatically charge the target vehicle.

[0018] In combination with the first aspect and the above implementation, 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] Determining charging mode configuration information of the target vehicle based on the identification 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] In 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 implementation, 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] In 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 will be 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 will not be 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 will be automatically charged, without the need for user intervention, and ensuring the accuracy of determining whether to automatically charge the target vehicle.

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

[0030] Determine the charging gun corresponding to the target parking space based on the target parking space information of the target vehicle;

[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, which is applied to a robotic arm cloud platform, and the method includes:

[0034] In response to an automatic charging instruction from the 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] 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 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. 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, this application can reduce the amount of data transmission, thereby improving the processing efficiency of charging data.

[0037] In conjunction 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] A target position of the charging port is determined based on the target image or the target vehicle model.

[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 implementations, in some possible implementations, 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, determining the target position of the charging port; wherein the preset position relationship is used to indicate the correspondence 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 solution, 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, the device being configured on a charging cloud platform; the device comprising:

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

[0051] A transmission module, configured to send 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 control the charging pile corresponding to the target charging gun to start in response to the feedback instruction of the robotic arm cloud platform, 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 from a charging cloud platform, controls the movement of the robotic arm 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;

[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] The charging cloud platform is used to execute the vehicle charging method in the first aspect or any possible implementation 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 according to the first aspect or any possible implementation of the first aspect, or to execute the vehicle charging method according to the second aspect or any possible implementation of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0063] Figure 2 This 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 This is an interactive flow chart of a vehicle charging method provided in an embodiment of the present application;

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

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

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

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

[0073] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this 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 this application, "multiple" means two or more than two.

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

[0075] It should be noted that when controlling vehicle charging, the charging cloud platform needs to obtain information sent by the charging device and the user, and process the information sent by the charging device and the user. During this process, the data transmission volume 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. The method can reduce the data transmission volume of the charging cloud platform during the vehicle charging process.

[0076] Figure 1 This is a scenario 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. 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 charges 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. 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 the target vehicle for automatic charging. 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 through the charging 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 vehicle's charging port. It has multiple joints, can rotate 360 ​​degrees, and can perform posture adjustment, path planning, etc. The robotic arm is equipped with a camera, and through image recognition algorithms, it can identify the location of the charging gun, charging port cover, charging port, etc.

[0086] The target camera is used to obtain 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 parking space information of the vehicle, the parking space status, etc.

[0087] The charging pile indicates whether it is an AC or DC charging pile. The charging pile transmits data with the charging cloud platform and receives control commands from the charging cloud platform. The ground lock is connected to the auxiliary cloud platform, which can issue unlock (lower) and lock (raise) commands to control the raising 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 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 parks in the target parking space (parking space 1), the auxiliary cloud platform sends vehicle 1's identification information, which may include the license plate number, VIN code, etc., to the charging cloud platform. The auxiliary cloud platform also sends target parking space information to the charging cloud platform. The target parking space information is used to indicate the parking space where vehicle 1 is located, for example, the parking space number of parking space 1. Based on vehicle 1's identification information, the charging configuration information of vehicle 1 is determined. The charging configuration information may include an automatic charging mode and / or a manual charging mode. If the charging configuration information of vehicle 1 includes the automatic charging mode, it is determined whether the charging whitelist includes vehicle 1's identification information. If the charging whitelist includes vehicle 1's identification information, it is determined that vehicle 1 will be 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 is determined. Based on the target position of the charging port of vehicle 1, the robotic arm is controlled to move 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] For example, 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. When the parking space is determined, the charging gun corresponding to the parking space can be determined.

[0096] The above technical solution determines whether to automatically charge the target vehicle if the charging mode configuration information includes an automatic charging mode and the target vehicle's identification information is included in the charging whitelist. By combining the charging mode configuration information with the multi-dimensional data of the charging whitelist, the accuracy of determining whether to automatically charge the target vehicle can be improved. Furthermore, if it is determined that the target vehicle will be automatically charged, the charging cloud platform and the robotic arm cloud platform transmit data to automatically charge the target vehicle. The robotic arm cloud platform processes some of the charging data, eliminating the need to transmit this data to the charging cloud platform. This reduces the amount of data transmitted by the charging cloud platform and improves its data processing efficiency.

[0097] Figure 3 This 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 for 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] 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, 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, 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 after receiving the automatic charging instruction, thereby charging the target vehicle.

[0103] In one example, whether to automatically charge the target vehicle is determined based on the identification information of the target vehicle. Specifically, the identification information of the target vehicle is obtained, and based on the information of the target vehicle, whether to automatically charge the target vehicle is determined. If 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 can be determined according to actual conditions and is not specifically limited here.

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

[0107] In another example, the target parking space information of the target vehicle is obtained, and the target parking space information is used to determine whether to automatically charge the target vehicle. That is, if the target parking space information indicates that the parking space is an automatic charging space, then if 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 the target vehicle needs to be automatically charged based on the identification information of the target vehicle and / or the target parking space information, which can reduce the user's operations during the vehicle charging process and improve 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 obtained 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 obtaining the vehicle image of the target vehicle; if the target vehicle is parked in the target parking space, send a parking instruction 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 obtained.

[0111] Optionally, the charging cloud platform receives a parking instruction sent by the target camera; or, the charging cloud platform receives a parking instruction sent by the 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 captures the target vehicle's image and sends it to the auxiliary cloud platform. The auxiliary cloud platform uses the vehicle image to determine whether the target vehicle is a new energy vehicle. If the target vehicle is a new energy vehicle, the ground lock of the parking space is unlocked (downlocked) to allow the target vehicle to park in the target parking space. This prevents fuel vehicles from parking in charging spaces and occupying resources, and improves the convenience of charging new energy vehicles.

[0114] The above technical solution obtains the identification information of the target vehicle when the target vehicle parks in the target parking space. Compared with obtaining the information of the target vehicle in real time, by obtaining the identification information of the target vehicle when the target vehicle has a charging demand, it can reduce the data processing volume and save data processing resources.

[0115] For example, the charging cloud platform can receive identification information of a target vehicle from a target camera, or receive identification information of a target vehicle from an auxiliary cloud platform. Furthermore, the charging cloud platform can receive target parking space information from a target camera, or receive target parking space information from an 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 technical scheme above 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 part cloud platform. Since the charging cloud platform can receive the identification information of the target vehicle sent by the target camera and the auxiliary part cloud platform, the transmission of information will not be affected in the case that any transmission channel fails, and the efficiency of data transmission can be ensured.

[0119] For example, based on the identification information of the target vehicle, it is determined whether to automatically charge the target vehicle. The determination can be made only by using the charging mode configuration information of the target vehicle (determined by the identification information of the target vehicle). Of course, the determination can also be made by using the charging mode configuration information of the target vehicle and the charging white list.

[0120] Example 1: The determination of whether to automatically charge the target vehicle is made by using the charging mode configuration information of the target vehicle.

[0121] For example, based on the identification information of the target vehicle, the charging mode configuration information of the target vehicle is determined, and 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 can include only the automatic charging mode or only the manual charging mode. Of course, the charging mode configuration information can include the automatic charging mode and the manual charging mode.

[0123] For example, the charging mode configuration information can be the charging mode selected by a user when registering an account on a target terminal. For example, when a user registers an account on a target terminal, the license plate number and the VIN number (identification information of the vehicle) are input, and the charging mode is selected as the automatic charging mode (charging mode configuration information). Therefore, by using 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] Further, after the charging mode configuration information of the target vehicle is determined, the charging cloud platform can determine whether to automatically charge the target vehicle by using the charging mode configuration information. That is, if the charging mode configuration information includes the automatic charging mode, the target vehicle is automatically charged. If the charging mode configuration information does not include the 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 can 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 by 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] For example, the charging whitelist can be stored in the charging cloud platform; or the charging whitelist can be obtained from the target terminal. The method for obtaining the charging whitelist can be determined according to actual conditions and is not specifically limited here.

[0131] Exemplarily, the charging whitelist includes vehicle identification information of vehicles that are allowed to automatically charge; the charging whitelist includes vehicle models and vehicle identification information of vehicles that are allowed to automatically charge; 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, it is determined 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, 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.

[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 an automatic charging mode, an inquiry message can 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] In 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, whether to automatically charge the target vehicle can be determined based on the target vehicle's charging mode configuration information, or based on the target vehicle's charging mode configuration information and a charging whitelist. In addition to the above methods, whether to automatically charge the target vehicle can also be determined based on the target parking space information, or based on the target parking space information, the target vehicle's identification information, and a charging whitelist. This is specifically illustrated below using 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 where the target vehicle is located is obtained, and it is determined whether the target parking space information where the target vehicle is located is an automatic charging parking space. If the target parking space information where the target vehicle is located is an automatic charging parking space, it is determined that the target vehicle is automatically charged; if the target parking space information where the target vehicle is located is not an automatic charging parking space, it is determined that the target vehicle is not automatically charged.

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

[0140] Example 4: Determine whether to automatically charge the target vehicle based on the target parking space information, the target vehicle's identification information, 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 combining the user's current intention with the charging whitelist to determine whether to automatically charge the target vehicle, which can improve the accuracy of determining whether to automatically charge the target vehicle.

[0143] Exemplarily, it is determined 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, it is determined that the target vehicle will be 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 will not be automatically charged.

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

[0145] The technical solution above, if the target parking space information is an automatic charging parking space and the charging white list includes the identification information of the target vehicle, determines to automatically charge the target vehicle; if the charging white list does not include the identification information of the target vehicle and / or the target parking space information is not an automatic charging parking space, determines not to automatically charge the target vehicle; thereby determining the current intention of the user through the target parking space information, and determining to automatically charge the target vehicle in combination with the current intention of the user and the charging condition of the target vehicle, thereby ensuring the accuracy of determining to automatically charge the target vehicle without the intervention of the user.

[0146] Further, in the case of determining to automatically charge the target vehicle, the target charging gun of the target vehicle is determined. Specifically, the target parking space information where the target vehicle is located is determined, the charging gun corresponding to the target parking space is determined based on the target parking space information, and the charging gun corresponding to the target parking space is taken as the target charging gun.

[0147] It can be understood that the preset parking space relationship is stored in the charging cloud platform, and the preset parking space relationship indicates the correspondence between the preset parking space and the charging gun, so that the charging gun corresponding to the parking space can be determined through the preset parking space relationship and the parking space in the case of determining the parking space.

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

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

[0150] The technical solution above determines the charging gun corresponding to the target parking space through the target parking space information, and takes the charging gun corresponding to the target parking space as the target charging gun; since the parking space is configured with the 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, an automatic charging instruction is sent to the mechanical arm cloud platform to make the mechanical arm cloud platform control the mechanical arm to move to connect the target charging gun with the charging port of the target vehicle.

[0152] Illustratively, the identification of the target charging gun is included in the automatic charging instruction, so that the target charging gun to be gripped can be determined by the mechanical arm cloud platform through sending the automatic charging instruction to the mechanical arm cloud platform.

[0153] Illustratively, the automatic charging instruction is sent to the mechanical arm cloud platform, the target position of the charging port of the target vehicle is determined by the mechanical arm cloud platform, and the mechanical arm cloud platform controls the mechanical arm to move to connect the target charging gun with the charging port of the target vehicle based on the target position of the charging port of the target vehicle to charge the target vehicle.

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

[0155] Specifically, the target position of the charging port of the target vehicle is determined by the mechanical arm cloud platform, the target position of the charging port indicates a position of the charging port on the target vehicle, and the target position includes a height of the charging port; further, the target position of the charging port of the vehicle is determined at a terminal position of the parking area, and a starting position of the mechanical arm is determined, a moving path is generated based on the starting position and the terminal position, the mechanical arm is controlled to move to the terminal position through the moving path, and the target charging gun is connected with 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 mechanical arm to move 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; and the accuracy of connecting the target charging gun with the charging port of the target vehicle can be ensured.

[0157] For example, 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 vehicle 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 vehicle model.

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

[0159] It can be understood that the positions of the charging ports of vehicles of the same vehicle model are the same, and therefore, for vehicles of the same vehicle model, the target position can be determined by referring to the positions of the charging ports of other vehicles of the same vehicle model.

[0160] Specifically, in response to a parking instruction of the auxiliary part cloud platform, it is determined that the target vehicle is in a parking state, a target image of the target vehicle in the parking state is obtained by a target camera, or a target image of the target vehicle in the parking state is obtained by a camera on the mechanical arm, so that the target position of the charging port of the target vehicle is determined based on the target image of the target vehicle in the parking state or a target vehicle model of the target vehicle.

[0161] The above technical solution determines the target position of the charging port based on the target image of the target vehicle in the parking state or the target vehicle model of the target vehicle; and therefore, when there are vehicles of the same vehicle model, 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 a target image or a target vehicle model. Specifically, it is determined whether the target vehicle model exists in a preset positional relationship. If so, the target position of the charging port of the target vehicle is determined. The preset positional relationship indicates the correspondence 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 based on the target vehicle model and the preset positional relationship. If the target vehicle model does not exist in the preset positional relationship, the target image is recognized to obtain the target position of the charging port of the target vehicle.

[0163] In the above technical solution, 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 robotic arm cloud platform, controlling 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 feedback instructions from the robotic arm cloud platform, the charging pile corresponding to the target charging gun is controlled to start, so that the target charging gun can charge the target vehicle. In addition, the charging cloud platform receives charging data and billing data sent by the charging pile, and generates a charging list based on the charging data and billing data sent by the charging pile.

[0168] For example, 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, the target vehicle's charging is terminated in response to a full charge instruction from the target vehicle; or in response to a stop charge instruction from the target terminal; or in response to a stop charge instruction from the charging station. The method for determining the termination of charging of the target vehicle can be determined based on actual circumstances and is not specifically limited here.

[0170] The above technical solution, when it is determined 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 instruction 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 solution, 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; charges the target vehicle through data transmission 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 instructions are sent directly to the directly connected device through the charging cloud platform, this solution 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 This is a schematic flowchart 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 parks 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 including 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, 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] For example, when a target vehicle parks in a target parking space, the target camera identifies the target vehicle, determines its identification information, and transmits it to the charging cloud platform. Alternatively, after determining the target vehicle's identification information, the target camera uploads it to the auxiliary cloud platform, which then transmits it to the charging cloud platform. Alternatively, the target vehicle's identification information can be its license plate number or VIN number.

[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 vehicle's charging mode configuration information includes the automatic charging mode.

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

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

[0184] S403, it is determined whether the charging mode configuration information includes an automatic charging mode; if not, S404 is performed; if not, S405 is performed.

[0185] For example, it is determined whether the charging mode configuration information includes an automatic charging mode; if the charging mode configuration information includes an automatic charging mode, it is determined that the user has an intention of automatic charging.

[0186] S404, it is determined not to automatically charge the target vehicle.

[0187] For example, it is determined 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 does not include an automatic charging mode, it is determined not to automatically charge the target vehicle.

[0188] S405, it is determined whether the charging white list includes the identification information of the target vehicle; if not, S406 is performed; if not, S407 is performed.

[0189] For example, it is determined 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, it is determined whether the charging white list includes the identification information of the target vehicle, so as to determine whether to automatically charge the target vehicle according to the charging white list.

[0190] For example, the charging white list can be stored in the charging cloud platform; or, the charging white list can be obtained from the target terminal. The obtaining manner of the charging white list can be determined according to actual conditions, which is not limited here.

[0191] For example, the charging white list includes vehicle identification information allowed to be automatically charged; the charging white list includes vehicle models and vehicle identification information allowed to be automatically charged.

[0192] S406, it is determined not to automatically charge the target vehicle.

[0193] For example, it is determined 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, it is determined whether the charging white list includes the identification information of the target vehicle, the charging white list does not include the identification information of the target vehicle, and it is determined not to automatically charge the target vehicle.

[0194] S407, it is determined to automatically charge the target vehicle.

[0195] Exemplarily, determining whether the target vehicle's charging mode configuration information includes an automatic charging mode, if the target vehicle's charging mode configuration information includes an automatic charging mode, determining whether the charging whitelist includes the target vehicle's identification information, and the charging whitelist includes the target vehicle's identification information, determining whether the target vehicle is automatically charged.

[0196] S408: Determine the target parking space information where the target vehicle is located.

[0197] 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 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] For example, when it is determined that the target vehicle is to be automatically charged, a target charging gun for the target vehicle is determined. Specifically, information about the target parking space where the target vehicle is located is determined, and based on the target parking space information, a 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 gun 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 for the target vehicle is determined. Specifically, information about the target parking space where the target vehicle is located is determined, and based on the target parking space information, a 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 as the end position in the parking area, and the starting position of the robotic arm is located. 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 robotic arm cloud platform, controlling 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 completed, 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 completed, 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, the target vehicle's charging is terminated in response to a full charge instruction from the target vehicle; or in response to a stop charge instruction from the target terminal; or in response to a stop charge instruction from the charging station. The method for determining the termination of charging of the target vehicle can be determined based on actual circumstances 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 mechanical arm cloud platform to make the mechanical arm cloud platform control the mechanical arm to move to disconnect the target charging gun from the charging port of the target vehicle.

[0218] For example, in the case of determining to end charging the target vehicle, 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 mechanical arm cloud platform to make the mechanical arm cloud platform control the mechanical arm to move to disconnect the target charging gun from the charging port of the target vehicle.

[0219] Further, the mechanical arm cloud platform controls the mechanical arm to move to disconnect the target charging gun from the charging port of the target vehicle, returns the charging gun to the original position through the mechanical arm, and sends an end instruction to the charging cloud platform, which 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 an automatic charging mode and the identification information of the target vehicle is included in the charging white list; and the multi-dimensional data of the charging mode configuration information and the charging white list can improve the accuracy of determining whether to automatically charge the target vehicle. Further, in the case of determining to automatically charge the target vehicle, the charging cloud platform and the mechanical arm cloud platform are used for data transmission to charge the target vehicle; compared with the prior art in which the charging cloud platform is directly connected with the charging device during vehicle charging and the charging cloud platform directly sends an instruction to the directly connected device, the present solution can reduce the data transmission amount of the charging cloud platform and improve the data processing efficiency of the charging cloud platform.

[0221] Figure 5 is a schematic flowchart of another vehicle charging method provided by the embodiments of the present application.

[0222] For example, Figure 5 The method shown can be performed by a mechanical 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, controlling the mechanical arm to move to connect the target charging gun with the charging port of the target vehicle.

[0225] For example, the identification of the target charging gun is included in the automatic charging instruction, so that the mechanical arm is controlled to move to connect the target charging gun with the charging port of the target vehicle upon receiving the automatic charging instruction sent by the charging cloud platform.

[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, 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. The end position and the starting position of the robotic arm are determined, 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.

[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, a target position of a charging port of a target vehicle is determined. Specifically, a target image of the target vehicle in a parked state and a target model of the target vehicle are acquired, 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 the parking state includes a vehicle image of the target vehicle and an image of the 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 the parking instruction of the auxiliary parts 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 the target camera, or a target image of the target vehicle in a parking state is obtained through the camera on the 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] Illustratively, 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 correspondence 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 through the target vehicle model and the 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 of the target vehicle.

[0235] The above technical solution determines the target position of the charging port if the target vehicle model exists in the preset position relationship. The preset position relationship indicates the correspondence relationship 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 is 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 through identification of the target image, regardless of whether the target vehicle model exists in the preset position relationship, thereby improving the accuracy of determining 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, thereby continuously updating the preset position relationship and improving the efficiency of determining the target position of the charging port of the target vehicle.

[0237] S520, a feedback instruction is sent to the charging cloud platform to enable the charging cloud platform to control the target charging gun corresponding charging pile to start, and the target vehicle is charged through the target charging gun.

[0238] Illustratively, the feedback instruction is used to indicate that the target charging gun and the charging port of the target vehicle are connected.

[0239] Illustratively, the feedback instruction is sent to the charging cloud platform to enable the charging cloud platform to control the target charging gun corresponding charging pile to start, and the target vehicle is charged through the target charging gun.

[0240] Illustratively, in the case of determining that the charging of the target vehicle is completed, a stop charging instruction is sent to the charging pile corresponding to the target charging gun through the charging cloud platform to enable the charging cloud platform to control the charging pile according to the confirmation instruction of the charging pile. Further, if the end instruction sent by the charging cloud platform is received, the mechanical arm is controlled to move to disconnect the target charging gun and the charging port of the target vehicle.

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

[0242] Further, the mechanical arm is controlled to move to disconnect the target charging gun from the charging port of the target vehicle, the mechanical arm is controlled to move to return the charging gun to the original position, and an end instruction is sent to the charging cloud platform. The charging cloud platform generates automatic deduction according to the identification information of the target vehicle, and outputs the deduction information or a deduction prompt information through the target terminal.

[0243] The above technical solution, in response to the automatic charging instruction of the charging cloud platform, controls the mechanical arm to move to connect the target charging gun to the charging port of the target vehicle, and the automatic charging instruction includes the identification of the target charging gun; and a feedback instruction is sent 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 the target vehicle is charged through the target charging gun. The feedback instruction is used to indicate that the target charging gun is connected to the charging port of the target vehicle. The charging cloud platform and the mechanical arm cloud platform are used for data transmission to charge the target vehicle, so that part of the charging data is processed through the mechanical arm cloud platform. Compared with sending an instruction to directly connected devices through the charging cloud platform, the data transmission amount can be reduced, and the processing efficiency of the charging data can be improved.

[0244] Figure 6 is a schematic flowchart of controlling a mechanical arm provided by an embodiment of the present application.

[0245] Exemplarily, Figure 6 The method shown can be executed by the mechanical arm cloud platform.

[0246] Exemplarily, as Figure 6 The method 600 includes the following processes:

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

[0248] Exemplarily, the automatic charging instruction includes the identification of the target charging gun, so that the mechanical arm is controlled to move to connect the target charging gun to the charging port of the target vehicle after receiving the automatic charging instruction sent by the charging cloud platform.

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

[0250] S620, determine whether the target vehicle type 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 robotic arm cloud platform; or the preset position relationship is stored in the target terminal and sent to the robotic arm 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: Identify the target image and obtain the target position of the charging port.

[0254] Exemplarily, a target image of the target vehicle in a parking state and a target model of the target vehicle are obtained to determine whether the target model exists in a preset position relationship. If the target 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: Determine a target location of the charging port based on the target vehicle model.

[0256] Exemplarily, a target image of the target vehicle in a parking state and a target model of the target vehicle are obtained to determine whether the target model exists in a preset position relationship. If the target model exists in the preset position relationship, the target position of the charging port of the target vehicle is determined based on the target 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] For example, the automatic charging instruction includes an identifier of the target charging gun, and the target position of the charging port of the target vehicle is determined, and the mechanical arm is controlled to move to connect the target charging gun with the charging port of the target vehicle.

[0260] Specifically, in the case of 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 target vehicle is determined at the end position of the parking area, and the starting position of the mechanical arm is determined, and a moving path is generated based on the starting position and the end position, the mechanical arm is controlled to move to the end position through the moving path, and the target charging gun is connected with the charging port of the target vehicle.

[0261] S660, a feedback instruction is sent to the charging cloud platform to enable the charging cloud platform to control the target charging gun corresponding charging pile to start, and the target vehicle is charged through the target charging gun.

[0262] For example, the feedback instruction is used to indicate that the target charging gun is connected with the charging port of the target vehicle, that is, the charging cloud platform controls the mechanical arm to pull out the target charging gun from the charging port of the target vehicle.

[0263] For example, the feedback instruction is sent to the charging cloud platform to enable the charging cloud platform to control the target charging gun corresponding charging pile to start, and the target vehicle is charged through the target charging gun.

[0264] For example, in the case of determining that the charging of the target vehicle is completed, 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 controls the charging pile according to the confirmation instruction of the charging pile. Further, if the 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 the charging of the target vehicle is completed through the full charging instruction of the target vehicle; or the charging cloud platform determines that the charging of the target vehicle is completed through the stop charging instruction of the target charging; or the charging cloud platform determines that the charging of the target vehicle is completed through the stop instruction of the charging pile. The way to determine that the charging of the target vehicle is completed can be determined according to actual conditions, which is not limited here.

[0266] Further, the mechanical 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 the original position through the mechanical arm, and an end instruction is sent to the charging cloud platform.

[0267] The above technical solution, if the target vehicle model exists in the preset position relationship, directly determines the target position of the charging port of the target vehicle 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. 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 through identification of the target image, whether the target vehicle model exists in the preset position relationship or not, thereby improving the accuracy of determining the target position of the charging port. Further, in the case of determining the target position of the charging port, the charging cloud platform and the mechanical arm cloud platform are used for data transmission to the target vehicle for charging, so that part of the charging data is processed through the mechanical arm cloud platform. Compared with sending instructions to directly connected devices through the charging cloud platform, the data transmission amount can be reduced, thereby improving the processing efficiency of the charging data.

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

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

[0270] S701, self-checking state information.

[0271] It can be understood that S701 to S704 can be executed after detecting that the vehicle is parked in the parking space, or S701 to S704 can be executed after generating the charging list each time; of course, S701 to S704 can be executed at a preset interval, which is not limited here.

[0272] As an example, the mechanical arm self-checks the state information, and the state information of the mechanical arm can include the mechanical arm usage state, the mechanical arm idle state, the mechanical arm fault state, etc.

[0273] S702, reporting state information.

[0274] As an example, the mechanical arm cloud platform obtains the state information of the mechanical arm and reports the state information of the mechanical arm to the charging cloud platform.

[0275] S703, self-checking state information.

[0276] As an example, the charging pile self-checks the state information, and the state information of the charging pile can include the charging pile usage state, the charging pile idle state, the charging pile fault state, etc.

[0277] S704, determining the availability of the mechanical 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's identification, the vehicle's 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 on the charging cloud platform.

[0285] S707: The target vehicle parks 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 parks 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, it sends a lock-down instruction to the ground lock and sends the license plate number and parking space number 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 parking space number, determining the corresponding status of the robotic arm and the charging pile, and determining the corresponding charging preference.

[0295] For example, 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 is understandable that the charging preference (ie, charging mode configuration information) includes an automatic charging mode and / or a manual charging mode.

[0297] S713: Is it 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 robotic arm connects the charging port to the target charging gun.

[0306] For example, 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 instruction and return to the original position.

[0308] For example, 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 its initial position).

[0309] S720: Send 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 fully charged.

[0314] S723, active charging stop.

[0315] S724, stop charging.

[0316] S725: Send a stop charging instruction to the charging pile.

[0317] S726, send a confirmation instruction.

[0318] S727: Send 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 charging of the target vehicle is completed, and a stop charging instruction is sent to the charging pile. After stopping charging, the charging pile sends a confirmation instruction to the charging cloud platform to enable the charging cloud platform to determine that the charging pile stops charging, and thus send a charging end instruction to the robotic arm cloud platform.

[0320] S728: Send control instructions.

[0321] S729, remove the target charging gun.

[0322] S730, sending the robot arm status.

[0323] For example, 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] For example, 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 according to actual conditions and is not specifically limited here.

[0327] S733, the target vehicle drives away.

[0328] S734, identifying the parking space status.

[0329] S735: Send 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-up instruction to the ground lock to lock it.

[0332] The above technical solution, 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; charges the target vehicle through data transmission 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 instructions are sent directly to the directly connected device through the charging cloud platform, this solution 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, and are not intended 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 variations based on the above examples, and such modifications or variations also fall within the scope of the embodiments of the present application.

[0334] Combined with 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 Figure 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 perform various methods of the foregoing embodiments of the present application, i.e., the specific working processes of the following various products can refer to the corresponding processes in the foregoing method embodiments.

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

[0336] The vehicle charging device is configured in a charging cloud platform.

[0337] For example, as shown in Figure 8 The vehicle charging device 800 includes:

[0338] The determination module 810 is configured to determine a target charging gun of a target vehicle in a case where it is determined to automatically charge the target vehicle.

[0339] The transmission module 820 is configured to send an automatic charging instruction to the robot arm cloud platform, so that the robot arm cloud platform controls the robot arm to move to connect the target charging gun with a charging port of the target vehicle. The automatic charging instruction includes an identifier of the target charging gun.

[0340] The control module 830 is configured to control a charging pile corresponding to the target charging gun to start, so that the target charging gun charges the target vehicle, in response to a feedback instruction of the robot arm cloud platform. The feedback instruction is used to indicate that the target charging gun is connected with the charging port of the target vehicle.

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

[0342] acquire identifier information of the target vehicle and / or target parking space information. The target parking space information is used to indicate parking space information where the target vehicle is located.

[0343] determine whether to automatically charge the target vehicle based on the identifier information of the target vehicle and / or the target parking space information.

[0344] Optionally, as one embodiment, the acquisition module is specifically configured to:

[0345] acquire a charging white list.

[0346] determine whether to automatically charge the target vehicle based on the identifier information of the target vehicle and the charging white list; or

[0347] determine whether to automatically charge the target vehicle based on the identifier information of the target vehicle, the target parking space information, and the charging white list.

[0348] Optionally, as one embodiment, the acquisition module is specifically configured to:

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

[0350] if the charging mode configuration information comprises the automatic charging mode and the identification information of the target vehicle is included in the charging white list, determining to automatically charge the target vehicle;

[0351] if the charging mode configuration information does not comprise the automatic charging mode and / or the identification information of the target vehicle is not included in the charging white list, determining not to automatically charge the target vehicle.

[0352] Optionally, as an embodiment, the obtaining module is specifically configured to:

[0353] if the target parking space information is the automatic charging parking space and the identification information of the target vehicle is included in the charging white list, determining to automatically charge the target vehicle;

[0354] if the identification information of the target vehicle is not included in the charging white list and / or the target parking space information is not the automatic charging parking space, determining not to automatically charge the target vehicle.

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

[0356] determining a charging gun corresponding to the target parking space based on the target parking space information where the target vehicle is located;

[0357] taking the charging gun corresponding to the target parking space as the target charging gun.

[0358] Figure 9 is another structural schematic diagram of a vehicle charging device provided by the embodiment of the application.

[0359] The vehicle charging device is configured in a mechanical arm cloud platform.

[0360] For example, as shown in the figure, Figure 9 the vehicle charging device 900 comprises:

[0361] a control module 910, which controls the mechanical arm to connect the target charging gun with the charging port of the target vehicle in response to an automatic charging instruction of the charging cloud platform; wherein the identification of the target charging gun is included in the automatic charging instruction;

[0362] a transmission module 920, which is configured 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 charges the target vehicle through the target charging gun; wherein the feedback instruction is used to indicate that the target charging gun is connected with 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 to 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 location 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, determining the target position of the charging port; wherein the preset position relationship is used to indicate the correspondence between the vehicle model and the position of the charging port;

[0371] If the target vehicle type 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 vehicle charging device 800 or the vehicle charging device 900 is implemented 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 aforementioned functionality. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a group processor) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functionality.

[0374] Therefore, the units of each example described in the embodiments of this 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. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

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

[0376] For example, Figure 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 of 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 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.

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

[0379] For example, Figure 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 of 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 device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0382] In the case of dividing each functional module into corresponding functional modules, the device may further 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 and 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 used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

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

[0386] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and 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 embodiment.

[0387] The application further provides a computer readable storage medium, which stores computer program codes, and when the computer program codes are run on a computer, the computer is caused to execute the above-mentioned related method steps to realize the vehicle charging method provided in the above-mentioned embodiments. The computer readable storage medium can include but is not limited to any type of disk, including a floppy disk, an optical disk, a Digital Video Disc (DVD), a Compact Disc Read-Only Memory (CD-ROM), a micro drive, and a magneto-optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable read only memory (EEPROM), a Dynamic Random Access Memory (DRAM), a Video Random Access Memory (VRAM), a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0388] The application further provides a computer program product, which, when run on a computer, causes the computer to execute the above-mentioned related steps to realize the vehicle charging method provided in the above-mentioned embodiments.

[0389] The vehicle, the computer readable storage medium, the computer program product or the chip provided in the application are all used to execute the corresponding method provided above, so the beneficial effects that can be achieved by the vehicle, the computer readable storage medium, the computer program product or the chip can refer to the beneficial effects in the corresponding method provided above, and will not be described here again.

[0390] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0391] In the embodiments provided in this 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 merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, 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 content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle charging method, characterized in that: The method is applied to a charging cloud platform, and the method includes: Determining whether to automatically charge the target vehicle based on the target vehicle's identification information and the charging whitelist; or determining whether to automatically charge the target vehicle based on the target vehicle's identification information, target parking space information, and the charging whitelist, where the target parking space information indicates the parking space information where the target vehicle is located; 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 instruct the target charging gun to complete the connection with the charging port of the target vehicle; The step of determining whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist includes: Determining charging mode configuration information of the target vehicle based on the identification information of the target vehicle, the charging mode configuration information including an automatic charging mode and / or a manual charging mode; if the charging mode configuration information includes the automatic charging mode and the identification information of the target vehicle is included in the charging whitelist, determining to automatically charge the target vehicle; 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, it is determined to automatically charge the target vehicle.

2. The method according to claim 1, characterized in that The method further comprises: 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.

3. The method according to claim 1, characterized in that The method further comprises: 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.

4. The method according to any one of claims 1 to 3, characterized in that The determining of a target charging gun for the target vehicle includes: Determine the charging gun corresponding to the target parking space based on the target parking space information of the target vehicle; The charging gun corresponding to the target parking space is used as the target charging gun.

5. A vehicle charging method, characterized in that: The method is applied to a robotic arm cloud platform, and the method includes: In response to an automatic charging instruction from 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; wherein the automatic charging instruction includes the identification of the target charging gun, and the automatic charging instruction is sent by the charging cloud platform when it is determined that the target vehicle is to be automatically charged. The charging cloud platform determines whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist; or; the charging cloud platform 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, and the target parking space information is used to indicate the parking space information where the target vehicle is located; 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; wherein the feedback instruction is used to instruct the target charging gun to complete the connection with the charging port of the target vehicle; The charging cloud platform determines whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist, including: Determining charging mode configuration information of the target vehicle based on the identification information of the target vehicle, the charging mode configuration information including an automatic charging mode and / or a manual charging mode; if the charging mode configuration information includes the automatic charging mode and the identification information of the target vehicle is included in the charging whitelist, determining to automatically charge the target vehicle; The charging cloud platform 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, including: 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.

6. The method according to claim 5, 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.

7. The method according to claim 6, characterized in that 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; A target position of the charging port is determined based on the target image or the target vehicle model.

8. The method according to claim 7, 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, determining the target position of the charging port; wherein the preset position relationship is used to indicate the correspondence 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.

9. A vehicle charging device, characterized in that: The device is configured on a charging cloud platform and includes: An acquisition module is configured to determine whether to automatically charge the target vehicle based on the target vehicle's identification information and a charging whitelist; or to determine whether to automatically charge the target vehicle based on the target vehicle's identification information, target parking space information, and the charging whitelist, where the target parking space information indicates the parking space information where the target vehicle is located; a determination module, configured to determine a target charging gun for the target vehicle when it is determined that the target vehicle is to be automatically charged; A transmission module, configured to send 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, configured to control the charging pile corresponding to the target charging gun to start in response to a feedback instruction from the robotic arm cloud platform, so that the target charging gun charges the target vehicle; wherein the feedback instruction is used to instruct the target charging gun to complete the connection with the charging port of the target vehicle; Among them, the acquisition module is specifically used to: determine the charging mode configuration information of the target vehicle based on the identification information of the target vehicle, and 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, determine to automatically charge 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.

10. A vehicle charging device, characterized in that: The device is configured on a robotic arm platform and includes: A control module, in response to an automatic charging instruction from a charging cloud platform, controls the movement of a robotic arm to connect a target charging gun to a charging port of a target vehicle; wherein the automatic charging instruction includes an identification of the target charging gun, and the automatic charging instruction is sent by the charging cloud platform when it is determined that the target vehicle is to be automatically charged, and the charging cloud platform determines whether to automatically charge the target vehicle based on the identification information of the target vehicle and a charging whitelist; or; the charging cloud platform determines whether to automatically charge the target vehicle based on the identification information of the target vehicle, target parking space information, and the charging whitelist, and the target parking space information is used to indicate the parking space information where the target vehicle is located; A transmission module, configured 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 charges the target vehicle through the target charging gun; wherein the feedback instruction is used to instruct the target charging gun to complete the connection with the charging port of the target vehicle; The charging cloud platform determines whether to automatically charge the target vehicle based on the identification information of the target vehicle and the charging whitelist, including: Determining charging mode configuration information of the target vehicle based on the identification information of the target vehicle, the charging mode configuration information including an automatic charging mode and / or a manual charging mode; if the charging mode configuration information includes the automatic charging mode and the identification information of the target vehicle is included in the charging whitelist, determining to automatically charge the target vehicle; The charging cloud platform 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, including: 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.

11. 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 4; The robotic arm cloud platform is used to execute the vehicle charging method according to any one of claims 5 to 8.

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