Charging method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a charging method and device, electronic equipment and a storage medium, and belongs to the technical field of charging. The method comprises the following steps: receiving to-be-charged information through a server side, wherein the to-be-charged information comprises the position of a to-be-charged terminal; determining a charging terminal through the server side according to the to-be-charged information; the server side dispatches the charging terminal to the position of the terminal to be charged; the charging terminal is connected with the to-be-charged terminal, and whether the capacity of the charging terminal meets the charging requirement of the to-be-charged terminal or not is judged; if the capacity of the charging terminal does not meet the charging requirement of the to-be-charged terminal, the server side dispatches the high-capacity battery terminal to the position of the charging terminal, and the high-capacity battery terminal is connected with the charging terminal for charging. According to the embodiment of the invention, the charging demand can be automatically responded, mobile charging is realized, the site reconstruction cost is reduced, the flexibility of charging service is improved, and resources are utilized to the maximum extent.

Description

Technical Field

[0001] This application relates to the field of charging technologies, and in particular, to a charging method and device, an electronic device, and a storage medium. Background Art

[0002] In the prior art, the construction and operation costs of charging stations are relatively high, and all users' charging demands may not be met during peak hours. In addition, the deployment flexibility of fixed charging piles is relatively low, which is not conducive to quickly responding to users' charging demands.

[0003] In summary, the technical problems existing in the related art need to be improved. Summary of the Invention

[0004] The main purpose of the embodiments of this application is to propose a charging method and device, an electronic device, and a storage medium, aiming to automatically respond to charging demands and achieve mobile charging.

[0005] To achieve the above object, on the one hand, an embodiment of this application proposes a charging method, and the method includes the following steps:

[0006] Receiving, by a server side, information to be charged, where the information to be charged includes the position of a terminal to be charged;

[0007] Determining, by the server side according to the information to be charged, a charging terminal;

[0008] Scheduling, by the server side, the charging terminal to reach the position of the terminal to be charged;

[0009] Connecting, by the charging terminal, to the terminal to be charged, and determining whether the capacity of the charging terminal meets the charging demand of the terminal to be charged;

[0010] If the capacity of the charging terminal does not meet the charging demand of the terminal to be charged, scheduling, by the server side, a large-capacity battery terminal to reach the position of the charging terminal, and connecting, by the large-capacity battery terminal, to the charging terminal for charging.

[0011] In some embodiments, the method further includes:

[0012] Responding to a first instruction, inputting and displaying, on a charging application page of a scanning terminal, information to be charged;

[0013] Sending, by the scanning terminal, the information to be charged to the server side.

[0014] In some embodiments, the scheduling, by the server side, the charging terminal to reach the position of the terminal to be charged includes:

[0015] The charging terminal scans the surrounding environment to obtain point cloud data and sends the point cloud data to the server side;

[0016] The server side constructs a three-dimensional model of the surrounding environment based on the point cloud data;

[0017] The server side uses a path planning algorithm to generate current motion data based on the three-dimensional model of the surrounding environment and the position of the terminal to be charged. The current motion data includes a motion distance and a motion direction.

[0018] In some embodiments, the server side scheduling the charging terminal to reach the position of the terminal to be charged further includes:

[0019] The charging terminal travels according to the current motion data, and obtains travel distance encoder data and point cloud data;

[0020] The server side generates target motion data based on the current motion data, the three-dimensional model of the surrounding environment, the position of the terminal to be charged, the travel distance encoder data, and the point cloud data;

[0021] Taking the target motion data as the current motion data, return to the step of the charging terminal traveling according to the current motion data to obtain travel distance encoder data and point cloud data until the charging terminal travels to the position of the terminal to be charged.

[0022] In some embodiments, the method further includes:

[0023] The charging terminal communicates with the terminal to be charged to determine whether the charging terminal is successfully connected to the terminal to be charged;

[0024] In response to a connection failure instruction, the charging terminal gives a voice prompt alarm.

[0025] In some embodiments, the charging of the charging terminal by connecting the large-capacity battery terminal includes:

[0026] The large-capacity battery terminal detects the calibration object of the charging terminal to obtain a distance deviation and an angle deviation;

[0027] The large-capacity battery terminal adjusts the position according to the distance deviation and adjusts the angle according to the angle deviation;

[0028] The large-capacity battery terminal connects to the charging terminal.

[0029] In some embodiments, the connection of the large-capacity battery terminal to the charging terminal includes:

[0030] It is judged whether the plugging is in place by the plugging confirmation travel switch of the large-capacity battery terminal.

[0031] If the plugging confirmation travel switch is triggered, it means the plugging is in place, and communication interaction is carried out between the large-capacity battery terminal and the charging terminal.

[0032] If the communication interaction between the large-capacity battery terminal and the charging terminal is successful, it is determined that the connection between the large-capacity battery terminal and the charging terminal is successful.

[0033] To achieve the above object, on the other hand, an embodiment of the present application proposes a charging device, which includes:

[0034] A receiving module, configured to receive information to be charged through a server side, where the information to be charged includes the position of the terminal to be charged.

[0035] A terminal determination module, configured to determine a charging terminal according to the information to be charged through the server side.

[0036] A scheduling module, configured to schedule the charging terminal to reach the position of the terminal to be charged through the server side.

[0037] A connection module, configured to connect the charging terminal to the terminal to be charged through the charging terminal, and judge whether the capacity of the charging terminal meets the charging requirement of the terminal to be charged.

[0038] A power supply supplement module, configured to, if the capacity of the charging terminal does not meet the charging requirement of the terminal to be charged, schedule the large-capacity battery terminal to reach the position of the charging terminal through the server side, and connect the large-capacity battery terminal to the charging terminal for charging.

[0039] To achieve the above object, on the other hand, an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the foregoing method is implemented.

[0040] To achieve the above object, on the other hand, an embodiment of the present application proposes a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the foregoing method is implemented.

[0041] The embodiments of the present application at least include the following beneficial effects: The present application provides a charging method, a device, an electronic device, and a storage medium. In this solution, the server receives the information of the device to be charged, and determines the charging terminal according to the information of the device to be charged, which is beneficial to improving the charging efficiency and reducing the waiting time. The server schedules the charging terminal to reach the position of the device to be charged, improving the response speed of the system and the user experience. The charging terminal connects to the device to be charged, can automatically respond to the charging demand, and realizes mobile charging. It judges whether the capacity of the charging terminal meets the charging demand of the device to be charged, which is beneficial to avoiding charging failure caused by insufficient power of the charging terminal. If the capacity of the charging terminal does not meet the charging demand of the device to be charged, the server schedules a large-capacity battery terminal to reach the position of the charging terminal, and the large-capacity battery terminal connects to the charging terminal for charging, which can solve the problem of insufficient capacity of the charging terminal, reduce the cost of site transformation, and improve the flexibility and emergency handling ability of the charging service. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flowchart of the charging method provided by the embodiment of the present application;

[0043] Figure 2 is Figure 1 a flowchart of step S103 in

[0044] Figure 3 is Figure 1 a flowchart of step S105 in

[0045] Figure 4 is a specific implementation flowchart when the charging method provided by the embodiment of the present application is applied to an automatic mobile charging vehicle system;

[0046] Figure 5 is a schematic diagram of the charging line load robot and the battery load robot provided by the embodiment of the present application;

[0047] Figure 6 is a schematic diagram of the charging line load robot calling the large-capacity battery load robot provided by the embodiment of the present application;

[0048] Figure 7 is a schematic diagram of the interface of the charging line load robot provided by the embodiment of the present application;

[0049] Figure 8 is a schematic diagram of the structure of the charging device provided by the embodiment of the present application;

[0050] Figure 9 is a schematic diagram of the hardware structure of the electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] To make the objectives, technical solutions, and advantages of this application clearer and more understandable, the following further elaborates on this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain this application and are not intended to limit this application. When the following description involves the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the embodiments of this application. They are merely examples of devices and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0052] It can be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, the first information may also be referred to as the second information. Similarly, the second information may also be referred to as the first information. Depending on the context, the words "if", "when" as used herein may be interpreted as "when...", "while...", or "in response to determining".

[0053] The terms "at least one", "multiple", "each", "any one", etc. used in this application, at least one includes one, two, or more than two, multiple includes two or more than two, each refers to each of the corresponding multiple, and any one refers to any one of the multiple.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0055] Before elaborating in detail on the embodiments of this application, first, some nouns and terms involved in the embodiments of this application are described. The nouns and terms involved in the embodiments of this application are applicable to the following explanations.

[0056] 1) Euclidean Distance is a mathematical method for measuring the "straight-line" distance between two points in space.

[0057] In the prior art, the construction and operation costs of charging stations are relatively high, and all users' charging demands may not be met during peak hours. In addition, the deployment flexibility of fixed charging piles is relatively low, which is not conducive to quickly responding to users' charging demands.

[0058] In summary, the technical problems existing in the related art need to be improved.

[0059] In view of this, an embodiment of the present application provides a charging method, device, equipment and medium. This solution receives charging information to be charged through the server side, determines the charging terminal according to the charging information to be charged through the server side, which is beneficial to improving the charging efficiency and reducing the waiting time. The server side schedules the charging terminal to reach the position of the terminal to be charged, improving the response speed of the system and the user experience. The charging terminal connects to the terminal to be charged, can automatically respond to the charging demand, and realizes mobile charging. It judges whether the capacity of the charging terminal meets the charging demand of the terminal to be charged, which is beneficial to avoiding charging failure caused by insufficient power of the charging terminal. If the capacity of the charging terminal does not meet the charging demand of the terminal to be charged, the server side schedules a large-capacity battery terminal to reach the position of the charging terminal, and the large-capacity battery terminal connects to the charging terminal for charging, which can solve the problem of insufficient capacity of the charging terminal, reduce the site transformation cost, and improve the flexibility and emergency handling ability of the charging service.

[0060] The charging method provided by the embodiment of the present application relates to the technical field of charging. The charging method provided by the embodiment of the present application can be applied to a terminal, or can be applied to a server, or can also be software running on a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, a vehicle-mounted terminal, etc., but is not limited thereto; the server side can be configured as an independent physical server, or can be configured as a server cluster or a distributed system composed of multiple physical servers, or can also be configured as a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application that implements the charging method, etc., but is not limited to the above forms.

[0061] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment, where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0062] It should be noted that in each specific embodiment of the present application, when it comes to relevant processing based on data related to the user's identity or characteristics, such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first. Moreover, the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiments of the present application need to obtain the user's sensitive personal information, the user's separate permission or separate consent will be obtained through methods such as pop-up windows or redirecting to a confirmation page. After clearly obtaining the user's separate permission or separate consent, the necessary user-related data for the normal operation of the embodiments of the present application will be obtained.

[0063] Figure 1 is an optional flowchart of the charging method provided by the embodiments of the present application. Figure 1 The method in may include but is not limited to steps S101 to S105.

[0064] Step S101, receiving the information to be charged through the server side.

[0065] Specifically, the information to be charged includes the location of the terminal to be charged.

[0066] In some embodiments, in response to the first instruction, the information to be charged is input and displayed on the charging application page of the scanning terminal; the information to be charged is sent to the server side through the scanning terminal. Among them, the first instruction is triggered when the user inputs the information to be charged, and is used to input and display the information to be charged on the charging application page.

[0067] Optionally, the information to be charged is sent to the server using a network communication protocol.

[0068] In this embodiment, receiving the information to be charged through the server side is beneficial to receiving real-time data, helping the server to make real-time responses and optimizing the allocation of charging resources.

[0069] Step S102, determining the charging terminal according to the information to be charged through the server side.

[0070] In some embodiments, the server side uses a location-based algorithm (such as the shortest path algorithm or Geographic Information System GIS) to determine the charging terminal closest to the terminal to be charged.

[0071] Optionally, the information to be charged further includes the battery power of the terminal to be charged. The server side selects a charging terminal with a power greater than the battery power of the terminal to be charged and closest to the terminal to be charged.

[0072] In some embodiments, a machine learning model can be used to predict the charging demand of the terminal to be charged based on historical data and schedule the charging terminal in advance.

[0073] In this embodiment, the server determines the charging terminal according to the information of the device to be charged, which helps to improve the charging efficiency, reduce the waiting time, and reduce the situations of over-concentration or idleness of charging terminals.

[0074] Step S103: The server schedules the charging terminal to reach the position of the device to be charged.

[0075] Optionally, the server can generate the path, or the server can send the information of the device to be charged to the charging terminal, and the charging terminal generates the path through map navigation and path planning technologies.

[0076] It can be understood that real-time traffic information can be integrated to dynamically adjust the driving route of the charging terminal to avoid congested areas and ensure quick arrival.

[0077] Optionally, the information of the device to be charged further includes the estimated arrival time, and motion data is generated based on the position of the device to be charged and the estimated arrival time.

[0078] In some embodiments, the charging terminal scans the surrounding environment to obtain point cloud data and sends the point cloud data to the server; the server constructs a three-dimensional model of the surrounding environment according to the point cloud data; the server uses a path planning algorithm to generate current motion data based on the three-dimensional model of the surrounding environment and the position of the device to be charged. Among them, the motion data includes the motion distance and the motion direction.

[0079] Furthermore, the charging terminal travels according to the current motion data to obtain the data of the travel distance encoder and the point cloud data; the server generates target motion data based on the current motion data, the three-dimensional model of the surrounding environment, the position of the device to be charged, the data of the travel distance encoder, and the point cloud data, takes the target motion data as the current motion data, and returns to the step of the charging terminal traveling according to the current motion data to obtain the data of the travel distance encoder and the point cloud data, until the charging terminal travels to the position of the device to be charged.

[0080] Among them, in combination with the real-time point cloud data collected by the lidar, when an obstacle is encountered, the server will perform local path modification to avoid the obstacle.

[0081] Optionally, during the travel of the charging terminal, the data of the travel distance encoder is sent to the scheduling system in real time, and the server determines whether there is a deviation between the distance that the charging terminal needs to travel and the actual traveled distance, and makes corresponding compensation for the travel distance of the charging terminal in the next section of the path issued.

[0082] In this embodiment, the server schedules the charging terminal to reach the position of the device to be charged, which helps the charging terminal to reach the position to be charged in a timely and accurate manner, reduces the waiting time of users, and improves the response speed and user experience of the system.

[0083] Step S104: Connect the terminal to be charged through the charging terminal, and determine whether the capacity of the charging terminal meets the charging requirements of the terminal to be charged.

[0084] In some embodiments, after the charging terminal arrives at the position of the terminal to be charged, it establishes a connection with the terminal to be charged through physical connection and automatically detects the battery power demand of the terminal to be charged.

[0085] Among them, communicate and interact through the charging terminal with the terminal to be charged to determine whether the charging terminal and the terminal to be charged are successfully connected; in response to the connection failure instruction, give a voice prompt alarm through the charging terminal.

[0086] Optionally, it is possible to judge whether the plugging is in place by plugging and confirming the travel switch, or it is also possible to judge whether the plugging is in place by whether the communication interaction between the charging terminal and the terminal to be charged is successful.

[0087] Furthermore, determine whether the current power of the charging terminal meets the charging requirements of the terminal to be charged.

[0088] In this embodiment, by connecting the terminal to be charged through the charging terminal, it can automatically respond to the charging demand, realize mobile charging, and determine whether the capacity of the charging terminal meets the charging requirements of the terminal to be charged, which is beneficial to avoiding charging failure caused by insufficient power of the charging terminal.

[0089] Step S105: If the capacity of the charging terminal does not meet the charging requirements of the terminal to be charged, dispatch a large-capacity battery terminal to the position of the charging terminal through the server, and connect the large-capacity battery terminal to the charging terminal for charging.

[0090] Optionally, multi-terminal cooperation can be used to improve the charging efficiency.

[0091] In some embodiments, if the capacity of the charging terminal does not meet the charging requirements of the terminal to be charged, dispatch a large-capacity battery terminal to the position of the charging terminal through the server.

[0092] It can be understood that, similar to the charging terminal, the server needs to perform path planning on the large-capacity battery terminal so that it can reach the charging terminal as soon as possible and provide the required power support.

[0093] Furthermore, the large-capacity battery terminal makes position adjustment and angle adjustment based on the position of the charging terminal, and then connects to the charging terminal for charging.

[0094] Optionally, the large-capacity battery terminal detects the calibration object of the charging terminal to obtain the distance deviation and angle deviation; the large-capacity battery terminal makes position adjustment according to the distance deviation and angle adjustment according to the angle deviation; the large-capacity battery terminal connects to the charging terminal.

[0095] Among them, it is judged whether the plugging is in place by the plugging confirmation travel switch of the large-capacity battery terminal. If the plugging confirmation travel switch is triggered, the plugging is in place, and communication interaction is carried out between the large-capacity battery terminal and the charging terminal; if the communication interaction between the large-capacity battery terminal and the charging terminal is successful, it is determined that the connection between the large-capacity battery terminal and the charging terminal is successful.

[0096] In this embodiment, if the capacity of the charging terminal does not meet the charging requirements of the terminal to be charged, the large-capacity battery terminal is scheduled to reach the position of the charging terminal through the server, and the large-capacity battery terminal is connected to the charging terminal for charging, which can solve the problem of insufficient capacity of the charging terminal, reduce the cost of site transformation, and improve the flexibility and emergency handling ability of charging services.

[0097] Steps S101 to S105 shown in the embodiments of the present application, receiving the information to be charged through the server, determining the charging terminal according to the information to be charged through the server, which is beneficial to improving the charging efficiency and reducing the waiting time, scheduling the charging terminal to reach the position of the terminal to be charged through the server, improving the response speed and user experience of the system, connecting the charging terminal to the terminal to be charged, being able to automatically respond to the charging demand, realizing mobile charging, judging whether the capacity of the charging terminal meets the charging requirements of the terminal to be charged, which is beneficial to avoiding charging failure caused by insufficient power of the charging terminal. If the capacity of the charging terminal does not meet the charging requirements of the terminal to be charged, the large-capacity battery terminal is scheduled to reach the position of the charging terminal through the server, and the large-capacity battery terminal is connected to the charging terminal for charging, which can solve the problem of insufficient capacity of the charging terminal, reduce the cost of site transformation, and improve the flexibility and emergency handling ability of charging services.

[0098] Please refer to Figure 2 , in some embodiments, step S103 may include but is not limited to steps S201 to S206:

[0099] Step S201, scanning the surrounding environment by the charging terminal to obtain point cloud data, and sending the point cloud data to the server.

[0100] Specifically, the point cloud data is composed of a large number of three-dimensional coordinate points and can describe the objects and surfaces in space.

[0101] In step S201 of some embodiments, the surrounding environment is scanned by the sensor of the charging terminal. Among them, the sensor includes but is not limited to lidar, depth camera and stereo vision camera.

[0102] Among them, the sensor collects information such as the positions and shapes of surrounding objects by emitting laser beams or collecting image data, and then generates point cloud data.

[0103] Further, the charging terminal sends the point cloud data to the server side.

[0104] Optionally, the server side processes the point cloud data through a deep learning algorithm to identify more complex objects or obstacles, such as moving targets, humans, etc.

[0105] In this embodiment, by scanning the surrounding environment through the charging terminal to obtain point cloud data and sending the point cloud data to the server side, the surrounding environment can be accurately depicted to help the system obtain real-time environmental information.

[0106] Step S202, the server side constructs a three-dimensional model of the surrounding environment according to the point cloud data.

[0107] In step S202 of some embodiments, the server side preprocesses the point cloud data to remove noise and fill in missing data.

[0108] Further, the point cloud data is converted into a three-dimensional model of the surrounding environment through a three-dimensional reconstruction algorithm. Among them, the three-dimensional reconstruction algorithm includes but is not limited to the Poisson Surface Reconstruction and Marching Cubes algorithms.

[0109] Optionally, the environment can be divided into multiple regions for local modeling, thereby simplifying the complexity of the overall model.

[0110] Further, point cloud data is continuously collected during the movement process to update the three-dimensional model in real time.

[0111] In this embodiment, the server side constructs a three-dimensional model of the surrounding environment according to the point cloud data, which is beneficial to enhancing the system's spatial understanding ability and preparing for subsequent generation of motion data.

[0112] Step S203, the server side uses a path planning algorithm to generate current motion data according to the three-dimensional model of the surrounding environment and the position of the terminal to be charged.

[0113] Specifically, the current motion data includes the motion distance and the motion direction.

[0114] In step S203 of some embodiments, the server side uses a path planning algorithm to generate the current path according to the three-dimensional model of the surrounding environment and the position of the terminal to be charged.

[0115] Further, according to the generated path data, the current motion data is calculated and the current motion data is transmitted to the charging terminal.

[0116] It can be understood that point cloud data is continuously collected during the movement process to plan the path in real time.

[0117] In this embodiment, the server uses a path planning algorithm to generate current motion data based on the three-dimensional model of the surrounding environment and the position of the terminal to be charged, which can find the optimal path for the charging terminal. Moreover, as the environment changes, the path can be adjusted in real time, reducing manual intervention and improving the intelligence of the automated system.

[0118] Step S204: The charging terminal travels according to the current motion data, and obtains the travel distance encoder data and the point cloud data.

[0119] In step S204 of some embodiments, the charging terminal travels according to the current motion data. Among them, during the travel, the travel distance encoder data and the point cloud data are continuously collected.

[0120] Step S205: The server generates target motion data based on the current motion data, the three-dimensional model of the surrounding environment, the position of the terminal to be charged, the travel distance encoder data, and the point cloud data.

[0121] In step S205 of some embodiments, the server generates target motion data based on the current motion data, the three-dimensional model of the surrounding environment, the position of the terminal to be charged, the travel distance encoder data, and the point cloud data.

[0122] Among them, the server judges whether there is a deviation between the distance that the charging terminal needs to travel and the actual traveled distance, and compensates the travel distance of the charging terminal in the next section of the path accordingly.

[0123] Furthermore, the target motion data is calculated based on the next section of the path generated by the server.

[0124] Optionally, in combination with the point cloud data collected by the lidar, when an obstacle is encountered, the server will perform local path trimming to avoid the obstacle. Among them, the local path trimming includes generating target motion data.

[0125] In this embodiment, the server generates target motion data based on the current motion data, the three-dimensional model of the surrounding environment, the position of the terminal to be charged, the travel distance encoder data, and the point cloud data, so as to realize real-time path adjustment as the environment changes, improve the intelligence and scheduling flexibility of the automated system, and enhance the user experience.

[0126] Step S206: Take the target motion data as the current motion data, and return to the step of the charging terminal traveling according to the current motion data to obtain the travel distance encoder data and the point cloud data, until the charging terminal travels to the position of the terminal to be charged.

[0127] In step S206 of some embodiments, take the target motion data as the current motion data, and re-direct the charging terminal to travel until the charging terminal travels to the position of the terminal to be charged.

[0128] Please refer to Figure 3 , in some embodiments, step S105 may include but is not limited to steps S301 to S306:

[0129] Step S301, detect the calibration object of the charging terminal through the large-capacity battery terminal, and obtain the distance deviation and the angle deviation.

[0130] In step S301 of some embodiments, the large-capacity battery terminal detects the calibration object of the charging terminal through a sensor. Among them, the sensor includes but is not limited to lidar, ultrasonic sensor, and vision camera.

[0131] Optionally, measure the actual distance between the large-capacity battery terminal and the calibration object of the charging terminal through the sensor, and compare it with the preset connection distance to obtain the distance deviation. Among them, the preset connection distance is preset by the user or administrator.

[0132] Optionally, the large-capacity battery terminal measures the relative angle through the sensor to obtain the angle deviation.

[0133] In this embodiment, detecting the calibration object of the charging terminal through the large-capacity battery terminal to obtain the distance deviation and the angle deviation can improve the detection accuracy, provide timely feedback for subsequent adjustment, and reduce errors.

[0134] Step S302, perform position adjustment according to the distance deviation through the large-capacity battery terminal, and perform angle adjustment according to the angle deviation.

[0135] In step S302 of some embodiments, calculate the offset in the XYZ coordinate system according to the distance deviation through the large-capacity battery terminal, and then perform position adjustment.

[0136] Among them, if the large-capacity battery terminal needs to avoid obstacles during movement, the optimal path can be dynamically selected for adjustment in combination with the path planning algorithm.

[0137] Optionally, the large-capacity battery terminal performs angle adjustment according to the angle deviation.

[0138] In this embodiment, performing position adjustment according to the distance deviation through the large-capacity battery terminal and performing angle adjustment according to the angle deviation is beneficial to reducing the relative error between the large-capacity battery terminal and the charging terminal, improving the system accuracy, and improving the operation efficiency and automation level.

[0139] Step S303, connect the large-capacity battery terminal to the charging terminal.

[0140] In step S303 of some embodiments, the large-capacity battery terminal moves itself by executing a motion control system (such as an electric motor, a servo system, etc.) to adjust its position, and then connects to the charging terminal.

[0141] Step S304: Determine whether the plugging is in place by means of the plugging confirmation travel switch of the large-capacity battery terminal.

[0142] In step S304 of some embodiments, determine whether the plugging is in place by determining whether the plugging confirmation travel switch of the large-capacity battery terminal is pressed and triggered.

[0143] Step S305: If the plugging confirmation travel switch is triggered, the plugging is in place, and communication interaction is performed between the large-capacity battery terminal and the charging terminal.

[0144] In step S305 of some embodiments, determine whether the connection between the large-capacity battery terminal and the charging terminal is successful through communication interaction.

[0145] Step S306: If the communication interaction between the large-capacity battery terminal and the charging terminal is successful, it is determined that the connection between the large-capacity battery terminal and the charging terminal is successful.

[0146] In step S306 of some embodiments, if the communication between the large-capacity battery terminal and the charging terminal is successful, that is, the ping command of the large-capacity battery terminal and the charging terminal is responded to, it is determined that the connection between the large-capacity battery terminal and the charging terminal is successful.

[0147] Taking the automatic mobile charging vehicle system as an example, the automatic mobile charging vehicle system includes a scheduling system, a charging line loading robot, and a large-capacity battery loading robot. Figure 4 It is a specific implementation flowchart when the charging method provided by the embodiments of the present application is applied to the automatic mobile charging vehicle system. Figure 4 The method in it may include but is not limited to steps S401 to S408:

[0148] Step S401: The user scans the site QR code and sends a charging request including vehicle information, charging duration, and parking space information to the charging robot scheduling system.

[0149] Specifically, the charging request includes information to be charged, and the information to be charged includes vehicle information, charging duration, and parking space information.

[0150] Among them, deploy a charging line loading robot, a large-capacity battery loading robot, paste a charging request QR code, and deploy a charging robot scheduling system server in a parking lot or a charging station.

[0151] Among them, a charging request QR code is arranged beside each parking space in the site. When the vehicle owner needs to charge, he only needs to scan the QR code beside the parking space with his mobile phone, fill in the vehicle information and the intended charging duration, and then he can send data including vehicle information, charging duration, and parking space information to the charging robot scheduling system.

[0152] In step S402, after the scheduling system receives a charging request, it determines whether the vehicle meets the charging standards and assigns an idle charging cable load robot to move to the location of the vehicle where the user is located.

[0153] Specifically, the charging cable load robot is the charging terminal. The charging cable load robot is equipped with a small-capacity battery, a charging cable, and a battery load robot docking interface. The scheduling system is the server side, and the vehicle is the terminal to be charged.

[0154] Among them, the scheduling system processes the charging request, is responsible for the scheduling of all charging robots, and controls the robots to recharge at the charging position when the robots are in an idle state.

[0155] Optionally, after the scheduling system receives the charging request data, it determines whether the vehicle meets the charging standards and assigns an idle charging cable load robot to move to the designated parking space. When the vehicle owner connects the charging gun to the vehicle, charging of the vehicle starts.

[0156] It should be noted that the charging robot adopts a navigation path planning algorithm based on lidar, and the specific implementation is as follows:

[0157] A. Use the lidar installed on the charging robot to scan the environment around the robot, obtain high-precision point cloud data, and send the point cloud data to the scheduling system side.

[0158] B. The scheduling system constructs a three-dimensional model of the surrounding environment based on the point cloud data collected by the lidar to represent obstacles and feasible paths.

[0159] C. The scheduling system uses an improved A* algorithm for global path planning, and sends the movement distance and movement direction to the robot side. During the robot's movement, it will send the data of the travel distance encoder to the scheduling system in real time. The scheduling system determines whether there is a deviation between the distance the robot needs to travel and the actual distance traveled, and makes corresponding compensation for the robot's travel distance in the next section of the path sent.

[0160] D. Combining the real-time point cloud data collected by the lidar, when encountering an obstacle, the scheduling system will perform local path trimming to avoid the obstacle.

[0161] In step S403, the user removes the charging cable from the charging cable load robot and connects it to the vehicle.

[0162] Among them, the charging cable load robot is responsible for connecting the charging port and the charging cable of the vehicle to be charged, and uses its own small battery to provide small-flow charging for the vehicle.

[0163] Step S404: After the charging gun on the charging cable-loaded robot is inserted into the vehicle's charging socket, the charging cable-loaded robot will detect whether the charging plug is correctly connected through CC1 on the national standard charging gun. If the connection is successful, it will use its own small battery to charge the vehicle. If the gun is not inserted successfully, the charging cable-loaded robot will give a voice prompt alarm of "Charging gun not detected. Please insert the gun again".

[0164] Step S405: When the capacity of the small battery is insufficient to meet the charging demand, the charging cable-loaded robot sends a request to summon the large-capacity battery-loaded robot to the scheduling system, including the parking space information and the remaining charging duration.

[0165] Specifically, the large-capacity battery-loaded robot, namely the large-capacity battery terminal, is equipped with a large-capacity battery, a docking head for the charging cable-loaded robot, a vision detection camera, and a plug-in confirmation travel switch. It can dock with the charging cable-loaded robot at the request of the charging cable-loaded robot to replenish the power of the charging cable-loaded robot and indirectly replenish the power of the vehicle connected to the charging cable-loaded robot.

[0166] Among them, when the battery capacity of the charging cable-loaded robot is insufficient to meet the charging demand, it can send a request to summon the large-capacity battery-loaded robot to the scheduling system, including the parking space information and the remaining charging duration, to replenish its own power.

[0167] In some embodiments, when the battery capacity of the charging cable-loaded robot is insufficient to meet the charging demand, it sends a request to summon the large-capacity battery-loaded robot to the scheduling system. The scheduling system assigns an idle large-capacity battery-loaded robot to move to the designated parking space to replenish the power of the charging load robot.

[0168] Step S406: The scheduling system assigns an idle large-capacity battery-loaded robot to move to the designated parking space to replenish the power of the charging load robot and indirectly replenish the power of the vehicle.

[0169] Exemplarily, the schematic diagrams of the charging cable-loaded robot and the battery-loaded robot are as Figure 5 shown, and the schematic diagram of the charging cable-loaded robot calling the large-capacity battery-loaded robot is as Figure 6 shown. Among them, component 1 is the battery-loaded robot, component 2 is the docking head, component 3 is the docking interface, component 4 is the charging cable-loaded robot, and component 5 is the ground.

[0170] Specifically, a specific calibration object is installed on the docking interface of the charging cable-loaded robot for accurate docking of their positions.

[0171] Exemplarily, the schematic diagram of the docking interface of the charging cable-loaded robot is as Figure 7As shown in the figure. Among them, component 1 is the robot docking communication verification plug, component 2 is the docking head calibration object, and component 3 is the international charging docking head.

[0172] In some embodiments, after the battery-loaded robot moves to near the charging-line-loaded robot, the vision detection camera starts to work, detects the calibration object on the charging-line-loaded robot, obtains the distance deviation and angle deviation between the two, and the battery-loaded robot fine-tunes the docking angle according to this data, and then completes the plugging action.

[0173] Among them, the calculation method of the distance deviation includes: assuming that the camera position of the battery-loaded robot is (xA, yA, zA), and the position of the calibration object of the charging-line-loaded robot is (xB, yB, zB), then the distance deviation d between the two can be calculated by the Euclidean distance formula.

[0174] Optionally, the calculation method of the angle deviation includes: determining the direction feature of the charging-line-loaded robot through the calibration object of the charging-line-loaded robot in the image, matching the direction feature with the feature library of the reference image of the charging-line-loaded robot, obtaining the direction feature through image matching, and obtaining the angle error between the charging-line-loaded robot and the battery-loaded robot. The calculation process is completed inside the robot.

[0175] It should be noted that in addition to the charging docking head, a robot docking head search verification docking head is also installed on the other side of the charging-line-loaded robot, which is used to judge whether the docking is successful through the communication interaction between the two when the battery-loaded robot docks with the charging-line-loaded robot.

[0176] Specifically, after the plugging action is completed, the battery-loaded robot and the charging-line-loaded robot perform communication interaction, and at the same time judge whether the plugging confirmation travel switch is pressed and triggered to confirm whether the plugging is in place. If it is in place, the battery-loaded robot starts to charge the charging-line-loaded robot, otherwise it reports a reply of plugging failure to the scheduling system.

[0177] Among them, when the first plugging fails, the scheduling system will reassign another idle battery-loaded robot to perform the plugging again. If the second plugging also fails, the scheduling will notify the parking lot administrator by text message.

[0178] Step S407, after charging is completed, the large-capacity battery-loaded robot detaches from the charging-loaded robot and is ready to replenish power for other charging-line-loaded robots.

[0179] It can be understood that the scheduling system monitors the real-time remaining power of the charging robot, and when the charging robot is in an idle state, it notifies the charging robot with insufficient power to move to the charging position for replenishment.

[0180] Step S408: After the vehicle owner arrives and confirms that charging is completed and payment is made, the charging cable-loaded robot disengages from the vehicle and prepares to provide services to other vehicles.

[0181] In this embodiment, the fixed charging pile is replaced with a mobile charging pile, which can dynamically adjust the charging demand to meet the charging services during peak periods. And the charging robots are divided into two types: the charging cable-loaded robot equipped with a small battery and the robot equipped with a large-capacity battery. When the charging demand is met, the charging cable-loaded robot charges the vehicle; when the charging cable-loaded robot is not sufficient to meet the charging demand, the large-capacity battery-loaded robot replenishes the power of the charging cable-loaded robot and indirectly charges the vehicle.

[0182] It can be understood that the large-capacity battery-loaded robot has a high cost and can be deployed in small quantities in the site, while the charging cable-loaded robot has a low cost and can be deployed in large quantities, so that the charging service can be realized with the best cost performance in the largest range.

[0183] It should be noted that when the vehicle is in the locked state, the charging gun cannot be plugged or unplugged. Therefore, after the vehicle is fully charged, if the vehicle owner does not pick up the vehicle in time, the charging robot cannot provide charging services to other vehicles, which will cause the charging robot to be occupied for a long time. And this problem is solved by the charging cable-loaded robot and the large-capacity battery-loaded robot in this embodiment.

[0184] In this embodiment, compared with installing a fixed charging pile, the automatic mobile charging vehicle system does not need to carry out large-scale transformation of the original site, can be flexibly deployed, has a small transformation cost, a low cost, and can better meet the situation where the number of responses of the original charging piles is insufficient during peak hours, realizing flexible scheduling. This solution can flexibly configure the charging gun-loaded robot and the large-capacity battery-loaded robot to maximize resource utilization, reduce costs, and the automatic mobile charging vehicle system can dynamically adjust the charging service according to actual needs to improve the charging efficiency.

[0185] The automatic mobile charging vehicle system proposed in this embodiment cleverly divides the mobile charging robot into a low-cost charging cable-loaded robot and a high-cost large-capacity battery-loaded robot, which can effectively solve the shortage of electric vehicle charging facilities while reducing the site transformation cost, improving the flexibility of charging services, and maximizing the utilization of resources.

[0186] Please refer to Figure 8 , this application embodiment also provides a charging device that can implement the above charging method. The device includes:

[0187] A receiving module 801, configured to receive the to-be-charged information through the server side, where the to-be-charged information includes the position of the to-be-charged terminal;

[0188] A terminal determination module 802, configured to determine a charging terminal according to the to-be-charged information through the server side;

[0189] A scheduling module 803, configured to schedule the charging terminal to reach the position of the to-be-charged terminal through the server side;

[0190] A connection module 804, configured to connect the charging terminal to the to-be-charged terminal through the charging terminal, and determine whether the capacity of the charging terminal meets the charging requirement of the to-be-charged terminal;

[0191] A power supplement module 805, configured to, if the capacity of the charging terminal does not meet the charging requirement of the to-be-charged terminal, schedule a large-capacity battery terminal to reach the position of the charging terminal through the server side, and connect the large-capacity battery terminal to the charging terminal for charging.

[0192] It can be understood that the content in the above method embodiments is applicable to the device embodiments of the present application. The functions specifically implemented by the device embodiments of the present application are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those in the above method embodiments.

[0193] An embodiment of the present application further provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the above charging method is implemented. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0194] It can be understood that the content in the above method embodiments is applicable to the device embodiments of the present application. The functions specifically implemented by the device embodiments of the present application are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those in the above method embodiments.

[0195] Please refer to Figure 9 , Figure 9 which schematically shows the hardware structure of an electronic device according to another embodiment. The electronic device includes:

[0196] A processor 901, which can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is configured to execute relevant programs to implement the technical solutions provided by the embodiments of the present application;

[0197] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), etc. The memory 902 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 902 and are called by the processor 901 to execute the charging method of the embodiments of this application;

[0198] The input / output interface 903 is used to implement information input and output;

[0199] The communication interface 904 is used to implement communication interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or through wireless means (such as mobile network, WI FI, Bluetooth, etc.);

[0200] The bus 905 transmits information between the various components of the device (such as the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0201] Among them, the processor 901, the memory 902, the input / output interface 903, and the communication interface 904 achieve communication connections with each other inside the device through the bus 905.

[0202] The embodiments of this application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned charging method is implemented.

[0203] It can be understood that the content in the above method embodiments is applicable to the embodiments of this storage medium. The functions specifically implemented by the embodiments of this storage medium are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those of the above method embodiments.

[0204] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0205] The charging method, charging device, electronic device, and storage medium provided by the embodiments of the present application receive charging information through the server side, determine the charging terminal according to the charging information through the server side, which is beneficial to improving the charging efficiency and reducing the waiting time. The server side schedules the charging terminal to reach the position of the terminal to be charged, improving the response speed of the system and the user experience. The charging terminal connects to the terminal to be charged, can automatically respond to the charging demand, and realizes mobile charging. It judges whether the capacity of the charging terminal meets the charging demand of the terminal to be charged, which is beneficial to avoiding charging failure caused by insufficient power of the charging terminal. If the capacity of the charging terminal does not meet the charging demand of the terminal to be charged, the server side schedules a large-capacity battery terminal to reach the position of the charging terminal, and the large-capacity battery terminal connects to the charging terminal for charging, which can solve the problem of insufficient capacity of the charging terminal, reduce the site transformation cost, and improve the flexibility and emergency handling ability of the charging service.

[0206] The embodiments described in the embodiments of the present application are to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0207] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figures, or combine some steps, or different steps.

[0208] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0209] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and their appropriate combinations.

[0210] In the description of this application and the above-mentioned accompanying drawings, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0211] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expressions refer to any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0212] In several 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 only illustrative. For example, the above-mentioned division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0213] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0214] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0215] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store programs.

[0216] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings. This does not limit the scope of the rights of the embodiments of the present application. Any modification, equivalent replacement, and improvement made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

Claims

1. A charging method, characterized in that: The method comprises the following steps: Receiving charging information through a server, wherein the charging information includes a location of a terminal to be charged; Determining a charging terminal according to the information to be charged by the server; The server dispatches the charging terminal to the location of the terminal to be charged; Connecting the charging terminal to the terminal to be charged through the charging terminal, and determining whether the capacity of the charging terminal meets the charging demand of the terminal to be charged; If the capacity of the charging terminal does not meet the charging demand of the terminal to be charged, the server dispatches the large-capacity battery terminal to the charging terminal location, and the large-capacity battery terminal is connected to the charging terminal for charging.

2. The method according to claim 1, characterized in that The method further comprises: In response to the first instruction, input and display the information to be charged on the charging application page of the scanning terminal; Send the charging information to the server by scanning the terminal.

3. The method according to claim 1, characterized in that The step of scheduling the charging terminal to arrive at the location of the terminal to be charged by the server includes: Scanning the surrounding environment by the charging terminal to obtain point cloud data, and sending the point cloud data to the server; Constructing a three-dimensional model of the surrounding environment according to the point cloud data by the server; The server side uses a path planning algorithm to generate current motion data according to the three-dimensional model of the surrounding environment and the position of the terminal to be charged, and the current motion data includes a motion distance and a motion direction.

4. The method according to claim 3, characterized in that The step of scheduling the charging terminal to arrive at the location of the terminal to be charged by the server side further includes: Acquire travel distance encoder data and point cloud data by moving the charging terminal according to the current motion data; Generate target motion data by the server according to the current motion data, the surrounding environment three-dimensional model, the position of the terminal to be charged, the travel distance encoder data and the point cloud data; The target motion data is used as the current motion data, and the charging terminal is returned to the step of moving according to the current motion data to obtain the travel distance encoder data and the point cloud data until the charging terminal moves to the position of the terminal to be charged.

5. The method according to claim 1, characterized in that The method further comprises: Determine whether the charging terminal is successfully connected to the terminal to be charged by communicating with the terminal to be charged; In response to the connection failure instruction, a voice prompt alarm is issued through the charging terminal.

6. The method according to claim 1, characterized in that The step of charging by connecting the large-capacity battery terminal to the charging terminal includes: Detecting the calibration object of the charging terminal by the large-capacity battery terminal to obtain the distance deviation and the angle deviation; Using the large-capacity battery terminal to adjust the position according to the distance deviation, and to adjust the angle according to the angle deviation; The charging terminal is connected via the large-capacity battery terminal.

7. The method according to claim 6, characterized in that The step of connecting the charging terminal via the large-capacity battery terminal comprises: The plug-in confirmation travel switch of the large-capacity battery terminal determines whether the plug-in is in place. If the plug-in confirmation travel switch is triggered, the plug-in is in place, and communication and interaction are performed with the charging terminal through the large-capacity battery terminal; If the communication interaction between the large-capacity battery terminal and the charging terminal is successful, it is determined that the large-capacity battery terminal is successfully connected to the charging terminal.

8. A charging device, characterized in that: The device comprises: A receiving module, used for receiving information to be charged through a server, wherein the information to be charged includes a location of a terminal to be charged; A terminal determination module, configured to determine a charging terminal according to the information to be charged through the server; A scheduling module, used for scheduling the charging terminal to arrive at the location of the terminal to be charged through the server; A connection module, used to connect the terminal to be charged through the charging terminal, and determine whether the capacity of the charging terminal meets the charging demand of the terminal to be charged; The charging module is used to schedule the large-capacity battery terminal to arrive at the charging terminal position through the server side if the capacity of the charging terminal does not meet the charging demand of the terminal to be charged, and connect the charging terminal to charge through the large-capacity battery terminal.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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