Charging method and system

Abstract

The invention relates to the field of new energy automobiles, in particular to a charging method and system. The charging method comprises the steps of S10 to S20, and each step comprises the following steps: S10, obtaining initial positioning information based on initial positioning completion of a charged vehicle; and S20, based on the initial positioning information, the robot is controlled to insert the first charging unit and the second charging unit into the charging port unit in sequence. Therefore, the problem that the requirement for power of the robot is too high when the charging gun is inserted into the vehicle is solved.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicles, and in particular, to a charging method and system. Background Art

[0002] With the development of technology, new energy vehicles are more and more widely used, so the problem of vehicle charging has also attracted more attention. A vehicle usually has a first charging module and a second charging module, and both the first charging module and the second charging module are electrically connected to the vehicle, so that the charging component can charge the vehicle through the first charging module and the second charging module. During the charging process, it is necessary to insert the first charging unit and the second charging unit into the first charging module and the second charging module respectively through a robot, so as to realize the charging process of the vehicle.

[0003] However, inserting the first charging unit into the first charging module and the second charging unit into the second charging module at the same time causes the robot to be subjected to the resistance of both the first charging unit and the second charging unit during the working process, resulting in a relatively high power requirement for the robot during the battery swapping process, increasing the difficulty of battery swapping for new energy vehicles, and increasing the charging cost of the vehicle. Summary of the Invention

[0004] To solve the problem of excessive power requirement for the robot during the process of inserting the charging gun into the vehicle, the present invention provides a charging method and system.

[0005] In a first aspect, the present invention discloses a charging method, and the charging method includes:

[0006] Step S10, after the initial positioning of the charging vehicle is completed, obtaining the initial positioning information;

[0007] Step S20, based on the initial positioning information, controlling the robot to insert the first charging unit and the second charging unit into the charging port unit successively and respectively.

[0008] In some embodiments, MAX(F2, F3) < F1 < F2 + F3; where F1 is the maximum driving force of the robot, F2 is the resistance during the process of inserting the first charging unit into the charging port unit, and F3 is the resistance during the process of inserting the second charging unit into the charging port unit.

[0009] In some embodiments, in step S20, the robot is controlled to insert the first charging unit and the second charging unit into the charging port unit successively and respectively based on the position data of the charging port unit obtained by the vision unit.

[0010] In some embodiments, step S20 includes step S21, and step S21 includes:

[0011] Step S211: Based on the initial positioning information, the vision unit acquires the position data of the charging port unit;

[0012] Step S212: Based on the position data of the charging port unit acquired by the vision unit, control the robot to insert the first charging unit and the second charging unit into the charging port unit respectively one after another.

[0013] In some embodiments, step S211 includes:

[0014] Step S2111: Based on the initial positioning information, the robot drives the vision unit to move to a first set state; wherein, the first set state includes that the shortest distance between the vision unit and the charging port unit is greater than a first set distance and less than or equal to a second set distance, the height difference between the vision unit and the charging port unit is less than or equal to a first set height, and the minimum distance between the focus point of the vision unit and the first charging module of the charging port unit is less than the minimum distance between the focus point of the vision unit and the second charging module of the charging port unit;

[0015] Step S2112: Based on the robot driving the vision unit to move to the first set state, the vision unit acquires the position data of the charging port unit; wherein, the position data of the charging port unit includes the position of the first charging module and the position of the second charging module.

[0016] In some embodiments, step S2112 includes:

[0017] Step S21121: Based on the robot driving the vision unit to move to the first set state, the vision unit acquires the position of the first charging module;

[0018] Step S2112: Based on the vision unit acquiring the position of the first charging module, the vision unit acquires the minimum distance between the first charging module and the second charging module, the height difference between the first charging module and the second charging module, and the angular difference between the first reference part of the first charging module and the second reference part of the second charging module;

[0019] Step S2113: Based on the vision unit acquiring the minimum distance between the first charging module and the second charging module, the height difference between the first charging module and the second charging module, and the angular difference between the first reference part of the first charging module and the second reference part of the second charging module, acquire the position of the second charging module.

[0020] In some embodiments, step S20 includes step S22, and step S22 includes:

[0021] Step S221: Based on the preliminary positioning information, the robot drives the vision unit to move to a second set state; wherein, the second set state includes that the shortest distance between the vision unit and the charging port unit is greater than a third set distance and less than or equal to a fourth set distance, the height difference between the vision unit and the charging port unit is less than or equal to a second set height, and the focus point of the vision unit coincides with the central axis of the first charging module of the charging port unit;

[0022] Step S222: Based on the robot driving the vision unit to move to the second set state, the vision unit acquires the position of the first charging module;

[0023] Step S223: Based on the vision unit acquiring the position of the first charging module, the robot drives the first charging unit to move to a third set state; wherein, the third set state includes that the central axis of the first charging unit coincides with the central axis of the first charging module, and the first positioning part coincides with the first reference part;

[0024] Step S224: Based on the robot driving the first charging unit to move to the third set state, the robot drives the first charging unit to insert into the first charging module;

[0025] Step S225: The robot drives the first charging unit to insert into the first charging module, and the robot drives the second charging unit to insert into the second charging module of the charging port unit.

[0026] In some embodiments, step S225 includes:

[0027] Step S2251: Based on the robot driving the first charging unit to insert into the first charging module, the robot grabs the second charging unit;

[0028] Step S2252: Based on the robot grabbing the second charging unit, the robot drives the vision unit to move to a fourth set state, wherein, the fourth set state includes that the shortest distance between the vision unit and the charging port unit is greater than 0m and less than or equal to the fourth set distance, the height difference between the vision unit and the charging port unit is less than or equal to a third set height, and the focus point of the vision unit coincides with the central axis of the second charging module;

[0029] Step S2253: Based on the robot driving the vision unit to move to the fourth set state, the vision unit acquires the position of the second charging module;

[0030] Step S254: Based on the vision unit, obtain the position of the second charging module, and the robot drives the second charging unit to move to the fifth set state; wherein, the fifth set state includes that the central axis of the second charging unit coincides with the central axis of the second charging module, and the second positioning part coincides with the second reference part.

[0031] Step S2255: Based on the robot driving the second charging unit to move to the fifth set state, the robot drives the second charging unit to insert into the second charging module.

[0032] In a second aspect, this embodiment discloses a charging system, which is applied to any one of the charging methods in the first aspect. The charging system includes:

[0033] A charging component, which includes a robot, a first charging unit, a second charging unit, and a base; the robot, the first charging unit, and the second charging unit are respectively detachably connected to the base;

[0034] A vehicle component, which includes a charging vehicle and a charging port unit; the charging port unit is detachably connected to the charging vehicle; the charging port unit is electrically connected to the charging vehicle;

[0035] The charging system includes a first charging state, a second charging state, and an uncharged state; the first charging state includes that the first charging unit is electrically connected to the charging port unit; or, the second charging unit is electrically connected to the charging port unit; the second charging state includes that the first charging unit and the second charging unit are respectively electrically connected to the charging port unit; the uncharged state includes that the first charging unit and the second charging unit are respectively arranged at intervals from the charging port unit.

[0036] In some embodiments, the charging vehicle includes a vehicle body and a charging seat unit; the charging seat unit includes a seat body and a floating seat; the seat body is detachably connected to the vehicle body; the floating seat is movably connected to the seat body; the charging port unit is detachably connected to the floating seat.

[0037] To solve the problem that the power requirement for the robot is too high during the process of inserting the charging gun into the vehicle, the present invention has the following advantages:

[0038] After obtaining the initial positioning information of the vehicle, the robot is controlled to insert the first charging unit and the second charging unit into the charging port unit successively. Since the robot requires a large amount of kinetic energy when inserting the first charging unit and the second charging unit into the charging port unit simultaneously, the power requirement for the robot during vehicle charging is too high. By inserting the first charging unit and the second charging unit into the charging port unit successively, the robot does not need to control the first charging unit and the second charging unit simultaneously, reducing the power requirement for the robot. Description of the Drawings

[0039] Figure 1 Shows a schematic flowchart of a charging method according to an embodiment;

[0040] Figure 2 Shows a schematic diagram of a charging device according to an embodiment;

[0041] Figure 3 Shows a schematic diagram of a charging device according to another embodiment;

[0042] Figure 4 Shows a partial schematic diagram of a charging device according to the first embodiment;

[0043] Figure 5 Shows a partial schematic diagram of a charging device according to the second embodiment;

[0044] Figure 6 Shows a partial schematic diagram of a charging device according to the third embodiment;

[0045] Figure 7 Shows a partial schematic diagram of a charging device according to the fourth embodiment;

[0046] Figure 8 Shows a partial schematic diagram of a charging device according to the fifth embodiment;

[0047] Figure 9 Shows a schematic diagram of a charging vehicle according to an embodiment.

[0048] Reference Numerals: 01 Charging Assembly; 11 Robot; 12 First Charging Unit; 121 First Charging Gun; 122 First Positioning Portion; 13 Second Charging Unit; 131 Second Charging Gun; 132 Second Positioning Portion; 14 Vision Unit; 15 Base; 02 Vehicle Assembly; 21 Charging Vehicle; 211 Vehicle Body; 212 Charging Seat Unit; 2121 Seat Body; 2122 Protection Door; 2123 Floating Seat; 22 Charging Port Unit; 221 First Charging Module; 2211 First Port; 2212 First Reference Portion; 222 Second Charging Module; 2221 Second Port; 2222 Second Reference Portion. Detailed Description of the Embodiment

[0049] The present disclosure will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are described only to enable those of ordinary skill in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0050] As used herein, the term "comprising" and its variants are to be construed as open-ended terms meaning "including but not limited to". The term "based on" is to be construed as "at least partially based on". The terms "an embodiment" and "a kind of embodiment" are to be construed as "at least one embodiment". The term "another embodiment" is to be construed as "at least one other embodiment". The orientation or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc. are based on the orientation or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation, or be constructed and operated in a specific orientation. And, in addition to being able to represent orientation or positional relationships, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to specific circumstances. In addition, the terms "mounted", "arranged", "provided with", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, the meaning of "a plurality of" is two or more.

[0051] In this embodiment, during the charging process of the charging vehicle 21, it is necessary to insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 through the robot 11, so that the first charging unit 12 and the second charging unit 13 supply power to the charging port unit 22 respectively. However, inserting the first charging unit 12 and the second charging unit 13 into the charging port unit 22 simultaneously through the robot 11 requires a relatively high power for the robot 11, resulting in an increase in the cost of the robot 11. As Figure 1As shown in the figure, this embodiment discloses a charging method, which includes step S10 and step S20. The details of each step are as follows:

[0052] As Figure 3 shown in the figure, the charging assembly 01 may include a robot 11, a first charging unit 12, a second charging unit 13, and a base 15; the robot 11, the first charging unit 12, and the second charging unit 13 may be detachably connected to the base 15 respectively; the vehicle assembly 02 may include a charging vehicle 21 and a charging port unit 22; the charging port unit 22 may be detachably connected to the charging vehicle 21; the charging port unit 22 may be electrically connected to the charging vehicle 21;

[0053] In step S10, based on the initial positioning of the charging vehicle 21 being completed, the initial positioning information can be obtained; among them, the initial positioning information may include the position information of the charging vehicle 21, so that the robot 11 can move to the vicinity of the charging vehicle 21.

[0054] In step S20, based on the initial positioning information, the robot 11 can be controlled to insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 successively. At this time, the inner peripheral wall of the first port 2211 abuts against the outer peripheral wall of the first charging gun 121, and the shortest distance between the end of the first port 2211 away from the robot 11 and the end of the first charging gun 121 away from the robot 11 is less than or equal to the fifth set distance, and the fifth set distance may be 20 mm. The first charging gun 121 of the first charging unit 12 is electrically connected to the first port 2211 of the first charging module 221; the inner peripheral wall of the second port 2221 of the second charging module 222 abuts against the outer peripheral wall of the second charging gun 131 of the second charging unit 13, and the shortest distance between the end of the second port 2221 away from the robot 11 and the end of the second charging gun 131 away from the robot 11 is less than or equal to the fifth set distance, and the second charging gun 131 is electrically connected to the second port 2221; by controlling the robot 11 to insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 successively, the robot 11 does not need to control the first charging unit 12 and the second charging unit 13 at the same time, reducing the power requirement for the robot 11 and saving costs at the same time.

[0055] In this embodiment, MAX(F2, F3) < F1 < F2 + F3; where F1 is the maximum driving force of the robot 11, F2 is the resistance during the process of inserting the first charging unit 12 into the charging port unit 22, and F3 is the resistance during the process of inserting the second charging unit 13 into the charging port unit 22. The maximum driving force of the robot 11 needs to be greater than the larger one of the resistances of the first charging unit 12 and the second charging unit 13, so that the robot 11 can insert any one of the first charging unit 12 and the second charging unit 13 into the charging port unit 22, ensuring that the robot 11 can insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 successively and separately while reducing the power requirement for the robot 11.

[0056] In this embodiment, as Figure 4 shown, the charging assembly 01 may include a vision unit 14, and the vision unit 14 may be detachably connected to the robot 11 and electrically connected to the robot 11 at the same time. In step S20, the position data of the charging port unit 22 obtained by the vision unit 14 may be used to control the robot 11 to insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 successively and separately. When the robot 11 moves close to the charging vehicle 21, the specific position of the charging port unit 22 may be obtained through the vision unit 14, so that the robot 11 can insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 successively and separately.

[0057] In this embodiment, step S20 may include step S21, and step S21 may include:

[0058] Step S211, based on the initial positioning information, the vision unit 14 may obtain the position data of the charging port unit 22.

[0059] Step S212, based on the position data of the charging port unit 22 obtained by the vision unit 14, the robot 11 may be controlled to insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 successively and separately. By obtaining the position information of the charging port unit 22 once, the robot 11 can insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 successively and separately, improving the working efficiency of the robot 11. In some other embodiments, as Figure 7 shown, the charging seat unit 212 further includes a protective door 2122. When the first charging unit 12 or the second charging unit 13 moves, the first charging gun 121 or the second charging gun 131 will drive the protective door 2122 to move, so that the first charging gun 121 or the second charging gun 131 can be inserted into the charging port unit 22.

[0060] In this embodiment, step S211 may include:

[0061] Step S2111, based on the initial positioning information, such as Figure 2 As shown, the robot 11 can drive the vision unit 14 to move to the first set state. Among them, the first set state may include that the shortest distance between the vision unit 14 and the charging port unit 22 is greater than the first set distance and less than or equal to the second set distance. The first set distance may be 0 mm, and the second set distance may be 400 mm. The height difference between the vision unit 14 and the charging port unit 22 may be less than or equal to the first set height, and the first set height may be 10 cm. The minimum distance between the focus point of the vision unit 14 and the first charging module 221 of the charging port unit 22 may be less than the minimum distance between the focus point of the vision unit 14 and the second charging module 222 of the charging port unit 22. The distance between the focus point of the vision unit 14 and the first charging module 221 of the charging port unit 22 is relatively close, so that the vision unit 14 can more accurately obtain the position information of the first charging module 221 of the charging port unit 22; by controlling the position distance between the vision unit 14 and the charging port unit 22, it is ensured that the vision unit 14 can accurately obtain the position of the charging port unit 22. At the same time, the distance and height between the vision unit 14 and the charging port unit 22 are within the set range, which can further reduce the position error between the first charging unit 12 and the second charging unit 13 and the charging port unit 22 during the subsequent movement, and prevent the first charging unit 12 and the second charging unit 13 from being unable to be inserted into the charging port unit 22 in the future.

[0062] Step S2112, based on the robot 11 driving the vision unit 14 to move to the first set state, the vision unit 14 can obtain the position data of the charging port unit 22; among them, the position data of the charging port unit 22 may include the position of the first charging module 221 and the position of the second charging module 222. By obtaining the positions of the first charging module 221 and the second charging module 222, it is convenient for the first charging unit 12 and the second charging unit 13 to be inserted into the charging port unit 22 later.

[0063] In this embodiment, step S2112 includes:

[0064] Step S21121, based on the robot 11 driving the vision unit 14 to move to the first set state, the vision unit 14 can obtain the position of the first charging module 221;

[0065] Step S2112, based on the vision unit 14 obtaining the position of the first charging module 221, the vision unit 14 can obtain the minimum distance between the first charging module 221 and the second charging module 222, the height difference between the first charging module 221 and the second charging module 222, and the angle difference between the first reference part 2212 of the first charging module 221 and the second reference part 2222 of the second charging module 222;

[0066] Step S2113: Based on the vision unit 14, the minimum distance between the first charging module 221 and the second charging module 222, the height difference between the first charging module 221 and the second charging module 222, and the angular difference between the first reference part 2212 of the first charging module 221 and the second reference part 2222 of the second charging module 222 can be obtained, and the position of the second charging module 222 can be acquired. Since the distance between the vision unit 14 and the first charging module 221 is relatively close, the position information of the first charging port obtained is relatively accurate. Therefore, the position of the second charging module 222 can be indirectly obtained by first acquiring the position of the first charging module 221 and then based on the position of the first charging module 221. Since the central position of the second charging module 222 cannot be accurately identified, it can be calculated at this time through the gap between the first charging module 221 and the second charging module 222. In some other embodiments, as Figure 8 shown, the charging seat unit 212 may further include a floating seat 2123. One end of the floating seat 2123 may be fixedly connected to the seat body 2121, and the other end may be detachably connected to the charging port unit 22. The floating seat 2123 may be an elastic body, such that there can be a certain relative movement between the seat body 2121 and the charging port unit 22, so that even if there is an error in the calculation result, it can be ensured that the first charging unit 12 and the second charging unit 13 are inserted into the charging port unit 22.

[0067] In this embodiment, step S20 includes step S22, and step S22 includes:

[0068] Step S221: Based on the preliminary positioning information, the robot 11 can drive the vision unit 14 to move to the second set state; wherein, the second set state may include that the shortest distance between the vision unit 14 and the charging port unit 22 is greater than the third set distance and less than or equal to the fourth set distance. The third set distance may be 0 mm, the fourth set distance may be 400 mm, the height difference between the vision unit 14 and the charging port unit 22 is less than or equal to the second set height, the second set height may be 10 cm, and the focus point of the vision unit 14 coincides with the central axis of the first charging module 221 of the charging port unit 22; by controlling the position distance between the vision unit 14 and the charging port unit 22, it is ensured that the vision unit 14 can accurately obtain the position of the charging port unit 22. At the same time, the distance and height between the vision unit 14 and the charging port unit 22 are within the set range, which can further reduce the position error between the first charging unit 12 and the charging port unit 22 during the subsequent movement process, and prevent the first charging unit 12 from not being able to be inserted into the first charging module 221 subsequently.

[0069] Step S222: Based on the robot 11 driving the vision unit 14 to move to the second set state, the vision unit 14 can obtain the position of the first charging module 221. By directly obtaining the position of the first charging module 221 through the vision unit 14, the obtained position of the first charging module 221 can be more accurate, facilitating the subsequent insertion of the first charging unit 12 into the first charging module 221.

[0070] Step S223: Based on the vision unit 14 obtaining the position of the first charging module 221, the robot 11 can drive the first charging unit 12 to move to the third set state. As Figure 5 shown, the first charging unit may include a first positioning portion. Among them, the third set state may include that the central axis of the first charging unit 12 coincides with the central axis of the first charging module 221, and the first positioning portion 122 coincides with the first reference portion 2212, thereby facilitating the insertion of the first charging unit 12 into the first charging module 221.

[0071] Step S224: Based on the robot 11 driving the first charging unit 12 to move to the third set state, the robot 11 can drive the first charging unit 12 to insert into the first charging module 221. At this time, the inner peripheral wall of the first port 2211 can abut against the outer peripheral wall of the first charging gun 121, the shortest distance between the end of the first port 2211 far from the robot 11 and the end of the first charging gun 121 far from the robot 11 is less than or equal to the third set distance, and the first charging gun 121 can be electrically connected to the first port 2211.

[0072] Step S225: The robot 11 drives the first charging unit 12 to insert into the first charging module 221, and the robot 11 can drive the second charging unit 13 to insert into the second charging module 222 of the charging port unit 22.

[0073] In this embodiment, step S225 may include:

[0074] Step S2251: Based on the robot 11 driving the first charging unit 12 to insert into the first charging module 221, the robot 11 can grasp the second charging unit 13.

[0075] Step S2252: Based on the robot 11 grasping the second charging unit 13, the robot 11 can drive the vision unit 14 to move to the fourth set state. The fourth set state includes that the shortest distance between the vision unit 14 and the charging port unit 22 is greater than 0m and less than or equal to the fourth set distance, the height difference between the vision unit 14 and the charging port unit 22 is less than or equal to the third set height, the third set height can be 10cm, and the focus point of the vision unit 14 coincides with the central axis of the second charging module 222. By controlling the position distance between the vision unit 14 and the charging port unit 22, it is ensured that the vision unit 14 can accurately obtain the position of the charging port unit 22. At the same time, the distance and height between the vision unit 14 and the charging port unit 22 are within the set range, which can further reduce the position error between the second charging unit 13 and the charging port unit 22 during the subsequent movement of the second charging unit 13, and prevent the second charging unit 13 from being unable to be inserted into the second charging module 222 in the future.

[0076] Step S2253: Based on the robot 11 driving the vision unit 14 to move to the fourth set state, the vision unit 14 can obtain the position of the second charging module 222. By directly obtaining the position of the second charging module 222 through the vision unit 14, the obtained position of the second charging module 222 can be more accurate, which is convenient for inserting the second charging unit 13 into the second charging module 222 in the future.

[0077] Step S254: Based on the vision unit 14 obtaining the position of the second charging module 222, the robot 11 can drive the second charging unit 13 to move to the fifth set state; as Figure 6 shown, the second charging unit may include a second positioning portion. The fifth set state may include that the central axis of the second charging unit 13 coincides with the central axis of the second charging module 222, and the second positioning portion 132 coincides with the second reference portion 2222;

[0078] Step S2255: Based on the robot 11 driving the second charging unit 13 to move to the fifth set state, the robot 11 can drive the second charging unit 13 to be inserted into the second charging module 222. At this time, the inner peripheral wall of the second port 2221 can be in contact with the outer peripheral wall of the second charging gun 131, the shortest distance between the end of the second port 2221 far from the robot 11 and the end of the second charging gun 131 far from the robot 11 is less than or equal to the third set distance, and the second charging gun 131 can be electrically connected to the second port 2221.

[0079] This embodiment discloses a charging system, which can be applied to any one of the charging methods in an embodiment. The charging system may include a charging component 01 and a vehicle component 02. The charging component 01 may include a robot 11, a first charging unit 12, a second charging unit 13, and a base 15. The robot 11, the first charging unit 12, and the second charging unit 13 may be detachably connected to the base 15 respectively. The vehicle component 02 may include a charging vehicle 21 and a charging port unit 22. The charging port unit 22 may be detachably connected to the charging vehicle 21. The charging port unit 22 may be electrically connected to the charging vehicle 21.

[0080] The charging system may include a first charging state, a second charging state, and a non-charging state. The first charging state may include the first charging unit 12 being electrically connected to the charging port unit 22; or, the second charging unit 13 being electrically connected to the charging port unit 22. The second charging state may include the first charging unit 12 and the second charging unit 13 being electrically connected to the charging port unit 22 respectively. By switching between the first charging state and the second charging state, the robot 11 controls the robot 11 to insert the first charging unit 12 and the second charging unit 13 into the charging port unit 22 successively, so that the robot 11 does not need to control the first charging unit 12 and the second charging unit 13 simultaneously, reducing the power requirement for the robot 11 and saving costs at the same time. The non-charging state may include the first charging unit 12 and the second charging unit 13 being spaced apart from the charging port unit 22 respectively.

[0081] In this embodiment, as Figure 9 shown, the charging vehicle 21 may include a vehicle body 211 and a charging seat unit 212. The charging seat unit 212 may include a seat body 2121 and a floating seat 2123. The seat body 2121 is detachably connected to the vehicle body 211. The floating seat 2123 may be movably connected to the seat body 2121. The charging port unit 22 may be detachably connected to the floating seat 2123. The floating seat 2123 may be an elastomer, so that there can be a certain relative movement between the seat body 2121 and the charging port unit 22, ensuring that the first charging unit 12 and the second charging unit 13 can be inserted into the charging port unit 22 even if there are errors in the calculation results.

[0082] Those of ordinary skill in the art can understand that the above embodiments are specific cases for implementing the present disclosure, and in actual applications, various changes can be made to them in form and details without departing from the scope of the present disclosure.

Claims

1. A charging method, characterized in that: The charging method comprises: Step S10, obtaining initial positioning information based on the completion of the initial positioning of the charging vehicle; Step S20: Based on the initial positioning information, the robot is controlled to insert the first charging unit and the second charging unit into the charging port unit in sequence.

2. A charging method according to claim 1, characterized in that: MAX(F2, F3)<F1<F2+F3; wherein F1 is the maximum driving force of the robot, F2 is the resistance during the process of inserting the first charging unit into the charging port unit, and F3 is the resistance during the process of inserting the second charging unit into the charging port unit.

3. A charging method according to claim 1, characterized in that: In the step S20, the position data of the charging port unit obtained by the visual part controls the robot to insert the first charging unit and the second charging unit into the charging port unit respectively.

4. A charging method according to claim 3, characterized in that: The step S20 includes step S21, and the step S21 includes: Step S211, based on the initial positioning information, the visual unit obtains the position data of the charging port unit; Step S212, based on the visual unit obtaining the position data of the charging port unit, controlling the robot to insert the first charging unit and the second charging unit into the charging port unit respectively.

5. A charging method according to claim 4, characterized in that: The step S211 comprises: Step S2111, based on the initial positioning information, the robot drives the visual part to move to a first set state; wherein the first set state includes that the shortest distance between the visual part and the charging port unit is greater than the first set distance and less than or equal to the second set distance, the height difference between the visual part and the charging port unit is less than or equal to the first set height, and the minimum distance between the focus point of the visual part and the first charging module of the charging port unit is less than the minimum distance between the focus point of the visual part and the second charging module of the charging port unit; Step S2112, based on the robot driving the visual unit to move to the first set state, the visual unit obtains the position data of the charging port unit; wherein the position data of the charging port unit includes the position of the first charging module and the position of the second charging module.

6. A charging method according to claim 5, characterized in that: The step S2112 includes: Step S21121, based on the robot driving the visual unit to move to the first set state, the visual unit obtains the position of the first charging module; Step S2112, based on the visual unit, the position of the first charging module is obtained, and the visual unit obtains the minimum distance between the first charging module and the second charging module, the height difference between the first charging module and the second charging module, and the angle difference between the first reference part of the first charging module and the second reference part of the second charging module; Step S2113, based on the visual unit, obtain the minimum distance between the first charging module and the second charging module, the height difference between the first charging module and the second charging module, and the angle difference between the first reference part of the first charging module and the second reference part of the second charging module to obtain the position of the second charging module.

7. A charging method according to claim 3, characterized in that: The step S20 includes a step S22, and the step S22 includes: Step S221, based on the initial positioning information, the robot drives the visual part to move to a second set state; wherein the second set state includes that the shortest distance between the visual part and the charging port unit is greater than a third set distance and less than or equal to a fourth set distance, the height difference between the visual part and the charging port unit is less than or equal to a second set height, and the focus point of the visual part coincides with the central axis of the first charging module of the charging port unit; Step S222, based on the robot driving the visual unit to move to the second setting state, the visual unit obtains the position of the first charging module; Step S223, based on the visual unit obtaining the position of the first charging module, the robot drives the first charging unit to move to a third setting state; wherein the third setting state includes that the central axis of the first charging unit coincides with the central axis of the first charging module, and the first positioning portion coincides with the first reference portion; Step S224, based on the robot driving the first charging unit to move to the third set state, the robot drives the first charging unit to insert into the first charging module; Step S225: the robot drives the first charging unit to be inserted into the first charging module, and the robot drives the second charging unit to be inserted into the second charging module of the charging port unit.

8. A charging method according to claim 7, characterized in that: The step S225 comprises: Step S2251, based on the robot driving the first charging unit to insert into the first charging module, the robot grabs the second charging unit; Step S2252, based on the robot grabbing the second charging unit, the robot drives the visual part to move to a fourth set state, wherein the fourth set state includes that the shortest distance between the visual part and the charging port unit is greater than 0m and less than or equal to a fourth set distance, the height difference between the visual part and the charging port unit is less than or equal to a third set height, and the focus of the visual part coincides with the central axis of the second charging module; Step S2253, based on the robot driving the visual unit to move to the fourth setting state, the visual unit obtains the position of the second charging module; Step S254, based on the visual unit obtaining the position of the second charging module, the robot drives the second charging unit to move to a fifth setting state; wherein the fifth setting state includes the central axis of the second charging unit coinciding with the central axis of the second charging module, and the second positioning portion coinciding with the second reference portion; Step S2255: based on the robot driving the second charging unit to move to the fifth setting state, the robot drives the second charging unit to insert into the second charging module.

9. A charging system, characterized in that: The charging system is applied to a charging method according to any one of claims 1 to 8, and the charging system comprises: A charging assembly, the charging assembly comprising a robot, a first charging unit, a second charging unit, and a base; the robot, the first charging unit, and the second charging unit are respectively detachably connected to the base; A vehicle assembly, the vehicle assembly comprising a charging vehicle and a charging port unit; the charging port unit is detachably connected to the charging vehicle; the charging port unit is electrically connected to the charging vehicle; The charging system includes a first charging state, a second charging state, and an uncharging state; the first charging state includes the first charging unit being electrically connected to the charging port unit; or the second charging unit being electrically connected to the charging port unit; the second charging state includes the first charging unit and the second charging unit being electrically connected to the charging port unit respectively; the uncharging state includes the first charging unit and the second charging unit being spaced apart from the charging port unit respectively.

10. A charging system according to claim 9, characterized in that: The charging vehicle comprises a vehicle body and a charging seat unit; the charging seat unit comprises a seat body and a floating seat; the seat body is detachably connected to the vehicle body; the floating seat is movably connected to the seat body; and the charging port unit is detachably connected to the floating seat.

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