Vehicle automatic charging guide control method and system

Abstract

The invention discloses a vehicle automatic charging guide control method and system, and the method comprises the steps: obtaining a charging port position of a target vehicle before the target vehicle enters a charging station; acquiring automatic charging device information in the charging station; judging whether the charging port position of the target vehicle is matched with the automatic charging device or not; if yes, the parking mode of the target vehicle is determined and sent to the user terminal, and the parking mode comprises the parking direction and the parking range; and if not, sending information of going to other supply stations or using non-automatic charging parking spaces to the user terminal. By acquiring the charging port position of the target vehicle and the information of the automatic charging device in advance, the suitability can be quickly judged, the parking direction and the parking range guidance are sent if the charging port position and the automatic charging device information are adapted to facilitate the subsequent automatic charging operation, and the user is timely notified to go to other supply stations or use non-automatic charging parking spaces if the charging port position and the automatic charging device information are not adapted. And retention of the charging station due to incompatibility of the charging port is avoided, user experience is improved, and invalid queuing is avoided.

Description

Technical Field

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

[0002] Not all car charging ports are located on the same side. Different car brands and models have different locations for charging ports, primarily on the left rear, right rear, left front, right front, front, rear, both sides, and underneath the vehicle. Automatic charging parking spaces often only accommodate some of these options, not all models. With existing technology, users typically have to drive to a parking space and observe whether their car model is suitable for automatic charging, increasing user costs. Summary of the Invention

[0003] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a vehicle automatic charging guidance control method and system.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a vehicle automatic charging guidance control method, comprising: Before the target vehicle enters the charging station, obtain the charging port location of the target vehicle; Obtain information about automatic charging devices in charging stations; Determine whether the charging port position of the target vehicle is compatible with the automatic charging device; If it is compatible, the parking method of the target vehicle is determined and sent to the user terminal. The parking method includes the parking direction and parking range; If it is not suitable, the user terminal will be sent information to go to other supply stations or use non-automatic charging parking spaces.

[0005] As a further improvement of the present invention, the adaptation conditions of the charging port position of the target vehicle and the automatic charging device include: The target vehicle is a charging vehicle, and there is at least one charging pile of an automatic charging device in the charging station, the position of which is adapted to the charging port position of the target vehicle in at least one set parking direction.

[0006] As a further improvement of the present invention, the step of determining whether the charging port position of the target vehicle is compatible with the automatic charging device specifically includes: Obtain the model of the target vehicle and the captured image information; Determine the initial three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and obtain the transformed three-dimensional coordinates after the initial three-dimensional coordinates are adjusted according to the set parking direction; The adaptation result between the charging port of the target vehicle and the automatic charging device is determined according to the charging pile orientation of the automatic charging device, the initial three-dimensional coordinates of the target vehicle and the transformed three-dimensional coordinates.

[0007] As a further improvement of the present invention: a camera device is used to identify the location of the charging port of the target vehicle, or the location of the charging port of the target vehicle is reported through a user terminal.

[0008] As a further improvement of the present invention, the determination that the charging port position of the target vehicle is not compatible with the automatic charging device includes at least: The target vehicle is a non-charging model; Alternatively, the charging pile position of any automatic charging device in the charging station is incompatible with the charging port position of the target vehicle.

[0009] As a further improvement of the present invention: further comprising: After the target vehicle has parked according to the parking method, a parking image of the target vehicle is obtained; Determining a first positional relationship of a target vehicle body relative to the parking space; Determining a second positional relationship between the charging port of the target vehicle and the charging head of the automatic charging device based on the first positional relationship, the three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and the size information of the target vehicle; A moving path of the robotic arm of the automatic charging device is generated according to the second positional relationship, and the robotic arm is controlled to move according to the moving path to insert the charging head into the charging port of the target vehicle.

[0010] As a further improvement of the present invention: further comprising: After charging is completed, the first position relationship of the current vehicle body of the target vehicle relative to the parking space is re-determined to verify whether the position of the charging port of the target vehicle has changed; If so, adjust the latest recovery path of the robotic arm; If not, the original recovery path of the robot arm is executed.

[0011] The present invention also provides a vehicle automatic charging guidance control system, comprising: A charging port identification module is used to obtain the charging port location of the target vehicle before the target vehicle enters the charging station; An acquisition module is used to obtain information about automatic charging devices in a charging station; a judgment module, configured to judge whether the charging port position of the target vehicle is compatible with the automatic charging device, and obtain a first judgment result; The charging guidance module is used to determine the parking method of the target vehicle and send it to the user terminal when the first judgment result is yes. The parking method includes the parking direction and parking range; it is also used to send information to the user terminal about going to other supply stations or using non-automatic charging spaces when the first judgment result is no.

[0012] As a further improvement of the present invention: the judgment module specifically includes: A vehicle information acquisition unit is used to obtain the model of the target vehicle and the captured image information; A coordinate processing unit, configured to determine the initial three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and to calculate the transformed three-dimensional coordinates after the initial three-dimensional coordinates are adjusted according to the set parking direction; The determination unit is used to determine the adaptation result between the charging port of the target vehicle and the automatic charging device according to the charging pile orientation of the automatic charging device, the initial three-dimensional coordinates of the target vehicle and the transformed three-dimensional coordinates.

[0013] As a further improvement of the present invention, it also includes an automatic charging control module, which includes: a parking detection unit, configured to obtain a parking image of the target vehicle after the target vehicle has completed parking according to the parking method; a position analysis unit, configured to determine a first positional relationship of a target vehicle body relative to the parking space; a path calculation unit, configured to calculate a second positional relationship between the charging port of the target vehicle and the charging head of the automatic charging device based on the first positional relationship and the three-dimensional coordinates and size information of the charging port of the target vehicle relative to the vehicle body; The robotic arm control unit is used to generate a robotic arm movement path according to the second position relationship, and control the robotic arm to insert the charging head into the charging port of the target vehicle according to the movement path.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention obtains the location of the charging port and the automatic charging device information before the vehicle enters the charging station, and pre-judges the compatibility to avoid wasting time after the vehicle enters and discovers that it is not compatible. If it is compatible, the user is provided with clear parking direction and parking range guidance to ensure that the vehicle is parked in the best posture, so that the charging port and the automatic charging device are accurately docked, reducing the need for manual adjustment and improving the reliability of automatic charging. If it is not compatible, the user is promptly advised to go to other charging stations or use non-automatic charging spaces to avoid invalid queues and optimize the allocation of charging station resources. By dynamically judging the compatibility of the charging port and the charging device, electric vehicles of different brands and different charging port locations can be supported, thereby improving user convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of a flow chart of an embodiment of the present invention.

[0016] Figure 2 Schematic diagram of a process for implementing the present invention. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] In order to solve the technical problems in the prior art, the present invention is further described with reference to the accompanying drawings and embodiments: like Figure 1 As shown, an embodiment of the present invention discloses a vehicle automatic charging guidance control method, comprising the following steps: S10: Obtain the charging port location of the target vehicle; Specifically, a camera device is used to identify the location of the charging port of the target vehicle, or the location of the charging port of the target vehicle is reported through a user terminal.

[0019] The camera device is set at a certain distance from the charging station, or at the entrance of the charging station to pre-identify the model of the target vehicle, charging port and other information.

[0020] During the driving process, the target vehicle sends its vehicle model, charging port and other information to the target charging station in advance through the user terminal. This allows for the subsequent charging port adaptation judgment logic to avoid unnecessary travel caused by charging port incompatibility.

[0021] The method is applied in a control system, which is communicatively connected with an automatic charging device, a camera, and a user terminal.

[0022] The control system pre-collects the charging port location information of different charging models on the market to form a charging port location information database. The charging port location information includes the location of the charging port on the vehicle (such as the left side, right side, lower left, and lower right of the vehicle body), the three-dimensional coordinates of the charging port relative to the vehicle, etc.

[0023] The establishment of the charging port location information database can facilitate the subsequent rapid verification and confirmation of the target vehicle's charging port location, three-dimensional coordinates, etc. based on the captured target vehicle image, vehicle model and charging port location data, so as to facilitate the subsequent judgment of whether it is suitable for the automatic charging device in the charging station.

[0024] S20: Obtaining information about the automatic charging device in the charging station; Among them, the automatic charging device includes a charging pile, a robotic arm, a 3D camera, etc. The charging pile is used to supply power, the robotic arm is used to automatically insert the charging head into the charging port of the vehicle, and the 3D camera is used to obtain the positional relationship between the charging port of the vehicle and the charging head of the automatic charging device.

[0025] Charging stations typically have both automatic and non-automatic charging spaces. Automatic charging spaces are equipped with automatic charging devices, while non-automatic charging spaces require manual charging. The station identifies the user's charging needs and automatically matches the user with the appropriate charging station.

[0026] S30: Determine whether the charging port position of the target vehicle is compatible with the automatic charging device; In some embodiments, the adaptability conditions between the charging port position of the target vehicle and the automatic charging device include: The target vehicle is a charging vehicle, and there is at least one charging pile of an automatic charging device in the charging station, the position of which is adapted to the charging port position of the target vehicle in at least one set parking direction.

[0027] The parking direction setting includes front-end entry and rear-end entry. The added parking direction adaptation judgment mainly takes into account the fact that the vehicle's charging port locations are located at the left rear, rear, left front, right front, front, rear, both sides, and under the vehicle. When determining whether the vehicle's charging port position is compatible with the automatic charging device, the correspondence between the vehicle's charging port and the automatic charging device's position under different parking directions is considered. Compared to the charging port adaptation judgment for a single parking direction limited to rear-end entry or front-end entry, the charging port in this embodiment has a wider adaptation range and higher compatibility with the automatic charging device. This avoids the situation where the vehicle is compatible with the automatic charging device in a certain parking direction but fails to guide the user to the charging station for charging, causing the user to miss the current charging opportunity and need to find another charging station, thereby reducing the user's behavioral cost to a certain extent.

[0028] Specifically, the automatic charging device in the charging station is located in the upper right corner of the charging space. It can accommodate vehicles with a charging port located on the right front of the vehicle and parked in a front-end parking mode, as well as vehicles with a charging port located on the left rear of the vehicle and parked in a rear-end parking mode. The automatic charging device is located in the lower left corner of the charging space. It can accommodate vehicles with a charging port located on the right front of the vehicle and parked in a rear-end parking mode, as well as vehicles with a charging port located on the left rear of the vehicle and parked in a front-end parking mode.

[0029] In some embodiments, the determination that the charging port position of the target vehicle is not compatible with the automatic charging device includes at least: The target vehicle is not a charging model; or the charging pile orientation of any automatic charging device in the charging station is incompatible with the charging port position of the target vehicle.

[0030] Before the target vehicle enters the charging station, the camera identifies the vehicle model and charging port location, and queries the charging port location information database to determine whether the target vehicle is a charging model and whether the charging port location is compatible with the automatic charging device configured in the charging station.

[0031] S41: If the target vehicle is compatible, the parking method of the target vehicle is determined and sent to the user terminal. The parking method includes the parking direction and parking range. In some embodiments, determining whether the charging port position of the target vehicle is compatible with the automatic charging device specifically includes: S301: Obtain the model of the target vehicle and the captured image information; S302: Determine the initial three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and obtain the transformed three-dimensional coordinates after adjusting the initial three-dimensional coordinates according to the set parking direction; S303: Determine the adaptation result between the charging port of the target vehicle and the automatic charging device according to the charging pile orientation of the automatic charging device, the initial three-dimensional coordinates of the target vehicle, and the transformed three-dimensional coordinates.

[0032] The initial 3D coordinates are the system's default 3D coordinates of the vehicle's charging port relative to the vehicle body. These coordinates can be set for either the front or rear of the vehicle entering the parking space. By obtaining vehicle model and charging port information, the initial 3D coordinates of the vehicle's charging port for one parking orientation are determined from the charging port location database. Simultaneously, the 3D coordinates of the charging port relative to the vehicle body for the other parking orientation are obtained, effectively transforming the 3D coordinates.

[0033] If the vehicle is confirmed to be a charging model and compatible with the automatic charging device (meaning that the target vehicle can be successfully charged through adjustments to the target vehicle's position and the robotic arm's path), the three-dimensional coordinates of the target vehicle's charging port relative to the vehicle body are obtained. Based on the automatic charging device's location and these three-dimensional coordinates, the target vehicle's parking method is determined and transmitted to the user terminal (including a mobile phone, in-vehicle terminal, etc.). The user terminal generates a parking image prompt based on the parking method, instructing the user to park according to the parking image prompt or instructing the target vehicle to automatically park according to the parking image prompt; the parking image prompt includes parking direction, parking range, etc.

[0034] S42: If not suitable, send information to the user terminal to go to another supply station or use a non-automatic charging parking space.

[0035] If it is determined to be a non-charging vehicle, the user will be prompted to go to other supply stations through the user terminal; if it is not compatible with the automatic charging pile, the user will be prompted that the automatic charging parking space is incompatible and a non-automatic charging parking space will be used for charging.

[0036] This embodiment is mainly aimed at users who have automatic charging needs. Before the target vehicle enters the charging station, it identifies the vehicle model and charging port location, and determines whether the charging port location is compatible with the automatic charging device configured in the charging station.

[0037] In actual applications, Dianhong is an Internet of Things control system that adapts to the characteristics of the power industry. It is based on open source Hongmeng and open source Euler, and selects the most suitable technical capability set for power scenarios. On this basis, it adds a "characteristic application layer" for the power system. Through the Internet of Things communication protocol, a system is realized to cover different types and brands of power equipment, connecting massive power equipment terminals from different manufacturers for information exchange and communication, realizing rapid adaptation of Internet of Things equipment, and integrating data from different devices.

[0038] In some embodiments, the present invention further comprises: After the target vehicle has parked according to the parking method, a parking image of the target vehicle is obtained; Determining a first positional relationship of a target vehicle body relative to the parking space; Determining a second positional relationship between the charging port of the target vehicle and the charging head of the automatic charging device based on the first positional relationship, the three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and the size information of the target vehicle; A moving path of the robotic arm of the automatic charging device is generated according to the second positional relationship, and the robotic arm is controlled to move according to the moving path to insert the charging head into the charging port of the target vehicle.

[0039] At this point, the 3D coordinates of the target vehicle's charging port relative to the vehicle body are the 3D coordinates when the charging port and the automatic charging device are compatible. Specifically, if the control system predefines the 3D coordinates of the charging port relative to the vehicle body for rear-end parking as the initial 3D coordinates, then the transformed 3D coordinates are the 3D coordinates of the charging port relative to the vehicle body for head-end parking. If the target vehicle's charging port is compatible with the automatic charging device in head-end parking, the 3D coordinates of the target vehicle's charging port relative to the vehicle body are the transformed 3D coordinates; otherwise, the initial 3D coordinates are used.

[0040] During the movement of the robotic arm, the Dianhong control system continuously monitors the position information of the charging port and the actual movement status of the robotic arm through a 3D camera; if it detects that the position of the charging port has changed, the movement trajectory of the robotic arm will be readjusted according to the position relationship between the charging port and the charging head of the robotic arm.

[0041] In some embodiments, the present invention further comprises: After charging is completed, the first position relationship of the current vehicle body of the target vehicle relative to the parking space is re-determined to verify whether the position of the charging port of the target vehicle has changed; If so, adjust the latest recovery path of the robotic arm; If not, the original recovery path of the robot arm is executed.

[0042] After charging is completed, first verify whether the position of the charging port has changed. If the position of the charging port has changed, it means that the vehicle has moved during the charging process. The robotic arm should be adjusted according to the position change to avoid obstruction during the recovery process of the robotic arm, and then the robotic arm should be controlled to take out and recover.

[0043] Furthermore, after charging is completed, it detects whether there are any obstacles around the body of the target vehicle. If so, a prompt is sent to the user terminal to remind the owner to clear the obstacle.

[0044] If the surrounding environment changes (such as whether there is someone blocking the robotic arm during recovery), if there is an obstruction in the surrounding environment, a prompt will be issued and the owner will be prompted to clear the obstacle. Implementation Case 1: Based on the same inventive concept, an embodiment of the present invention further discloses a vehicle automatic charging guidance control system, comprising: A charging port identification module is used to obtain the charging port location of the target vehicle before the target vehicle enters the charging station; An acquisition module is used to obtain information about automatic charging devices in a charging station; a judgment module, configured to judge whether the charging port position of the target vehicle is compatible with the automatic charging device, and obtain a first judgment result; The charging guidance module is used to determine the parking method of the target vehicle and send it to the user terminal when the first judgment result is yes. The parking method includes the parking direction and parking range; it is also used to send information to the user terminal about going to other supply stations or using non-automatic charging spaces when the first judgment result is no.

[0045] Furthermore, the adaptation conditions of the judgment module include: The target vehicle is a charging vehicle, and there is at least one charging pile of an automatic charging device in the charging station, the charging pile being adapted to the charging port position of the target vehicle in at least one set parking direction.

[0046] Furthermore, the judgment module determines that the situation of incompatibility at least includes: The target vehicle is not a charging model; or the charging pile orientation of any automatic charging device in the charging station is incompatible with the charging port position of the target vehicle.

[0047] In some implementations, the judgment module specifically includes: A vehicle information acquisition unit is used to obtain the model of the target vehicle and the captured image information; A coordinate processing unit, configured to determine the initial three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and to calculate the transformed three-dimensional coordinates after the initial three-dimensional coordinates are adjusted according to the set parking direction; The determination unit is used to determine the adaptation result between the charging port of the target vehicle and the automatic charging device according to the charging pile orientation of the automatic charging device, the initial three-dimensional coordinates of the target vehicle and the transformed three-dimensional coordinates.

[0048] In some embodiments, an automatic charging control module is further included, which includes: a parking detection unit, configured to obtain a parking image of the target vehicle after the target vehicle has completed parking according to the parking method; a position analysis unit, configured to determine a first positional relationship of a target vehicle body relative to the parking space; a path calculation unit, configured to calculate a second positional relationship between the charging port of the target vehicle and the charging head of the automatic charging device based on the first positional relationship and the three-dimensional coordinates and size information of the charging port of the target vehicle relative to the vehicle body; The robotic arm control unit is used to generate a robotic arm movement path according to the second position relationship, and control the robotic arm to insert the charging head into the charging port of the target vehicle according to the movement path.

[0049] In some embodiments, a database module is further included to store vehicle charging port location information, automatic charging device information, and historical adaptation records.

[0050] The main functions of the present invention are: 1. By collecting the charging port location information of different charging models to form an information database, the model and charging port location are identified and adapted before the target vehicle enters the charging station. In this way, it is confirmed in advance whether the target vehicle is suitable for automatic charging parking spaces. If it is not suitable, the user is prompted not to go there, thereby reducing user behavior costs.

[0051] 2. The parking method is determined based on the three-dimensional coordinates of the target vehicle's charging port and the position of the automatic charging device. A parking image prompt is generated through the user terminal to ensure accurate parking. During the automatic charging process, the robotic arm automatically plans and dynamically adjusts the path based on the real-time position relationship to complete the intelligent insertion and removal of the charging head.

[0052] 3. Continuous monitoring of vehicle status and surrounding environment allows for timely response to emergencies such as vehicle movement and environmental changes, ensuring comprehensive charging safety. Overall, this improves the automation, intelligence, and safety of charging, significantly optimizing the user charging experience and effectively enhancing charging station operational efficiency and service capabilities.

[0053] In summary, after reading the present invention document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical solutions and technical concepts of the present invention without creative mental work, and all of them fall within the scope of protection of the present invention.

Claims

1. A vehicle automatic charging guidance control method, characterized in that: include: Before the target vehicle enters the charging station, obtain the charging port location of the target vehicle; Obtain information about automatic charging devices in charging stations; Determine whether the charging port position of the target vehicle is compatible with the automatic charging device; If it is compatible, the parking method of the target vehicle is determined and sent to the user terminal. The parking method includes the parking direction and parking range; If it is not suitable, the user terminal will be sent information to go to other supply stations or use non-automatic charging parking spaces.

2. A vehicle automatic charging guidance control method according to claim 1, characterized in that: The adaptability conditions for the target vehicle's charging port location and the automatic charging device include: The target vehicle is a charging vehicle, and there is at least one charging pile of an automatic charging device in the charging station, the position of which is adapted to the charging port position of the target vehicle in at least one set parking direction.

3. A vehicle automatic charging guidance control method according to claim 1 or 2, characterized in that: The determining whether the charging port position of the target vehicle is compatible with the automatic charging device specifically includes: Obtain the model of the target vehicle and the captured image information; Determine the initial three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and obtain the transformed three-dimensional coordinates after the initial three-dimensional coordinates are adjusted according to the set parking direction; The adaptation result between the charging port of the target vehicle and the automatic charging device is determined according to the charging pile orientation of the automatic charging device, the initial three-dimensional coordinates of the target vehicle and the transformed three-dimensional coordinates.

4. The vehicle automatic charging guidance control method according to claim 1, characterized in that: The charging port location of the target vehicle is identified by a camera device, or the charging port location of the target vehicle is reported through a user terminal.

5. The vehicle automatic charging guidance control method according to claim 1, characterized in that: The charging port position of the target vehicle and the automatic charging device are determined to be incompatible, including at least: The target vehicle is a non-charging model; Alternatively, the charging pile position of any automatic charging device in the charging station is incompatible with the charging port position of the target vehicle.

6. A vehicle automatic charging guidance control method according to claim 1, characterized in that: Also includes: After the target vehicle has parked according to the parking method, a parking image of the target vehicle is obtained; Determining a first positional relationship of a target vehicle body relative to the parking space; Determining a second positional relationship between the charging port of the target vehicle and the charging head of the automatic charging device based on the first positional relationship, the three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and the size information of the target vehicle; A moving path of the robotic arm of the automatic charging device is generated according to the second positional relationship, and the robotic arm is controlled to move according to the moving path to insert the charging head into the charging port of the target vehicle.

7. A vehicle automatic charging guidance control method according to claim 6, characterized in that: Also includes: After charging is completed, the first position relationship of the current vehicle body of the target vehicle relative to the parking space is re-determined to verify whether the position of the charging port of the target vehicle has changed; If so, adjust the latest recovery path of the robotic arm; If not, the original recovery path of the robot arm is executed.

8. A vehicle automatic charging guidance control system, characterized in that: include: A charging port identification module is used to obtain the charging port location of the target vehicle before the target vehicle enters the charging station; An acquisition module is used to obtain information about automatic charging devices in a charging station; a judgment module, configured to judge whether the charging port position of the target vehicle is compatible with the automatic charging device, and obtain a first judgment result; The charging guidance module is used to determine the parking method of the target vehicle and send it to the user terminal when the first judgment result is yes. The parking method includes the parking direction and parking range; it is also used to send information to the user terminal about going to other supply stations or using non-automatic charging spaces when the first judgment result is no.

9. The vehicle automatic charging guidance control system according to claim 8, characterized in that: The judgment module specifically includes: A vehicle information acquisition unit is used to obtain the model of the target vehicle and the captured image information; A coordinate processing unit, configured to determine the initial three-dimensional coordinates of the charging port of the target vehicle relative to the vehicle body, and to calculate the transformed three-dimensional coordinates after the initial three-dimensional coordinates are adjusted according to the set parking direction; The determination unit is used to determine the adaptation result between the charging port of the target vehicle and the automatic charging device according to the charging pile orientation of the automatic charging device, the initial three-dimensional coordinates of the target vehicle and the transformed three-dimensional coordinates.

10. The vehicle automatic charging guidance control system according to claim 8, characterized in that: Also included is an automatic charging control module, which includes: a parking detection unit, configured to obtain a parking image of the target vehicle after the target vehicle has completed parking according to the parking method; a position analysis unit, configured to determine a first positional relationship of a target vehicle body relative to the parking space; a path calculation unit, configured to calculate a second positional relationship between the charging port of the target vehicle and the charging head of the automatic charging device based on the first positional relationship and the three-dimensional coordinates and size information of the charging port of the target vehicle relative to the vehicle body; The robotic arm control unit is used to generate a robotic arm movement path according to the second position relationship, and control the robotic arm to insert the charging head into the charging port of the target vehicle according to the movement path.

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