Vehicle charging system and vehicle charging method thereof

Abstract

The application relates to the technical field of automobile charging, in particular to a vehicle charging system and a vehicle charging method thereof. The vehicle charging system comprises a vehicle-end charging device, a pile-end charging device and a ground-end charging device. The vehicle-end charging device comprises a first vehicle-end charging device and a second vehicle-end charging device. The first vehicle-end charging device is arranged on the side of the vehicle, and the second vehicle-end charging device is arranged on the bottom of the vehicle. The pile-end charging device comprises a pile body and a charging gun. The pile body is fixedly arranged on a target surface. The charging gun is electrically connected with the pile body through a first cable and is used for charging docking with the first vehicle-end charging device. The ground-end charging device is movably arranged on the target surface and is electrically connected with the pile body through a second cable. The ground-end charging device can move to the bottom of the vehicle and automatically dock with the second vehicle-end charging device for charging in response to a charging signal of the vehicle. The application can realize inductive-free charging of the vehicle, provide flexible, convenient and intelligent charging experience and improve the utilization rate of charging pile resources.

Description

Technical Field

[0001] This application relates to the field of automotive charging technology, and in particular to a vehicle charging system and a vehicle charging method thereof. Background Technology

[0002] With the increasing popularity of new energy vehicles, users are demanding a more convenient, seamless, and efficient charging experience. At the same time, charging scenarios are becoming increasingly diversified, and the varying needs for charging time, ease of operation, and interaction methods in different scenarios are placing higher demands on charging modes.

[0003] However, in the existing charging mode, users need to participate in the entire process of plugging and unplugging the charging gun and confirming the charging status, which makes the process cumbersome and time-consuming. In addition, when the charging gun fails, the entire charging station cannot continue to provide charging function, resulting in poor reliability and low resource utilization. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle charging method and a vehicle charging system, which aim to achieve seamless vehicle charging, provide a flexible, convenient and intelligent charging experience, and improve the utilization rate of charging pile resources.

[0005] A first aspect of this application provides a vehicle charging system, the vehicle charging system comprising:

[0006] The vehicle-side charging device includes a first vehicle-side charging device and a second vehicle-side charging device, wherein the first vehicle-side charging device is disposed on the side of the vehicle and the second vehicle-side charging device is disposed on the bottom of the vehicle.

[0007] The charging device at the pile end includes a pile body and a charging gun. The pile body is fixedly installed on the target surface, and the charging gun is electrically connected to the pile body through a first cable and is used to charge and dock with the first vehicle-end charging device.

[0008] A ground-mounted charging device is movably disposed on the target surface and electrically connected to the pile body via a second cable; wherein, in response to the charging signal of the vehicle, the ground-mounted charging device can move to the bottom of the vehicle and automatically dock with the second vehicle-mounted charging device for charging.

[0009] In one embodiment, the ground charging device includes a housing, a lifting module, and a docking module. The lifting module is mounted on the housing and is capable of lifting / lowering in the height direction of the housing.

[0010] The docking module is installed on the lifting module and can move along the height direction of the housing under the drive of the lifting module to dock with the vehicle connector in the second vehicle-side charging device for charging.

[0011] In one embodiment, the lifting module includes:

[0012] A lifting drive mechanism, comprising a drive component and a drive seat, wherein the drive component is pulsatorically connected to the drive seat and is used to drive the drive seat to reciprocate along a first direction, wherein the first direction is angularly set with respect to the height direction of the housing.

[0013] A linkage mechanism, wherein the power input end of the linkage mechanism is hinged to the drive seat;

[0014] The docking module is hinged to the power output end of the linkage mechanism; when the drive seat reciprocates along the first direction, the drive seat can drive the linkage mechanism to fold or unfold, so as to drive the docking module to rise and fall along a third direction, which is configured as the height direction of the housing.

[0015] In one embodiment, the linkage mechanism includes a first linkage unit and a second linkage unit, the first linkage unit and the second linkage unit being stacked along the third direction, and the first linkage unit and the second linkage unit being hinged to each other.

[0016] In one embodiment, the second linkage unit includes a drive linkage, one end of which is used to hinge the docking module, and the other end of which is hinged to the drive seat;

[0017] The first link unit and the second link unit share a first link, which extends along the first direction and one end of the first link is hinged to the drive link.

[0018] In one embodiment, the first linkage unit further includes a second linkage and a third linkage, one end of the second linkage is hinged to the other end of the first linkage, and the other end of the second linkage is fixedly disposed relative to the drive seat along the first direction;

[0019] One end of the third link is disposed on the side of the drive link away from the first link, and is simultaneously hinged to one end of both the drive link and the first link; the other end of the third link is fixedly disposed relative to the drive seat along the first direction.

[0020] In one embodiment, the drive link includes a first drive rod portion, which is disposed in the area where the first link unit is located;

[0021] The second connecting rod, the first driving rod, and the third connecting rod are all provided with bent portions.

[0022] In one embodiment, the bending angles of the bends on the second link and the third link are equal and set as P, and P satisfies 147°≤P≤157°;

[0023] The bending angle of the bent portion on the first drive rod is set to Q, and Q satisfies 158°≤Q≤168°.

[0024] In one embodiment, the docking module includes a ground connector and at least three photoelectric receivers, wherein the ground connector is docked and charged with the vehicle connector; the at least three photoelectric receivers are not arranged on the same line.

[0025] The photoelectric receiver is capable of receiving light emitted from the light source on the second vehicle-end charging device, and outputs electrical signals of different intensities according to the difference in distance between the light source and each photoelectric receiver.

[0026] In one embodiment, the docking module further includes a mounting base, the mounting base being mounted on the lifting module, the ground connector being mounted on the mounting base, and at least three of the photoelectric receivers being spaced apart from each other on the mounting base;

[0027] And / or, the number of photodetectors is four, with two of the photodetectors arranged along a first direction and the other two arranged along a second direction, the first direction and the second direction being set at an angle.

[0028] In one embodiment, the perpendicular bisector of the line connecting the two photodetectors arranged along the first direction passes through the center of the ground connector; and the perpendicular bisector of the line connecting the two photodetectors arranged along the second direction passes through the center of the ground connector.

[0029] In one embodiment, one of the two photodetectors arranged along the first direction is located on the line connecting the two photodetectors arranged along the second direction.

[0030] In one embodiment, the docking module further includes an image acquisition module, which is spaced apart from the ground connector and connected to the mounting base. The image acquisition module is used to acquire light emitted by the light source on the second vehicle-side charging device.

[0031] In one embodiment, the image acquisition module and the ground connector are spaced apart along a first direction, and the imaging center of the image acquisition module and the center of the ground connector are aligned along the first direction.

[0032] In one embodiment, the docking module further includes an elastic element and a fixed base. The fixed base is installed in the lifting module, and the elastic element is disposed between the ground connector and the fixed base, and is connected to the ground connector and the fixed base respectively, so that the ground connector and the fixed base are movably connected.

[0033] In one embodiment, the ground connector includes a motherboard and a ground charging interface, wherein the ground charging interface protrudes and is connected to one side surface of the motherboard along a third direction.

[0034] The docking module further includes a support block, which is connected to the fixing base, and at least a portion of the support block is located above the motherboard in the third direction.

[0035] The third direction extends parallel to the direction of the ground charging interface.

[0036] In one embodiment, the ground charging device further includes an opening and closing module. In the height direction of the housing, the top of the housing has a charging opening. The opening and closing module is installed on the housing and can open or close the charging opening. The lifting module is extended / retracted in the housing. The docking module is installed at one end of the lifting module near the charging opening.

[0037] When the opening module opens the charging opening, the lifting module can drive the docking module to be lifted along the height direction of the housing and extend out of the housing to dock with the vehicle connector in the second vehicle-side charging device for charging.

[0038] In one embodiment, the opening and closing module includes at least a cover plate, an opening and closing drive component, and a transmission unit. The housing has a charging opening, and the cover plate is movably connected to the housing and is used to close or open the charging opening.

[0039] The opening and closing drive is connected to the cover plate through the transmission unit to drive the cover plate to move relative to the housing and close or open the charging opening.

[0040] In one embodiment, the top of the housing has a first opening that forms the charging opening, and the cover extends from the top of the housing to the side of the housing, with an accommodating space formed between the cover and the side of the housing.

[0041] The opening / closing drive and / or the transmission unit are housed in the accommodating space, and as the opening / closing drive is driven, the cover can simultaneously open or close the first opening and the accommodating space.

[0042] In one embodiment, the side of the housing is provided with a mounting groove having a second opening, the mounting groove forming the receiving space, and the opening and closing drive member and / or the transmission unit are received in the mounting groove;

[0043] The cover plate can simultaneously open or close the first opening and the second opening.

[0044] In one embodiment, the cover plate includes a baffle and a connecting plate. The baffle is movably disposed at the charging opening, and the connecting plate is located on the side of the housing and forms the accommodating space between the side of the housing and the side of the housing, and is connected to the baffle and the transmission unit respectively.

[0045] In one embodiment, the ground charging device further includes a guiding unit disposed between the housing and the cover plate to guide the opening or closing movement of the cover plate relative to the housing.

[0046] Optionally, in the ground-end charging device, the guiding unit includes a slide rail and a slider, with the slider slidingly engaged with the slide rail;

[0047] The slide rail extends along the direction of movement of the cover plate, and one of the slide rail and the slider is installed in the housing, while the other is installed in the cover plate.

[0048] In one embodiment, the ground charging device further includes an electrical component and a first immersion sensor. The electrical component is installed inside the housing, and along the height direction of the housing, the side surface of the electrical component facing the target surface is a first side surface, and the first immersion sensor is installed on the first side surface.

[0049] Optionally, the ground-side charging device further includes a second immersion sensor, and the electrical component has a second side facing away from the first side, with the second immersion sensor mounted on the second side.

[0050] Optionally, in the ground-side charging device, the electrical components include a splitter module, a control module, an input cable, and a connecting harness. The splitter module and the control module are spaced apart within the housing. The control module has a first side surface. The input cable passes through the side wall of the housing and is connected to the splitter module. The splitter module and the control module are electrically connected through the connecting harness.

[0051] The dividing module is configured as a third side surface facing the target surface, and the third side surface is located above the first side surface along the height direction of the housing.

[0052] In one embodiment, the second vehicle-side charging device includes:

[0053] Vehicle-side connectors, including vehicle-side charging interfaces;

[0054] A cover assembly is rotatably connected to the vehicle-end connector, and the cover assembly has an open position and a covered position relative to the vehicle-end connector to open or cover the vehicle-end charging interface.

[0055] In one embodiment, the second vehicle-side charging device further includes:

[0056] A positioning component is disposed in at least one of the cover assembly and the vehicle-end connector, the positioning component being exposed when the cover assembly is in the open position, and the positioning component being configured to provide positioning guidance for docking of the vehicle-end connector with the ground charging device.

[0057] In one embodiment, the positioning component includes:

[0058] A first signal module is disposed in at least one of the cover assembly and the vehicle-end connector, and the first signal module is used to provide a first signal to the ground-end charging device;

[0059] And / or, a second signal module is provided in at least one of the cover assembly and the vehicle-end connector, the second signal module being used to provide a second signal to the ground-end charging device;

[0060] The first signal is different from the second signal.

[0061] In one embodiment, the first signal module includes:

[0062] The first feature light source and the second feature light source are used to cooperate with the image acquisition module of the ground terminal charging device.

[0063] In one embodiment, the first feature light source is a first strip light source, and the second feature light source is a second strip light source. The lengths of the first strip light source and the second strip light source are different in a first direction and / or a second direction. The first direction and the second direction intersect.

[0064] In one embodiment, the first signal module further includes:

[0065] In a first direction, the third characteristic light source is offset from one of the first characteristic light source and the second characteristic light source; or in a second direction, the third characteristic light source is offset from one of the first characteristic light source and the second characteristic light source.

[0066] In at least one of the first direction, the second direction, and the third direction, the third characteristic light source has different characteristics compared to the first characteristic light source or the second characteristic light source; the third direction intersects the first direction and the second direction in pairs.

[0067] In one embodiment, the second signal module includes:

[0068] At least one set of signal light sources, wherein the signal light sources emit preset light source signals along a first direction or a second direction;

[0069] The signal light source is at least two sets, at least one set of the signal light source emits the preset light source signal along the first direction, and at least one set of the signal light source emits the preset light source signal along the second direction. The preset light source signals of the two sets of signal light sources intersect to form an intersection point. When the ground terminal charging device moves to a position relative to the intersection point, the ground terminal charging interface of the ground terminal charging device corresponds to the position of the vehicle terminal charging interface.

[0070] In one embodiment, the vehicle-side connector further includes a first base, and the vehicle-side charging interface is disposed on the first base; the cover assembly includes:

[0071] A cover, wherein the positioning component is disposed in at least one of the cover and the first base, and the cover and the first base are rotatably connected;

[0072] A rotation drive is configured to drive the cover to rotate between the open position and the closed position.

[0073] In one embodiment: the second vehicle-side charging device further includes:

[0074] The vehicle-side connector includes a vehicle-side charging interface, which is used to connect to the ground-side charging interface of the ground-side charging device to charge the vehicle.

[0075] A cover assembly is movably disposed on the vehicle-end connector, the cover assembly having a covered position and an open position to cover or open the vehicle-end charging interface;

[0076] The locking component is used to lock the relative position of the cover component and the vehicle-end connector when the cover component is in the blocked position, and to lock the relative position of the vehicle-end connector and the ground-end charging device when the cover component is in the open position and the vehicle-end charging interface is connected to the ground-end charging interface.

[0077] In one embodiment, the vehicle-end connector further includes a first base, the locking component is disposed on the first base, and the cover component further includes a first mating portion;

[0078] When the cover assembly is in the obstructed position, the locking assembly locks with the first mating part; when the ground charging interface is connected to the vehicle charging interface, the locking assembly locks with the ground charging device.

[0079] In one embodiment, the locking assembly includes a locking actuator, the locking actuator including a locking end for locking engagement with the first mating part; when the cover assembly is in the obstructed position, a first receiving cavity is formed between the first base and the cover assembly, and the locking end is located within the first receiving cavity.

[0080] In one embodiment, when the cover assembly is in the open position and the vehicle-side charging interface is connected to the ground-side charging interface, a second receiving cavity is formed between the ground-side charging device and the first base, and the locking end is located in the second receiving cavity.

[0081] In one embodiment, the locking end protrudes outward from the first base;

[0082] Alternatively, the locking actuator may be embedded within the first base so that the locking actuator is not exposed outside the first base.

[0083] In one embodiment, the first base has an internal mounting cavity, and the locking assembly includes a locking actuator and a lock body. The lock body is located in the mounting cavity and is drivenly connected to the locking actuator so that the locking actuator can lock into the first mating part or the ground charging device.

[0084] In one embodiment, the locking actuator is movably disposed relative to the first base, the locking actuator having a locked position and an unlocked position, and the lock body including a driving part and a transmission part, the driving part being drivenly connected to the locking actuator through the transmission part.

[0085] In one embodiment, the locking component further includes:

[0086] The manual unlocking unit is connected to the transmission unit. By operating the manual unlocking unit, the locking actuator can be driven to switch from the locked position to the unlocked position.

[0087] In one embodiment, the second vehicle-side charging device further includes:

[0088] A sensor, communicatively connected to the locking assembly, is used to detect the connection signal between the vehicle-side charging interface and the ground-side charging device. When the sensor detects that the vehicle-side charging interface and the ground-side charging device are properly connected, it sends a locking signal to the locking assembly, which then locks the ground-side charging device and the vehicle-side connector.

[0089] In one embodiment, the ground-side charging device includes a ground-side connector having a ground-side charging interface; the second vehicle-side charging device includes a vehicle-side connector having a vehicle-side charging interface; the vehicle charging system further includes:

[0090] A guide structure is disposed on at least one of the ground charging interface and the vehicle charging interface, the guide structure being configured to guide the docking of the ground charging interface and the vehicle charging interface.

[0091] In one embodiment, the guide structure includes a guide surface disposed at the vehicle-side charging interface, and the cross-section of the guide surface perpendicular to the direction in which the ground-side charging interface is inserted into the vehicle-side charging interface gradually decreases.

[0092] Alternatively, the guide surface is disposed at the ground terminal charging interface, and along the direction in which the vehicle terminal charging interface is inserted into the ground terminal charging interface, the cross section of the guide surface perpendicular to this direction gradually decreases.

[0093] In one embodiment, the vehicle-side charging interface further includes a vehicle-side retaining ring and a vehicle-side terminal. The vehicle-side retaining ring surrounds a vehicle-side insertion hole for the ground-side charging interface to be inserted. The vehicle-side terminal is located within the vehicle-side insertion hole and is used to engage with the ground-side terminal in the ground-side charging interface. At least a portion of the inner surface of the vehicle-side retaining ring is a guide surface that provides guidance for the ground-side charging interface.

[0094] A second aspect of this application provides a vehicle charging method, which is applied to the vehicle charging system described in any of the above embodiments; the vehicle charging method includes:

[0095] When the vehicle-side charging device determines that the second vehicle-side charging device in the vehicle-side charging device has established a communication connection with the ground-side charging device, it determines whether the vehicle where the vehicle-side charging device is located meets the ground-side charging conditions, and when it determines that the vehicle meets the ground-side charging conditions, it generates and sends a charging signal to the ground-side charging device.

[0096] In response to the charging signal, the ground-end charging device controls the ground-end charging device to move to the target docking position below the second vehicle-end charging device, and controls the ground-end charging device to dock with the second vehicle-end charging device.

[0097] When the charging pile determines that the ground-side charging device and the second vehicle-side charging device have successfully connected, the charging pile establishes a first charging circuit between the charging pile and the ground-side charging device, and charges the vehicle through the first charging circuit.

[0098] In one embodiment, generating and sending a charging signal to the ground-end charging device includes:

[0099] The cover in the second vehicle-side charging device is opened to expose the vehicle-side charging interface in the second vehicle-side charging device, and the positioning component in the second vehicle-side charging device is controlled to send a position guidance signal.

[0100] When the cover is detected to be open and the positioning component sends the position guidance signal, a charging signal is generated and sent to the ground charging device.

[0101] In one embodiment, the step of controlling the ground-side charging device to move to the target docking position below the second vehicle-side charging device in response to the charging signal includes:

[0102] Upon receiving the charging signal, the parking electronic lock of the ground charging device is unlocked to make the ground charging device movable.

[0103] Control the opening of the cover in the ground charging device to expose the ground charging interface in the ground charging device;

[0104] After detecting that the cover is open and the parking electronic lock is unlocked, the position guidance signal is received, and the position guidance of the ground charging device is performed according to the position guidance signal so that the ground charging device moves to the target docking position.

[0105] In one embodiment, controlling the ground-side charging device to interface with the second vehicle-side charging device includes:

[0106] After the ground-side charging device moves to the target docking position, it sends a positioning success signal to the second vehicle-side charging device, so that the second vehicle-side charging device forwards the positioning success signal to the domain controller on the vehicle, so that the domain controller generates and sends a charging permission command to the ground-side charging device.

[0107] Upon receiving the charging permission command, the ground charging interface is raised to connect with the vehicle charging interface.

[0108] In one embodiment, after controlling the ground-side charging device to dock with the second vehicle-side charging device, the method further includes:

[0109] When the second vehicle-side charging device detects that the ground-side charging interface and the vehicle-side charging interface are in a high-voltage interlocked connection state, it generates and sends a first high-voltage interlock signal to the ground-side charging device; wherein, the first high-voltage interlock signal is used to indicate that the ground-side charging interface and the vehicle-side charging interface are in a high-voltage interlocked connection state.

[0110] The ground-end charging device sends the first high-voltage interlock signal to the pile-end charging device.

[0111] When the charging device at the pile end receives the first high-voltage interlock signal, it determines that the charging device at the ground end has successfully connected with the charging device at the vehicle end.

[0112] In one embodiment, the method further includes:

[0113] When the second vehicle-side charging device detects that the ground-side charging interface and the vehicle-side charging interface are in a high-voltage interlocked connection state, it controls the ground-side charging interface and the vehicle-side charging interface to be electronically interlocked and generates a locking signal; wherein, the locking signal is used to indicate that the vehicle-side charging interface and the ground-side charging interface have been electronically interlocked.

[0114] The second vehicle-side charging device sends the locking signal to the pile-side charging device through the ground-side charging device.

[0115] In one embodiment, establishing a first charging circuit between the pile body in the pile-end charging device and the ground-end charging device includes:

[0116] The signal on the control guide signal line between the pile body and the ground charging interface in the pile-end charging device is acquired, and the locking signal sent by the second vehicle-end charging device through the ground charging device is received.

[0117] When the locking signal is confirmed to be received and the signal on the control guide signal line meets the preset signal conditions, the AC power line between the pile body and the ground charging interface is turned on to establish the first charging circuit.

[0118] In one embodiment, the method further includes:

[0119] When the charging device detects that the signal on the control guide signal line does not meet the preset signal condition during the charging process, it controls the AC power line to disconnect to disconnect the first charging circuit and sends a charging circuit disconnection signal to the ground charging device.

[0120] The ground-side charging device sends a charging circuit disconnection signal to the second vehicle-side charging device.

[0121] After receiving the charging circuit disconnection signal, the second vehicle-side charging device controls the ground-side charging device to release the electronic interlock with the vehicle-side charging interface, generates and sends an unlock signal to the ground-side charging device; wherein, the unlock signal is used to indicate that the electronic interlock between the ground-side charging interface and the vehicle-side charging interface has been released.

[0122] Upon receiving the unlock signal, the ground charging device controls itself to perform a reset operation.

[0123] In one embodiment, controlling the ground charging device to perform a reset operation includes:

[0124] The ground charging interface is controlled to descend to a first preset initial position so that the ground charging interface is disengaged from the vehicle charging interface; wherein, the unlocking signal is used to indicate that the electronic interlock between the vehicle charging interface and the ground charging interface has been released.

[0125] After the ground terminal charging interface descends to the first preset initial position, the ground terminal charging device is controlled to move to the second preset initial position.

[0126] The cover is closed to house the ground charging interface within the ground charging device, and the electronic lock of the ground charging device is locked to prevent the ground charging device from moving.

[0127] In one embodiment, after generating and sending an unlock signal to the ground-end charging device, the method further includes:

[0128] When the second vehicle-side charging device detects that the ground terminal charging interface and the vehicle-side charging interface are in a high-voltage interlock disconnected state, it controls the cover to close so that the vehicle-side charging interface is housed inside the second vehicle-side charging device.

[0129] In one embodiment, when it is determined that the vehicle does not meet the ground charging conditions, the method further includes:

[0130] The vehicle-side charging device sends a charging gun activation command to the pile-side charging device.

[0131] In response to the charging gun activation command, the charging device at the pile end establishes a second charging circuit between the pile body and the charging gun in the charging device at the pile end, and charges the vehicle through the second charging circuit; wherein, the charging gun is used to dock with the side charging device in the vehicle-side charging device.

[0132] A third aspect of this application provides a vehicle charging method, wherein the vehicle charging method is applied to a ground-based charging device; the vehicle charging method includes:

[0133] After the ground-side charging device establishes a communication connection with the second vehicle-side charging device, it receives the charging signal sent by the second vehicle-side charging device.

[0134] In response to the charging signal, the ground charging device is controlled to move to the target docking position below the second vehicle-side charging device, and the ground charging device is controlled to dock with the second vehicle-side charging device.

[0135] In one embodiment, the step of controlling the ground-side charging device to move to the target docking position below the second vehicle-side charging device in response to the charging signal includes:

[0136] Upon receiving the charging signal, the parking electronic lock of the ground charging device is unlocked to make the ground charging device movable.

[0137] Control the opening of the cover in the ground charging device to expose the ground charging interface in the ground charging device;

[0138] After detecting that the cover is open and the parking electronic lock is unlocked, the system receives a position guidance signal from the second vehicle-side charging device and guides the ground-side charging device to move to the target docking position according to the position guidance signal.

[0139] In one embodiment, controlling the ground-side charging device to interface with the second vehicle-side charging device includes:

[0140] After the ground charging device moves to the target docking position, it sends a positioning success signal to the second vehicle-mounted charging device, so that the second vehicle-mounted charging device forwards the positioning success signal to the domain controller on the vehicle where the second vehicle-mounted charging device is located, so that the domain controller generates and sends a charging permission command to the ground charging device.

[0141] Upon receiving the charging permission command, the ground charging interface is raised to connect with the second vehicle-side charging device.

[0142] In one embodiment, the vehicle charging method further includes:

[0143] The ground-end charging device receives a charging circuit disconnection signal sent by the pile-end charging device; wherein, the charging circuit disconnection signal is used to indicate that the first charging circuit between the pile body in the pile-end charging device and the ground-end charging device is disconnected.

[0144] The ground-side charging device sends the charging circuit disconnection signal to the second vehicle-side charging device, so that after receiving the charging circuit disconnection signal, the second vehicle-side charging device controls the ground-side charging device and the second vehicle-side charging device to de-interlock electronically, and generates and sends an unlock signal to the ground-side charging device; wherein, the unlock signal is used to indicate that the ground-side charging interface and the second vehicle-side charging device have de-interlocked electronically.

[0145] Upon receiving the unlock signal, the ground charging device controls itself to perform a reset operation.

[0146] In one embodiment, controlling the ground charging device to perform a reset operation includes:

[0147] Control the ground terminal charging interface to descend to a first preset initial position so that the ground terminal charging interface is disconnected from the second vehicle-side charging device;

[0148] After the ground terminal charging interface descends to the first preset initial position, the ground terminal charging device is controlled to move to the second preset initial position.

[0149] The cover is closed to house the ground charging interface within the ground charging device, and the parking electronic lock is locked to immobilize the ground charging device.

[0150] A fourth aspect of this application provides a vehicle charging method, wherein the vehicle charging method is applied to a vehicle-side charging device; the vehicle charging method includes:

[0151] When determining that the second vehicle-side charging device in the vehicle-side charging device establishes a communication connection with the ground-side charging device, it is determined whether the vehicle where the vehicle-side charging device is located meets the ground-side charging conditions.

[0152] When it is determined that the vehicle meets the ground charging conditions, a charging signal is generated and sent to the ground charging device.

[0153] In one embodiment, generating and sending a charging signal to the ground-end charging device includes:

[0154] The cover in the second vehicle-side charging device is opened to expose the vehicle-side charging interface in the second vehicle-side charging device, and the positioning component in the second vehicle-side charging device is controlled to send a position guidance signal.

[0155] When the cover is detected to be open and the positioning component in the second vehicle-side charging device emits the position guidance signal, a charging signal is generated and sent to the ground-side charging device.

[0156] In one embodiment, the vehicle charging method further includes:

[0157] The system receives a location success signal from the ground charging device and sends the location success signal to the domain controller on the vehicle, so that when the domain controller receives the location success signal, it generates a charging permission command and sends the charging permission command to the second vehicle-side charging device.

[0158] The received charging permission command is sent to the ground charging device so that the ground charging device controls the ground charging device to connect with the vehicle charging interface.

[0159] When it is detected that the ground charging device and the vehicle charging interface are in a high-voltage interlock connection state, a first high-voltage interlock signal is generated and sent to the ground charging device; wherein, the first high-voltage interlock signal is used to indicate that the ground charging device and the vehicle charging interface are in a high-voltage interlock connection state.

[0160] In one embodiment, the vehicle charging method further includes:

[0161] When it is detected that the ground charging device and the vehicle charging interface are in a high-voltage interlocked connection state, the ground charging device and the vehicle charging interface are electronically interlocked, and a locking signal is generated; wherein, the locking signal is used to indicate that the vehicle charging interface and the ground charging device are electronically interlocked.

[0162] The locking signal is sent to the pile-end charging device through the ground-end charging device, so that the pile-end charging device establishes a first charging circuit between the pile body in the pile-end charging device and the ground-end charging device according to the locking signal.

[0163] In one embodiment, the vehicle charging method further includes:

[0164] Upon receiving a charging circuit disconnection signal from the ground-end charging device, the system controls the ground-end charging device to release the electronic interlock with the vehicle-end charging interface and generates an unlocking signal. The charging circuit disconnection signal indicates that the first charging circuit between the pile in the pile-end charging device and the ground-end charging device is disconnected. The unlocking signal indicates that the electronic interlock between the ground-end charging device and the vehicle-end charging interface has been released.

[0165] The unlock signal is sent to the ground charging device so that the ground charging device controls the ground charging device to perform a reset operation after receiving the unlock signal.

[0166] In one embodiment, after generating the unlock signal, the method further includes:

[0167] When it is detected that the ground charging device and the vehicle charging interface are in a high-voltage interlock disconnected state, the cover is controlled to close so that the vehicle charging interface is housed in the second vehicle charging device.

[0168] Compared with existing technologies, this application provides a vehicle charging system and a vehicle charging method thereof. By setting a charging gun and a ground-end charging device that are electrically connected to the charging pile, the vehicle charging system has dual-mode functions of "conventional side charging of vehicles" and "automatic bottom charging of vehicles", providing users with a flexible, convenient and intelligent charging experience. At the same time, the dual-mode charging is redundant, which effectively improves the operational reliability of the entire charging system and increases the utilization rate of charging pile resources. Attached Figure Description

[0169] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0170] Figure 1 A structural block diagram of the vehicle charging system provided in this application.

[0171] Figure 2 This is a schematic diagram of the connection between the pile-end charging device and the ground-end charging device provided in this application.

[0172] Figure 3 A schematic diagram of the structure of the vehicle-side charging device provided in this application arranged on the vehicle.

[0173] Figure 4 A schematic diagram of the charging process between the ground-side charging device and the second-vehicle-side charging device provided in this application.

[0174] Figure 5 Schematic diagram of the ground charging device provided in this application Figure 1 .

[0175] Figure 6 Schematic diagram of the ground charging device provided in this application in the lifted state Figure 1 .

[0176] Figure 7Provided for this application Figure 6 The diagram below omits the structural schematic of the protective cover.

[0177] Figure 8 Schematic diagram of the ground charging device provided in this application in the lifted state Figure 2 .

[0178] Figure 9 Provided for this application Figure 8 The diagram below omits the structural schematic of the lifting module, docking module, and cover plate.

[0179] Figure 10 Schematic diagram of the ground charging device provided in this application Figure 2 .

[0180] Figure 11 for Figure 10 Sectional view at point AA.

[0181] Figure 12 A schematic diagram of the structure for opening the charging opening of the opening and closing module provided in this application.

[0182] Figure 13 for Figure 12 Sectional view at point BB.

[0183] Figure 14 Schematic diagram of the ground charging device provided in this application in the lifted state Figure 3 .

[0184] Figure 15 Provided for this application Figure 14 A schematic diagram of the structure of the docking module.

[0185] Figure 16 for Figure 15 A bird's-eye view Figure 1 .

[0186] Figure 17 for Figure 15 A magnified view of a section at point C.

[0187] Figure 18 for Figure 15 A bird's-eye view Figure 2 .

[0188] Figure 19 for Figure 15 A bottom view.

[0189] Figure 20 The schematic diagram of the ground charging device provided in this application, with the housing omitted and the lifting module in a lifted state, is shown.

[0190] Figure 21 This is a structural schematic diagram of the lifting module and docking module provided in this application.

[0191] Figure 22 for Figure 21 Schematic diagram of the state structure of the lifting and docking module. Figure 1 .

[0192] Figure 23 for Figure 22 Side view.

[0193] Figure 24 for Figure 21 Schematic diagram of the state structure of the lifting and docking module. Figure 2 .

[0194] Figure 25 for Figure 21 Schematic diagram of the state structure of the lifting and docking module. Figure 3 .

[0195] Figure 26 The schematic diagram of the ground charging device provided in this application omits the housing and linkage mechanism.

[0196] Figure 27 for Figure 14 A structural diagram from another perspective.

[0197] Figure 28 for Figure 20 A magnified view of a section at point D.

[0198] Figure 29 This is a schematic diagram of the structure of the electrical components provided in this application mounted on the housing.

[0199] Figure 30 for Figure 29 A sectional view of the central control module.

[0200] Figure 31 This is a schematic diagram showing the location and structure of the control module provided in this application inside the housing.

[0201] Figure 32 for Figure 31 A structural diagram from another perspective.

[0202] Figure 33 This is a schematic diagram showing the location and structure of the branching module inside the housing provided in this application.

[0203] Figure 34 for Figure 29 Another sectional view of the central control module.

[0204] Figure 35 A schematic diagram of the control module provided in this application.

[0205] Figure 36A schematic diagram of the branching module provided in this application.

[0206] Figure 37 This is a cross-sectional view of a ground-end charging device and a second vehicle-end charging device connected and charged according to an embodiment of this application.

[0207] Figure 38 This is a schematic diagram of the structure of the second vehicle-side charging device provided in one embodiment of this application. Figure 1 .

[0208] Figure 39 This is a schematic diagram of the structure of the second vehicle-side charging device provided in one embodiment of this application. Figure 2 .

[0209] Figure 40 This is a schematic cross-sectional view of the second vehicle-side charging device provided in one embodiment of this application. Figure 1 .

[0210] Figure 41 for Figure 40 A magnified view of a section at point F.

[0211] Figure 42 This is a schematic cross-sectional view of the second vehicle-side charging device provided in one embodiment of this application. Figure 2 .

[0212] Figure 43 for Figure 37 A magnified view of a section at point E in the middle.

[0213] Figure 44 for Figure 42 A magnified view of a section at point G.

[0214] Figure 45 Schematic diagram of the ground charging device provided in this application Figure 3 .

[0215] Figure 46 for Figure 45 A magnified view of a section at point H.

[0216] Figure 47 This is a schematic diagram of the structure of the second vehicle-side charging device provided in one embodiment of this application. Figure 3 .

[0217] Figure 48 This is a schematic diagram of the vehicle-end connector in a second vehicle-end charging device provided in an embodiment of this application.

[0218] Figure 49 for Figure 48 A cross-sectional view of the charging interface at the CRRC end.

[0219] Figure 50 for Figure 45 A top view of the ground charging interface of the ground charging device in the diagram.

[0220] Figure 51 This is a flowchart of an embodiment of the vehicle charging method provided in this application.

[0221] Figure 52 A flowchart of Embodiment 2 of the vehicle charging method provided in this application.

[0222] Figure 53 A flowchart of Embodiment 3 of the vehicle charging method provided in this application.

[0223] Figure 54 The flowchart is for Embodiment 4 of the vehicle charging method provided in this application.

[0224] Figure 55 A flowchart of Embodiment 5 of the vehicle charging method provided in this application.

[0225] Figure 56 A flowchart of Embodiment Six of the vehicle charging method provided in this application.

[0226] Figure 57 The flowchart is for Embodiment Seven of the vehicle charging method provided in this application.

[0227] Figure 58 The flowchart is for Embodiment 8 of the vehicle charging method provided in this application.

[0228] Figure 59 The flowchart is for Embodiment Nine of the vehicle charging method provided in this application.

[0229] Figure 60 The flowchart is for Embodiment 10 of the vehicle charging method provided in this application.

[0230] Figure 61 This is a flowchart of Embodiment Eleven of the vehicle charging method provided in this application.

[0231] The symbols in the diagram represent the following meanings:

[0232] 1a. Vehicle charging system;

[0233] 10. Ground charging device; 11. Housing; 111. Charging opening; 1111. First opening; 112. Mounting slot; 1121. Accommodation space; 1122. Second opening; 113. Third opening;

[0234] 12. Ground charging interface; 121. First insertion cavity; 122. Second insertion cavity; 123. Third insertion cavity; 124. Ground L-phase terminal; 125. Ground N-phase terminal; 126. Ground PE terminal; 127. Ground CC terminal; 128. Ground CP terminal; 129. Ground high-voltage interlock terminal;

[0235] 1300, Second mating part; 1301, Second locking hole; 14, Lifting module; 1401, First linkage unit; 1402, Second linkage unit; 1403, Bending part; 141, Drive mechanism; 1411, Drive component; 1412, Drive seat; 1413, Drive screw; 142, Linkage mechanism; 1421, Drive link; 14211, First drive rod part; 1422, First link; 1423, Second link; 1424, Third link; 1425, Fourth link;

[0236] 17. Sensing module; 18. Protective cover;

[0237] 20. Docking module; 201. First center line; 202. Second center line; 21a. Ground connector; 211. Main board; 22. Mounting base; 23. Photoelectric receiver; 24. Image acquisition module; 241. Camera; 242. Outer cover; 2421. Light transmission groove; 25. Elastic element; 251. First spring; 252. Second spring; 253. Third spring; 26. Support block;

[0238] 2a. Charging device at the charging pile end; 2b. Charging pile body; 2c. Charging gun;

[0239] 30. Opening / closing module; 31. Cover plate; 311. Baffle; 311a. First baffle; 311b. Second baffle; 312. Connecting plate; 312a. First connecting plate; 312b. Second connecting plate; 313. Connecting block; 313a. First connecting block; 313b. Second connecting block; 31a. First cover plate; 31b. Second cover plate; 32. Opening / closing drive component; 321. Drive rod; 33. Transmission unit; 331. Transmission wheel; 3311. Transmission groove; 331a. First transmission wheel; 331b. Second transmission wheel; 332. Transmission component; 3321. First transmission part; 3322. Second transmission part; 34. Guide unit; 341. Slide rail; 342. Slider;

[0240] 51. Electrical component; 511. Distribution module; 5111. Distribution housing; 5111a. Cable inlet; 5111b. Wire harness outlet; 5112. Second waterproof connector; 5113. Third waterproof connector; 512. Control module; 5121. Control housing; 5121a. Electrical cavity; 5121b. Electrical cavity opening; 5121c. Wire harness inlet; 5122. Control cover; 5123. Circuit board; 5124. Control power supply; 5125. First waterproof connector; 513. Input cable; 514. Wire harness; 515. Clearance space; 51a. First side; 51b. Second side; 51c. Third side; 51d. Controller; 52. First immersion sensor; 53. Second immersion sensor;

[0241] 60. Walking module; 61. Drive wheel assembly; 611. Drive wheel; 612. Walking drive component; 62. Caster wheel;

[0242] 6000, Vehicle-side charging device; 6000a, First vehicle-side charging device; 6000b, Second vehicle-side charging device;

[0243] 6100, Vehicle-end connector; 6120, Sealing structure; 6121, Sealing groove; 6122, Seal; 61221, First sealing lip; 61222, Second sealing lip; 6130, First base; 6131, First receiving groove; 61311, First slot; 6132, Mounting cavity; 6133, Clearance cavity; 6134, Second surface; 6140, High-pressure interface;

[0244] 6200, Cover assembly; 6210, Cover body; 6211, Second receiving groove; 62111, Second slot; 6212, First surface; 6213, Protective groove; 6220, Rotation drive component; 6230, First mating part; 6231, First locking hole;

[0245] 6300, Positioning component; 6310, First signal module; 6311, First feature light source; 6312, Second feature light source; 6313, Third feature light source; 6320, Second signal module; 6321, Signal light source;

[0246] 6400, Stop assembly; 6410, Locking actuator; 6411, Locking end; 6420, Lock body; 6421, Drive unit; 6422, Transmission unit; 6430, Manual unlocking unit;

[0247] 81. Vehicle-side charging interface; 811. Vehicle-side retaining ring; 8111. Vehicle-side plug hole; 8112. Guide surface; 812. Vehicle-side L-phase terminal; 813. Vehicle-side N-phase terminal; 814. Vehicle-side PE terminal; 815. Vehicle-side CC terminal; 816. Vehicle-side CP terminal; 817. Vehicle-side high-voltage interlock terminal; 818. First temperature detector;

[0248] 90. Guiding structure; K. Center line; M. Target surface. Detailed Implementation

[0249] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0250] The following specific embodiments are given to illustrate the technical solution of this application in detail.

[0251] Please see Figure 1 This application provides a vehicle charging system 1a, which is mainly used for charging vehicles. Here, the vehicle can be a pure electric vehicle or a hybrid electric vehicle.

[0252] Specifically, please refer to Figures 1 to 4The vehicle charging system 1a includes a vehicle-side charging device 6000, a pile-side charging device 2a, and a ground-side charging device 10. The vehicle-side charging device 6000 includes a first vehicle-side charging device 6000a and a second vehicle-side charging device 6000b. The first vehicle-side charging device 6000a is installed on the side of the vehicle, and the second vehicle-side charging device 6000b is installed on the bottom of the vehicle. The pile-side charging device 2a includes a pile body 2b and a charging gun 2c. The pile body 2b is fixedly installed on the target surface M, and the charging gun 2c is electrically connected to the pile body 2b through a first cable and is used to dock with the first vehicle-side charging device 6000a for charging, thereby realizing the charging of the vehicle. The ground-side charging device 10 is movably installed on the target surface M and electrically connected to the pile body 2b through a second cable. In response to the charging signal of the vehicle, the ground-side charging device 10 can move to the bottom of the vehicle and automatically dock with the second vehicle-side charging device 6000b for charging. Thus, by setting up a charging gun 2c connected to the charging pile 2b and a ground-end charging device 10, the vehicle charging system 1a has dual-mode functions of "conventional vehicle side charging" and "automatic vehicle bottom charging", providing users with a flexible, convenient and intelligent charging experience; at the same time, the dual-mode charging is redundant, effectively improving the operational reliability of the entire charging system and increasing the utilization rate of charging pile resources.

[0253] It should be noted here that the target surface M can be the ground of an outdoor parking lot, the ground of an underground parking garage, or the vehicle platform level of a multi-level parking garage. The vehicle charging system 1a is set near the corresponding parking space. Of course, when the vehicle is parked in the corresponding parking space, the user can choose to use the charging gun 2c or the ground charging device 10 to charge the vehicle according to their needs.

[0254] In one embodiment, see further. Figure 4 The ground-side charging device 10 has a ground-side connector 21a, and the ground-side connector 21a has a ground-side charging interface 12. The second vehicle-side charging device 6000b has a vehicle-side connector 6100, and the vehicle-side connector 6100 has a vehicle-side charging interface 81. The ground-side charging device 10 and the second vehicle-side charging device 6000b are connected, that is, the ground-side connector 21a and the vehicle-side connector 6100 are connected; in other words, the ground-side charging interface 12 and the vehicle-side charging interface 81 are also connected.

[0255] Please see Figures 5 to 7 The ground-side charging device 10 includes a housing 11, a lifting module 14, and a docking module 20. The lifting module 14 is installed on the housing 11 and can move up and down in the height direction of the housing 11. The docking module 20 is installed on the lifting module 14 and can move along the height direction of the housing 11 under the drive of the lifting module 14 to dock and charge with the vehicle-side connector 6100 in the second vehicle-side charging device 6000b.

[0256] For ease of explanation and understanding, please refer to Figure 7 A three-dimensional coordinate system is proposed based on the length, width, and height of the shell 11. The length direction of the shell 11 is the X direction, which is also the first direction; the width direction of the shell 11 is the Y direction, which is also the second direction; and the height direction of the shell 11 is the Z direction, which is also the third direction or the height direction of the vehicle.

[0257] Please see Figure 7 , Figures 20 to 25 The lifting module 14 includes a lifting drive mechanism 141 and a linkage mechanism 142. The lifting drive mechanism 141 includes a drive member 1411 and a drive seat 1412. The drive member 1411 is connected to the drive seat 1412 for driving the drive seat 1412 to reciprocate along the first direction X. The power input end of the linkage mechanism 142 is hinged to the drive seat 1412. The docking module 20 is hinged to the power output end of the linkage mechanism 142. When the drive seat 1412 reciprocates along the first direction X, the drive seat 1412 can drive the linkage mechanism 142 to fold or unfold, so as to drive the docking module 20 to rise and fall along the third direction Z. The third direction Z forms a preset angle with the first direction X. In other words, in this embodiment, the lifting module 14 controls the reciprocating motion of the drive seat 1412 along the first direction X via the drive member 1411, driving the linkage mechanism 142 hinged to the drive seat 1412 to fold or unfold. The folding or unfolding of the linkage mechanism 142 converts the motion in the first direction X into a drive for the docking module 20 to rise / fall along the third direction Z. This allows the lifting module 14 to achieve lifting functionality without relying on a long vertical transmission stroke, thereby reducing the space required by the lifting module 14 in the height direction of the ground charging device 10 in its initial state. This facilitates the miniaturization of the ground charging device 10 and helps to broaden its application scenarios. It should be noted that the initial state of the lifting module 14 specifically refers to the state when the linkage mechanism 142 is not unfolded and the entire module is at its lowest position in the third direction Z.

[0258] Please see Figures 21 to 25 In one embodiment, the lifting drive mechanism 141 further includes a drive screw 1413, which extends along the first direction X and is threadedly connected to the drive seat 1412. The drive member 1411 is tractively connected to the drive screw 1413 to drive the drive screw 1413 to rotate, so that the installation space of the drive seat 1412 in the first direction X is integrated into the area where the drive screw 1413 is located, thereby reducing the installation space required in the first direction X when the lifting drive mechanism 141 is installed. At the same time, compared with the telescopic drive method to realize the movement of the drive seat 1412 along the first direction X, it is beneficial to reduce the overall size of the drive member 1411, thereby contributing to the miniaturization of the lifting module 14.

[0259] Here, the driving component 1411 is configured as a motor. The motor's shaft is connected to one end of the driving screw 1413 via a gearbox (not shown). The power output from the driving component 1411, after speed regulation by the gearbox, drives the driving screw 1413 to rotate. Through the threaded engagement between the driving screw 1413 and the driving seat 1412, the driving seat 1412 ultimately achieves reciprocating motion along the first direction X. Of course, this is not the only possibility. For those skilled in the art, the driving component 1411 can also be configured as a rotary cylinder; or, the driving component 1411 can be configured as an electric push rod, directly driving the reciprocating motion of the driving seat 1412 along the first direction X through the extension and retraction of the electric push rod. Further details will not be elaborated here.

[0260] Please see Figure 20 In one embodiment, the number of linkage mechanisms 142 is set to multiple sets, and the multiple sets of linkage mechanisms 142 are arranged sequentially at intervals along the second direction Y. The reference plane jointly determined by the third direction Z and the first direction X forms a preset angle with the second direction Y. This allows the lifting module 14 of this embodiment to use multiple sets of linkage mechanisms 142 to jointly support the docking module 20. This can improve the stability and balance of the support of the lifting module 14 to the docking module 20, thereby ensuring the consistency of the direction when the lifting module 14 drives the docking module 20 to move up and down during operation. This allows the docking module 20 to accurately dock with the vehicle end connector 6100 in the second vehicle end charging device 6000b.

[0261] In this embodiment, the number of linkage mechanisms 142 is set to two sets, and the two sets of linkage mechanisms 142 are arranged on two opposite sides of the drive seat 1412 in the first direction X or the second direction Y. Of course, it is not limited to this. For those skilled in the art, the number of linkage mechanisms 142 can also be set to three, four, or even more sets, which will not be elaborated here.

[0262] Please see Figure 21 and Figure 22 In one embodiment, each linkage mechanism 142 includes a first linkage unit 1401 and a second linkage unit 1402. The first linkage unit 1401 and the second linkage unit 1402 are stacked along the third direction Z, and the first linkage unit 1401 and the second linkage unit 1402 are hinged to each other. That is, the linkage mechanism 142 in this embodiment forms a double-layer linkage structure. Compared with a single-layer linkage structure, this linkage mechanism 142 can reduce the requirement for the drive seat 1412 to move in the first direction X while achieving the same lifting height of the fixed seat 22. Compared with a multi-layer linkage structure with three or more layers, this linkage mechanism 142 requires less space in the height direction of the ground charging device 10 in the initial state, which is conducive to further miniaturizing the design of the ground charging device 10.

[0263] Here, both the first linkage unit 1401 and the second linkage unit 1402 are configured as four-bar linkages. By utilizing the structural characteristics of the four-bar linkage, the structure of the linkage mechanism 142 can be simplified, and the position maintenance capability and motion stability of the linkage mechanism 142 in the process of driving the fixed seat 22 to move up and down along the third direction Z can be improved.

[0264] Please see Figures 21 to 25 In one embodiment, the second linkage unit 1402 includes a drive linkage 1421. One end of the drive linkage 1421 is hinged to the fixed seat 22, and the other end of the drive linkage 1421 is hinged to the drive seat 1412. The first linkage unit 1401 and the second linkage unit 1402 share the first linkage 1422. The first linkage 1422 extends along the first direction X, and one end of the first linkage 1422 is hinged to the drive linkage 1421. This allows the drive linkage 1421 to move under the drive of the drive seat 1412, and its driving force can simultaneously drive the first linkage unit 1401 and the second linkage unit 1402 to fold or unfold in coordination. This ensures the synchronicity of their movements during folding or unfolding, and avoids swaying or tilting of the fixed seat 22 during lifting due to asynchronous transmission. At the same time, sharing the first linkage 1422 can also reduce the number of linkages in the linkage mechanism 142, simplify its overall structure, and help reduce manufacturing costs.

[0265] Please continue reading. Figures 21 to 25 In one embodiment, the first linkage unit 1401 further includes a second linkage 1423 and a third linkage 1424. One end of the second linkage 1423 is hinged to the other end of the first linkage 1422, and the other end of the second linkage 1423 is fixedly disposed relative to the drive seat 1412 along the first direction X. One end of the third linkage 1424 is disposed on the side of the drive linkage 1421 away from the first linkage 1422, and is simultaneously hinged to one end of both the drive linkage 1421 and the first linkage 1422. The other end of the third linkage 1424 is fixedly disposed relative to the drive seat 1412 along the first direction X. In other words, in this embodiment, the ends of the second link 1423 and the third link 1424 that are away from the first link 1422 are set as fixed hinge points, so that when the drive link 1421 moves, it can drive the first link 1422 to move up and down along the third direction Z under the constraint and guidance of the second link 1423 and the third link 1424, and ensure that the first link 1422 is consistent in direction and stable in posture during the up and down process.

[0266] Please continue reading. Figures 21 to 25In one embodiment, the drive link 1421 includes a first drive rod portion 14211, which is disposed in the area where the first link unit 1401 is located. The second link 1423, the first drive rod portion 14211, and the third link 1424 are all provided with bent portions 1403. Utilizing the bending characteristics of the bent portions 1403, not only can the space occupied by the first link unit 1401 along the third direction Z be reduced when the lifting module 14 is in the terminated state, but it can also ensure the consistency of the direction when the link mechanism 142 drives the docking module 20 to rise and fall during folding or unfolding. It should be noted that the terminated state of the lifting module 14 specifically refers to the state corresponding to when the link mechanism 142 is fully unfolded and its entire structure is at its highest position in the third direction Z.

[0267] Please see Figure 23 , Figure 24 as well as Figure 25 The bending angles of the bent portions 1403 on the second link 1423 and the third link 1424 are equal and set to P, and P satisfies 147°≤P≤157°; and the bending angle of the bent portion 1403 on the first drive rod 14211 is set to Q, and Q satisfies 158°≤Q≤168°. This ensures that the first link unit 1401 can meet the expansion amount required to achieve the expected lifting height, thereby ensuring that the docking module 20 can be stably lifted to the target position under the drive of the link mechanism 142.

[0268] Here, the bending angle P of the bending portion 1403 on the second link 1423 and the third link 1424 can be set to 147°, 149°, 152°, 155°, or 157°, etc.; while the bending angle Q of the bending portion 1403 on the first drive rod 14211 can be set to 158°, 160°, 163°, 165°, or 168°, etc. It should be noted that the specific values ​​of the bending angle P and the bending angle Q are not fixed. Those skilled in the art can flexibly adjust and select them according to actual usage needs, which will not be elaborated here.

[0269] Please see Figures 21 to 25In one embodiment, the second linkage unit 1402 further includes a fourth linkage 1425, one end of which is hinged to the other end of the first linkage 1422, and the other end of which is used to hinge the docking module 20. In the area where the second linkage unit 1402 is located, the fourth linkage 1425 is arranged parallel to the drive linkage 1421, so that when the drive linkage 1421 is driven by the drive seat 1412 to move, it can drive the docking module 20 to move up and down along the third direction Z under the constraint and guidance of the fourth linkage 1425 and the drive linkage 1421, and ensure that the ground connector 21a in the docking module 20 is consistent in direction and stable in posture during the lifting process.

[0270] In actual operation, due to the non-fixed parking position of the vehicle, the coordinate position of the vehicle-end connector 6100 located at the bottom of the vehicle is different. This causes the ground-end charging device 10 and the second vehicle-end charging device 6000b to fail to achieve automatic contact conduction charging. Manual assistance is usually required to overcome the randomness of vehicle parking, thereby reducing the degree of automation of car charging.

[0271] Therefore, to achieve automatic docking, please refer to [link / reference needed]. Figures 14 to 19 A corresponding docking module 20 was set up.

[0272] Specifically, see Figures 14 to 16 The docking module 20 includes a ground connector 21a and at least three photoelectric receivers 23. The at least three photoelectric receivers 23 are spaced apart and not collinear. The photoelectric receivers 23 can receive light emitted by the light source on the second vehicle-side charging device 6000b and output electrical signals of different intensities according to the distance difference between the light source and each photoelectric receiver 23.

[0273] Understandably, by setting at least three photodetectors 23, and ensuring that these three photodetectors 23 are spaced apart and not collinear, the photodetectors 23 are arranged on at least three non-parallel straight lines. Furthermore, at least two photodetectors 23 exist on any one straight line. Thus, when two photodetectors 23 on the same straight line receive light emitted from the same light source on the second vehicle-end charging device 6000b, they will output electrical signals of different intensities if their distances from the light source are different. The ground-end charging device 10 moves according to the difference in electrical signals until the electrical signal intensities output by the two photodetectors 23 are equal. At this point, the ground connector 21a is aligned with the vehicle-end connector 6100 along the direction of this straight line. Afterward, the ground-end charging device 10 moves in a direction perpendicular to this straight line, so that the electrical signal intensities output by two photodetectors 23 on another straight line after receiving light from the vehicle-end light source are equal, thereby achieving complete alignment between the ground connector 21a and the vehicle-end connector 6100. Thus, by using differential detection from at least three photoelectric receivers 23, the ground charging device 10 can be automatically aligned, which helps to reduce the difficulty of the ground charging device 10 cooperating with the vehicle for charging.

[0274] It should be noted that the movement of the ground charging device 10 is controlled by a controller (not shown in the figure). The photoelectric receiver 23 is communicatively connected to the controller. The light signal generated by the photoelectric receiver 23 can be converted into an electrical signal. The controller determines whether there is a difference in the relative position between the ground connector 21a and the vehicle connector 6100 based on the voltage difference formed by the electrical signal. Here, the vehicle light source received by the photoelectric receiver 23 located on two different straight lines can be the same or different, and can be reasonably set according to the needs.

[0275] The optical signal received by the photoelectric receiver 23 from the light source will be described in detail below regarding the second vehicle-side charging device 6000b. Here, we will focus on the specific structure and layout of the docking module 20 on the ground-side charging device 10.

[0276] In one embodiment, the docking module 20 further includes a mounting base 22, which is mounted on the lifting module 14. For example, the mounting base 22 is mounted on the linkage mechanism 142. A ground connector 21a is mounted on the mounting base 22. Correspondingly, the second vehicle-end charging device 6000b includes a vehicle-end connector 6100, and the ground connector 21a is used to engage with the vehicle-end connector 6100 for charging. At least three photodetectors 23 are spaced apart and mounted on the mounting base 22.

[0277] Please continue reading. Figure 15 and Figure 16In this embodiment, there are four photoelectric receivers 23, with two arranged along the first direction X and the other two arranged along the second direction Y, forming an angle between the first direction X and the second direction Y. By using four photoelectric receivers 23, the control logic is simplified, and a redundant design is achieved. Even if one photoelectric receiver 23 fails, the reliable connection of the ground charging device 10 can be ensured by changing the judgment logic.

[0278] The angle between the first direction X and the second direction Y can be set to 80°, 85°, 90°, or 95°, etc. Preferably, the first direction X is parallel to the length direction of the fixing base 22, and the second direction Y is parallel to the width direction of the fixing base 22. That is, the first direction X is perpendicular to the second direction Y. In this way, the arrangement of the photoelectric receiver 23 is simple, and the corresponding position determination logic is also simpler.

[0279] Furthermore, the perpendicular bisector of the line connecting the two photodetectors 23 arranged along the first direction X passes through the center of the ground connector 21a, and the perpendicular bisector of the line connecting the two photodetectors 23 arranged along the second direction Y also passes through the center of the ground connector 21a. This simplifies the position determination logic of the ground charging device 10.

[0280] Furthermore, in one embodiment, such as Figure 2 As shown, one of the two photoelectric receivers 23 arranged along the first direction X is located on the line connecting the two photoelectric receivers 23 arranged along the second direction Y, so as to further reduce the difficulty of the arrangement design of the photoelectric receivers 23.

[0281] In other embodiments, the number of photodetectors 23 may also be three, arranged in an equilateral triangle. This simplifies the assembly of the ground connector 21a. Of course, the number of photodetectors 23 may also be five, six, or other numbers, depending on actual needs.

[0282] It is understandable that when determining the position through the photoelectric receiver 23, the position needs to be determined multiple times through the voltage difference. If the ground charging device 10 is initially far from the vehicle connector 6100, its adjustment efficiency is low.

[0283] Therefore, to improve positioning efficiency, in one embodiment, please refer to... Figure 15 and Figure 16The docking module 20 also includes an image acquisition module 24, which is spaced apart from the ground connector 21a and connected to the mounting base 22. The image acquisition module 24 is used to acquire the light emitted by the light source on the second vehicle-side charging device 6000b. It is understood that, on the one hand, both the image acquisition module 24 and the ground connector 21a are mounted on the mounting base 22, thus achieving integrated design and contributing to a compact structure. On the other hand, the image acquisition module 24, in conjunction with the light source, can determine the relative position based on the position of the light source acquired by the image acquisition module 24, enabling preliminary position determination between the ground-side charging device 10 and the second vehicle-side charging device 6000b. This allows the ground-side charging device 10 to quickly move to the approximate position where the ground connector 21a mates with the vehicle-side connector 6100. Then, precise position adjustment is performed via the photoelectric receiver 23, thereby achieving precise docking of the ground connector 21a and effectively improving the efficiency of docking and charging.

[0284] Further, please refer to Figure 16 The image acquisition module 24 and the ground connector 21a are spaced apart along the first direction X, and the imaging center of the image acquisition module 24 is aligned with the center of the ground connector 21a along the first direction X. Thus, during the initial movement process determined by the position of the image acquisition module 24, the ground charging device 10 can initially achieve positioning along the first direction X, thereby greatly improving the efficiency of subsequent judgments.

[0285] For details, please continue reading Figure 16 The image acquisition module 24 includes a camera 241 and an outer cover 242. The outer cover 242 is connected to the mounting base 22 and has a light-transmitting slot 2421. The camera 241 is installed inside the outer cover 242 and is positioned corresponding to the light-transmitting slot 2421. That is, the camera 241 can acquire the position of the vehicle-end light source through the light-transmitting slot 2421 on the outer cover 242, and at the same time, the outer cover 242 can protect the camera 241, reducing the probability of damage from contact with external components and improving the reliability of the structure.

[0286] To more clearly illustrate the scheme of this application, the following are defined: Figure 16 The first center line 201 and the second center line 202 shown are as follows: the first center line 201 passes through the imaging center of the image acquisition module 24, the center point of the ground connector 21a and the center point of the two photoelectric receivers 23 along the first direction X; the second center line 202 passes through the center points of the three photoelectric receivers 23 along the second direction Y.

[0287] In one embodiment, see Figures 15 to 19The docking module 20 also includes an elastic element 25, which is located between the ground connector 21a and the fixed base 22, and is connected to both the ground connector 21a and the fixed base 22 respectively, so that the ground connector 21a and the fixed base 22 are movably connected. That is, the ground connector 21a can achieve a certain floating effect through the elastic element 25, which can better cooperate with the vehicle connector 6100, and docking can still be achieved even if the structure is tilted.

[0288] Specifically, the ground connector 21a includes a motherboard 211 and the aforementioned ground charging interface 12, which protrudes and connects to one side surface of the motherboard 211. The elastic element 25 can be configured as a spring sheet, and the mounting base 22 has a slot to accommodate the motherboard 211. Elastic elements 25 are provided between the motherboard 211 and the mounting base 22 along its sidewalls in the first direction X and the second direction Y, and its bottom wall in the third direction Z, allowing the ground connector 21a to float in all three directions. This further facilitates the mating of the ground connector 21a with the vehicle connector 6100 and compensates for positional and angular deviations between the ground connector 21a and the vehicle connector 6100, ensuring the smoothness and reliability of the docking process between the ground connector 21a and the vehicle connector 6100. Here, the third direction Z is parallel to the extension direction of the ground charging interface 12, that is, the third direction Z is perpendicular to the plane formed by the first direction X and the second direction Y.

[0289] Furthermore, such as Figure 15 As shown, multiple elastic elements 25 are provided, arranged circumferentially around the motherboard 211, and spaced apart. This allows the ground connector 21a to be adjusted in multiple circumferential positions around the motherboard 211, improving the flexibility and accuracy of the adjustment.

[0290] Here, the number of elastic elements 25 can be three, four, five, etc. Of course, it is not limited to this; the number of elastic elements 25 can be set according to actual needs.

[0291] Please see Figure 18 and Figure 19In one embodiment, the elastic element 25 is configured as a spring sheet. Specifically, three springs are provided, including a first spring 251, a second spring 252, and a third spring 253. The ground connector 21a is placed on the fixed base 22 along the third direction Z via the third spring 253. The first spring 251 and the second spring 252 are disposed around the ground connector 21a, and the ground connector 21a abuts against the fixed base 22 via the first spring 251 and the second spring 252. Specifically, the ground connector 21a abuts against the fixed base 22 in the first direction X via the first spring 251, and the ground connector 21a abuts against the fixed base 22 in the second direction Y via the second spring 252. This allows the ground connector 21a to be adjusted in position in the first direction X, the second direction Y, and the third direction Z respectively through the elastic deformation of the first spring 251, the second spring 252, and the third spring 253, thereby allowing the ground connector 21a to be adjusted in any direction on the fixed base 22.

[0292] Please continue reading. Figure 15 and Figure 16 The docking module 20 also includes a support block 26, which is connected to the mounting base 22, and at least a portion of the support block 26 is positioned above the motherboard 211 in the third direction Z. Because the ground connector 21a is floating, it cannot provide pressure support when charging with the vehicle connector 6100. The support block 26 is provided to provide support and transmit the force to the mounting base 22. This improves the reliability of the ground connector 21a during charging.

[0293] Specifically, there are two support blocks 26, which are arranged on opposite sides of the main board 211 along the second direction Y. This makes the support force of the fixing seat 22 more even. Of course, in other embodiments, the number of support blocks 26 can also be set to three, four or six, etc., which can be reasonably set according to actual needs.

[0294] Please see Figures 8 to 13In the height direction Z of the housing 11, the top of the housing 11 has a charging opening 111. The opening and closing module 30 is installed on the housing 11 and can open or close the charging opening 111. The lifting module 14 is extended / retracted in the housing 11. The docking module 20 is installed at one end of the lifting module 14 near the charging opening 111. When the opening and closing module 30 opens the charging opening 111, the lifting module 14 can drive the docking module 20 to be lifted along the height direction Z of the housing 11 and extend out of the housing 11 to dock with the second vehicle-end charging device 6000b for charging. It should be noted that when the ground charging device 10 is not in operation, its lifting module 14 drives the docking module 20 to be housed inside the housing 11, and the charging opening 111 of the housing 11 is closed by the opening and closing module 30. In this way, not only is the space occupied by the ground charging device 10 in its height direction (equivalent to the height direction Z of the housing 11) reduced, but reliable physical protection is also obtained, thereby expanding the environmental adaptability range of the ground charging device 10. When the ground charging device 10 is in operation, the opening and closing module 30 opens the charging opening 111, and the lifting module 14 drives the docking module 20 to dock with the second vehicle-side charging device 6000b. This process does not rely on a complex external guiding mechanism, and reduces the overall manufacturing cost of the ground charging device 10 while ensuring the reliability of docking and charging.

[0295] Here, the top of the housing 11 is the end of the housing 11 that faces away from the target surface M, and the bottom of the housing 11 is the end of the housing 11 that faces the target surface M.

[0296] Please continue reading. Figures 8 to 13 The opening / closing module 30 includes a cover plate 31, an opening / closing drive component 32, and a transmission unit 33. The cover plate 31 is movably connected to the housing 11 and is used to close or open the charging opening 111. The opening / closing drive component 32 is connected to the cover plate 31 through the transmission unit 33 to drive the cover plate 31 to move relative to the housing 11 and close or open the charging opening 111. It can be understood that this application uses a movable cover plate 31 to open or close the charging opening 111. When charging is required, the cover plate 31 opens the charging opening 111; when charging is not required, the cover plate 31 closes the charging opening 111, thereby covering the charging opening 111 and protecting the internal components of the housing 11 (such as the lifting module 14, docking module 20, etc.) from prolonged exposure and damage.

[0297] In one embodiment, such as Figure 8As shown, in the height direction Z (i.e., the third direction Z) of the housing 11, the top of the housing 11 has a first opening 1111, which forms the aforementioned charging opening 111. A cover plate 31 extends from the top of the housing 11 to the side of the housing 11, and an accommodating space 1121 is formed between the cover plate 31 and the corresponding side of the housing 11. The opening and closing drive member 32 and / or the transmission unit 33 are accommodated in the accommodating space 1121, and as the opening and closing drive member 32 is driven, the cover plate 31 can simultaneously open or close the first opening 1111 and the accommodating space 1121. In this way, the assembly difficulty of the opening and closing drive member 32 and the transmission unit 33 can be reduced, and the space occupied by the housing 11 can be reduced, avoiding interference with the lifting module 14 during lifting. That is, here, the opening and closing drive 32 and / or transmission unit 33 are installed on the side of the housing 11, which reduces the occupation of these structures on the top of the housing 11, thereby avoiding any impact or interference on the lifting action of the lifting module 14.

[0298] Specifically, please refer to Figure 8 and Figure 9 The housing 11 has a mounting groove 112 with a second opening 1122 on its side. The mounting groove 112 forms the aforementioned accommodating space 1121, and the opening / closing drive member 32 and / or transmission unit 33 are accommodated in the mounting groove 112. The cover plate 31 can simultaneously open or close the first opening 1111 and the second opening 1122. By accommodating the opening / closing drive member 32 and the transmission unit 33 in the mounting groove 112, protection is provided for the opening / closing drive member 32 and the transmission unit 33, further reducing the probability of collision and interference with external structures and improving structural safety.

[0299] Further, please refer to Figure 8 To achieve the connection between the cover plate 31 and the transmission component 332, the cover plate 31 includes a baffle 311 and a connecting plate 312. The baffle 311 is movably disposed at the charging opening 111, and the connecting plate 312 is located on the side of the housing 11, forming an accommodating space 1121 between it and the side of the housing 11, and is connected to the baffle 311 and the transmission unit 33 respectively. That is, the cover plate 31 forms a bent L-shaped structure, which extends to the side of the housing 11 through the connecting plate 312, thereby facilitating the connection with the transmission component 332 and reducing the connection difficulty. The cover plate 31 also includes a connecting block 313, which is installed on the side of the connecting plate 312 facing the side of the housing 11 and is used to connect the transmission unit 33. In this way, when the opening and closing drive component 32 drives the transmission unit 33 to move, the transmission unit 33 can drive the cover plate 31 to move through the connecting block 313, thereby opening or closing the charging opening 111.

[0300] In one embodiment, please refer to Figure 8 , Figure 10 and Figure 12The cover plate 31 consists of two parts: a first cover plate 31a and a second cover plate 31b. Both cover plates 31a and 31b are slidably positioned at the charging opening 111 and are connected to the transmission unit 33. The opening / closing drive unit 32 drives the first cover plate 31a and the second cover plate 31b to move closer or further apart via the transmission unit 33, thereby closing or opening the charging opening 111. By dividing the cover plate 31 into two parts (first cover plate 31a and second cover plate 31b), the movement distance of each part is reduced, lowering the difficulty of movement. Therefore, the opening and closing mechanism of the cover plate 31 here adopts a split-type structure.

[0301] Of course, in other embodiments, the cover plate 31 can also be a single unit, that is, the cover plate 31 can also be opened and closed in a flat manner to realize the opening and closing of the charging opening 111.

[0302] This application specifically uses a first cover plate 31a and a second cover plate 31b as an example to illustrate how the cover plate 31 enables the opening and closing of the charging opening 111.

[0303] Specifically, please refer to Figure 11 and Figure 13 To achieve synchronous movement of the first cover plate 31a and the second cover plate 31b, in one embodiment, the transmission unit 33 includes a transmission wheel 331 and a transmission member 332. The transmission wheel 331 includes a first transmission wheel 331a and a second transmission wheel 331b, both of which are rotatably connected to the housing 11. The transmission member 332 is wound around the first transmission wheel 331a and the second transmission wheel 331b and is driveably connected to them. The first cover plate 31a and the second cover plate 31b are both connected to the transmission member 332, and the opening / closing drive member 32 is connected to the transmission member 332. That is, the transmission unit 33 forms a belt-like transmission structure. After the opening / closing drive member 32 is connected to the transmission member 332, the first cover plate 31a and the second cover plate 31b can be moved closer or further apart through the transmission member 332, thus closing or opening the charging opening 111.

[0304] Please continue reading. Figure 11 and Figure 13The portion of the transmission member 332 located on one side of the line K connecting the centers of the first transmission wheel 331a and the second transmission wheel 331b is defined as the first transmission part 3321, and the portion of the transmission member 332 located on the other side of the line K is defined as the second transmission part 3322. The first cover plate 31a is connected to the first transmission part 3321, and the second cover plate 31b is connected to the second transmission part 3322. Thus, when the transmission member 332 rotates, since the first transmission part 3321 and the second transmission part 3322 rotate in opposite directions, by connecting the first cover plate 31a and the second cover plate 31b to the first transmission part 3321 and the second transmission part 3322 respectively, the first cover plate 31a and the second cover plate 31b can move synchronously closer or further apart, thereby closing or opening the charging opening 111.

[0305] Furthermore, a sealing strip can be provided at the contact point between the first cover plate 31a and the second cover plate 31b when they are closed, so as to provide protection through the elastic compression of the sealing strip, thereby improving the reliability of the overall structural fit and the overall protection level.

[0306] Please see Figure 9 The outer periphery of both the first transmission wheel 331a and the second transmission wheel 331b is provided with a transmission groove 3311, and part of the transmission component 332 is installed in the transmission groove 3311. The sidewall of the transmission groove 3311 can stop the transmission component 332, preventing the transmission component 332 from disengaging from the first transmission wheel 331a and the second transmission wheel 331b, thereby effectively improving the transmission cooperation effect between the transmission component 332 and the first transmission wheel 331a and the second transmission wheel 331b. Specifically, the transmission component 332 can be configured as a steel wire rope. In this way, the structure of the transmission component 332 is simple, and the cooperation with the first transmission wheel 331a and the second transmission wheel 331b is also simpler, which can reduce the risk of jamming when cooperating with the transmission groove 3311. However, it is not limited to this. In other embodiments, the transmission component 332 can also be a conveyor belt or a chain, etc., which can be reasonably set according to actual needs.

[0307] Please continue reading. Figure 8 and Figure 10 When the cover plate 31 includes a first cover plate 31a and a second cover plate 31b, both the first cover plate 31a and the second cover plate 31b are L-shaped. Specifically, the first cover plate 31a includes a first baffle 311a and a first connecting plate 312a. The first baffle 311a is movably disposed at the charging opening 111, and the first connecting plate 312a is located on the side of the housing 11 and is connected to the first baffle 311a and the transmission unit 33, respectively. The second cover plate 31b includes a second baffle 311b and a second connecting plate 312b. The second baffle 311b is movably disposed at the charging opening 111, and the second connecting plate 312b is located on the side of the housing 11 and is connected to the second baffle 311b and the transmission unit 33, respectively.

[0308] Furthermore, to achieve the connection between the first cover plate 31a and the second cover plate 31b and the transmission unit 33, such as... Figure 11 and Figure 13 As shown, the first cover plate 31a further includes a first connecting block 313a, which is fixedly connected to the first connecting plate 312a and the first transmission part 3321. The second cover plate 31b further includes a second connecting block 313b, which is fixedly connected to the second connecting plate 312b and the second transmission part 3322. Thus, the connection between the first cover plate 31a, the second cover plate 31b, and the transmission part 332 is simple.

[0309] In one embodiment, please Figure 9 , Figure 11 and Figure 13 The opening / closing drive member 32 is located between the first transmission wheel 331a and the second transmission wheel 331b, and between the first transmission part 3321 and the second transmission part 3322. In this way, the opening / closing drive member 32 can utilize the space between the first transmission wheel 331a and the second transmission wheel 331b, thereby improving space utilization.

[0310] Furthermore, since the opening / closing drive component 32 is located between the first transmission wheel 331a and the second transmission wheel 331b, it is not easy for the opening / closing drive component 32 to directly drive the first transmission wheel 331a or the second transmission wheel 331b to rotate. Based on this, the opening / closing module 30 also includes an opening / closing drive rod 321, which is connected to the output end of the opening / closing drive component 32 and the transmission component 332, respectively. That is, the opening / closing drive component 32 directly drives the transmission component 332 to move through the opening / closing drive rod 321, which is simple to connect and convenient to operate.

[0311] Here, the opening and closing drive component 32 can be configured as a drive cylinder, linear motor, or electric push rod, etc.

[0312] In one embodiment, such as Figure 9 As shown, in order to ensure the stability of the movement of the first cover plate 31a and the second cover plate 31b, the ground terminal charging device 10 also includes a guiding unit 34. The guiding unit 34 is disposed between the housing 11 and the cover plate 31 to guide the opening or closing movement of the cover plate 31 relative to the housing 11, thereby improving the reliability of the movement of the cover plate 31.

[0313] Specifically, see Figure 9 , Figure 11 and Figure 13The guiding unit 34 includes a slide rail 341 and a slider 342, with the slider 342 slidingly engaged with the slide rail 341. The slide rail 341 extends along the direction of movement of the cover plate 31. One of the slide rail 341 and the slider 342 is mounted on the housing 11, and the other is mounted on the cover plate 31. Thus, the sliding guidance of the slide rail 341 and the slider 342 improves the straightness of the cover plate 31's movement, thereby ensuring reliable movement of the cover plate 31.

[0314] For example, in this embodiment, the slide rail 341 is disposed on the housing 11, and the slider 342 is disposed on the cover plate 31. Furthermore, when the cover plate 31 includes a first cover plate 31a and a second cover plate 31b, sliders 342 can be disposed on both the first cover plate 31a and the second cover plate 31b. To further improve guiding reliability, two slide rails 341 can be disposed on the housing 11, with the two slide rails 341 arranged in parallel and spaced apart.

[0315] In one embodiment, please refer to Figure 5 and Figure 6 The ground charging device 10 also includes an induction module 17, which is mounted on the housing 11. The induction module 17 is used to sense the vehicle or the vehicle connector 6100 and generate an induction signal to realize the communication connection between the ground charging device 10 and the vehicle.

[0316] For example, after the vehicle parks in the corresponding parking space, the ground-side charging device 10 establishes a communication connection with the vehicle or the vehicle-side connector 6100 through the sensing module 17. Based on this action, the opening and closing module 30 can be controlled to open the charging opening 111 under the sensing signal of the sensing module 17. This allows the ground-side charging device 10 to autonomously trigger the opening and closing module 30 to operate according to the corresponding signal, without relying on external control commands or manual intervention. This achieves the autonomous start of the charging process of the ground-side charging device 10, ensuring the fully automated operation of the entire charging process. Of course, the opening of the opening and closing module 30 can also be controlled without relying on the sensing module 17. It can be controlled by the vehicle domain controller. After the ground-side charging device 10 and the vehicle establish a communication connection, the vehicle domain controller issues a control signal based on the charging demand and controls the opening and closing module 30 to open the charging opening 111.

[0317] It should be noted that the sensing module 17 can realize the sensing and identification of the vehicle connector 6100 through wireless communication methods such as Bluetooth and WIFI. Its specific structure and working principle can be based on existing technologies in this field, and will not be described in detail here.

[0318] In one embodiment, please refer to Figure 6 and Figure 8The lifting module 14 also includes a protective cover 18, which covers the outer periphery of the linkage mechanism 142 and is respectively connected to the housing 11 and the fixing seat 22 on the docking module 20. The protective cover 18 is configured to retract or extend along the third direction Z following the folding or unfolding action of the linkage mechanism 142, so that the protective cover 18 can provide continuous and effective physical protection for the linkage mechanism 142, prevent the intrusion of external debris, thereby ensuring the smooth and reliable operation of the linkage mechanism 142 during folding or unfolding, and improving the overall protection performance of the ground terminal charging device 10, which helps to further broaden the application scenarios of the ground terminal charging device 10.

[0319] Here, the protective cover 18 is configured as a bellows cover. Of course, it is not limited to this. Those skilled in the art can also configure the protective cover 18 as a corrugated sleeve, etc., which will not be elaborated here.

[0320] In summary, when the lifting module 14 of this application is in operation, after the drive unit 1411 receives the start signal, it drives the drive seat 1412 to reciprocate along the first direction X via the drive screw 1413. When the drive seat 1412 moves, it will cause the part that is hinged to the drive linkage 1421 to generate linkage, thereby causing the linkage mechanism 142 to fold or unfold, and driving the ground connector 21a to move up and down in the third direction Z.

[0321] Please see Figure 7 , Figures 26 to 28 The ground charging device 10 also includes a walking module 60, which is installed on the housing 11 and is used to drive the housing 11 to move on the target surface M, so that the ground charging device 10 as a whole can move to the bottom of the vehicle or move out of the bottom of the vehicle.

[0322] Specifically, such as Figure 26 and Figure 27 As shown, the walking module 60 includes multiple sets of drive wheel sets 61, which are disposed on two opposite sides of the housing 11, and each set of drive wheel sets 61 is independently disposed. Specifically, the multiple sets of drive wheel sets 61 are disposed at the bottom of the housing 11 and are spaced apart along the second direction Y.

[0323] In one embodiment, such as Figure 27 and Figure 28As shown, each drive wheel assembly 61 includes a drive wheel 611 and a driving component 612. The driving component 612 is connected to the drive wheel 611 and can control the drive wheel 611 to rotate at different speeds. This allows the ground-side charging device 10 to move flexibly in any direction on the ground by controlling the differential speed between the drive wheel assemblies 61 when the walking module 60 is working. This enables it to precisely adjust its position and move directly below the vehicle-side connector 6100, thus meeting the need for automatic docking and charging when the new energy vehicle has a certain parking deviation. It should be noted that the driving component 612 is a rotary motor, and the rotary motor and the drive wheel 611 are integrated into one unit. Of course, those skilled in the art can also use a rotary cylinder, etc., which will not be elaborated here.

[0324] Here, the number of drive wheel sets 61 is set to two, with the two sets of drive wheel sets 61 disposed on the side of the housing 11 in the second direction Y and arranged opposite each other, while located at the middle position of the housing 11 in the first direction X. In addition, the walking module 60 also includes multiple omnidirectional wheels 62, which are distributed at various corners of the housing 11, so that the walking module 60 can use the two sets of drive wheel sets 61 and the multiple omnidirectional wheels 62 to jointly support the housing 11, thereby improving the load-bearing stability. Of course, it is not limited to this; for those skilled in the art, the number of the above-mentioned drive wheel sets 61 can also be set to three, four, or even more sets, which will not be elaborated here.

[0325] Please see Figures 29 to 36 The ground-side charging device 10 also includes an electrical component 51 and a first immersion sensor 52. The electrical component 51 is installed inside the housing 11. Along the height direction of the housing 11, the side surface of the electrical component 51 facing the target surface M is configured as a first side surface 51a. The first immersion sensor 52 is installed on the first side surface 51a for detecting the water level during immersion. It is understood that by setting the first immersion sensor 52 on the first side surface 51a of the electrical component 51, with the first side surface 51a facing the target surface M (i.e., the first side surface 51a is relatively the bottom surface), when the ground-side charging device 10 moves or is located at the bottom of the vehicle, the first immersion sensor 52 can detect whether the electrical component 51 is in a water-immersed state, thereby achieving safety protection for the electrical component 51.

[0326] For example, when the first immersion sensor 52 detects that the electrical component 51 is submerged in water or is in a submerged state, the first immersion sensor 52 generates a immersion signal and transmits the immersion signal to the controller (not shown) in the ground charging device 10 or the vehicle controller or other control terminal. The control terminal can control the ground charging device 10 to stop working or give a warning signal based on the immersion signal to avoid short circuits, electric shocks and other problems, thereby achieving the goal of safe use.

[0327] Please continue reading. Figure 29 and Figure 30 The housing 11 is open on the side facing the target surface M, meaning that the side of the housing 11 facing the target surface M has a third opening 113. In other words, the side of the housing 11 facing the target surface M does not need to be closed, which saves on sealing materials and reduces production costs. At the same time, the inclusion of the first immersion sensor 52 also makes the overall use of the ground terminal charging device 10 safer.

[0328] In one embodiment, such as Figure 29 and Figure 30 As shown, the electrical component 51 includes a branch module 511, a control module 512, an input cable 513, and a connecting harness 514. The branch module 511 and the control module 512 are spaced apart within the housing 11. The control module 512 has the aforementioned first side 51a, i.e., the first immersion sensor 52 is mounted on the control module 512. The input cable 513 passes through the side wall of the housing 11 and connects to the branch module 511. The branch module 511 and the control module 512 are electrically connected via the connecting harness 514. Along the height direction Z of the housing 11, the side surface of the branch module 511 facing the target surface M is configured as a third side 51c. Along the height direction Z of the housing 11, the third side 51c is positioned above the first side 51a. Here, the branch module 511 is used for branching, dividing a single cable into multiple harnesses to facilitate connection with multiple electrical components within the housing 11. The control module 512 is the core control structure of the ground charging device 10. It contains multiple electrical components. By installing the first immersion sensor 52 on the control module 512, the water immersion detection of the entire electrical component 51 can be realized. At the same time, the third side 51c is located above the first side 51a, that is, in the height direction Z of the housing 11. The position of the branch module 511 is relatively higher than the control module 512, which can effectively improve the safety of the branch module 511, thereby making the use of the entire electrical component 51 safer.

[0329] In one embodiment, please refer to Figures 31 to 33 Electrical component 51 is arranged inside housing 11 on the side in the second direction Y, so that housing 11 forms a space in the middle in the second direction Y. This space is used to arrange lifting module 14 and docking module 20, and to provide movement space for lifting module 14 to lift.

[0330] Specifically, the branch module 511 and the control module 512 are mounted on the side of the housing 11 and arranged at intervals along the second direction Y. Thus, the branch module 511 and the control module 512 form a clearance space 515 in the second direction Y. The clearance space 515 is approximately located in the middle of the housing 11 and extends in the first direction X. The clearance space 515 not only accommodates the lifting module 14 and the docking module 20, but also provides movement space for the lifting action of the lifting module 14.

[0331] Specifically, see Figure 30 , Figure 34 and Figure 35 The control module 512 includes a control housing 5121, a control cover 5122, and a control device 51d. The control housing 5121 has an electrical cavity 5121a and an electrical cavity opening 5121b. The control device 51d is installed inside the electrical cavity 5121a. The control cover 5122 is located at the electrical cavity opening 5121b and is sealed to the control housing 5121. This ensures the airtightness of the electrical cavity 5121a, thereby improving the safety of the internally installed components such as the control device 51d. In this type, the control device 51d includes a control circuit board 5123, a control power supply 5124, and relay electrical components.

[0332] Furthermore, to achieve a sealed connection between the control cover 5122 and the control housing 5121, sealant can be filled between the control cover 5122 and the control housing 5121, or a separate sealing ring can be provided.

[0333] In one embodiment, the control cover 5122 and the control housing 5121 are detachably connected, which facilitates maintenance of the control devices 51d and the like within the electrical cavity 5121a. Here, the detachable connection between the control cover 5122 and the control housing 5121 can be achieved through threaded parts, snap-fit ​​parts, or the like.

[0334] For example, the control cover 5122 and the control housing 5121 are connected by bolts or screws.

[0335] Please see Figure 35The control housing 5121 has a wiring harness inlet 5121c. The control module 512 also includes a first waterproof connector 5125, which is located at the wiring harness inlet 5121c and is sealed to the control housing 5121. The connecting wiring harness 514 passes through the first waterproof connector 5125 and is sealed to it. This ensures the sealing performance of the control housing 5121 at the location where the connecting wiring harness 514 passes through, preventing moisture from seeping into the electrical cavity 5121a. The first waterproof connector 5125 can be sealed to the control housing 5121 by adhesive bonding or a sealing gasket. Furthermore, the sealing effect with the connecting wiring harness 514 can be improved by adhesive bonding or the installation of a sealing ring within the first waterproof connector 5125.

[0336] In one embodiment, such as Figure 36 As shown, the splitter module 511 includes a splitter housing 5111 and a second waterproof connector 5112. The splitter housing 5111 has a cable inlet 5111a. The second waterproof connector 5112 is located at the cable inlet 5111a and is sealed to the splitter housing 5111. The input cable 513 passes through the second waterproof connector 5112 and is sealed to it. This ensures the sealing performance of the splitter housing 5111 at the point where the input cable 513 passes through, preventing moisture and other contaminants from seeping into the splitter housing 5111. The second waterproof connector 5112 can be sealed to the splitter housing 5111 by adhesive bonding or a sealing gasket. Furthermore, the sealing effect with the input cable 513 can be improved by adhesive bonding or the installation of a sealing ring within the second waterproof connector 5112.

[0337] Further reading Figure 36 The splitter housing 5111 has a wire harness outlet 5111b. The splitter module 511 includes a third waterproof connector 5113, which is located at the wire harness outlet 5111b and is sealed to the splitter housing 5111. The connecting wire harness 514 passes through the third waterproof connector 5113 and is sealed to it. This ensures the sealing performance of the splitter housing 5111 at the point where the connecting wire harness 514 passes through, preventing moisture from seeping into the splitter housing 5111. The third waterproof connector 5113 can be sealed to the splitter housing 5111 by adhesive bonding or a sealing gasket. Furthermore, the sealing effect with the connecting wire harness 514 can be improved by adhesive bonding or the installation of a sealing ring inside the third waterproof connector 5113.

[0338] Please see Figure 30 and Figure 35In one embodiment, the ground-side charging device 10 further includes a second immersion sensor 53. The electrical component 51 has a second side 51b facing away from the first side 51a, and the second immersion sensor 53 is mounted on the second side 51b. This configuration allows the second immersion sensor 53 to detect whether there is water accumulation on the second side 51b, further improving the safety performance of the electrical component 51. Simultaneously, the combination of the second immersion sensor 53 and the first immersion sensor 52 creates dual-sided water accumulation detection points on both sides of the electrical component 51. This not only eliminates the blind spot in water accumulation detection caused by water seepage from one side of the housing 11, avoiding missed water ingress detection, but also forms a redundant structure with dual immersion sensors, maintaining immersion monitoring even when a single immersion sensor fails. Furthermore, since the second immersion sensor 53 and the first immersion sensor 52 are distributed along the height Z direction of the housing 11, the signal combination of the second immersion sensor 53 and the first immersion sensor 52 can determine the location and degree of water ingress, implement graded power-off protection, avoid the risk of high-voltage water immersion short circuits, and further enhance waterproof safety performance.

[0339] The working principle or process of the ground terminal charging device 10 is described below.

[0340] The ground charging device 10 receives a feedback signal from the vehicle connector 6100 on the second vehicle charging device 6000b, and controls the local charging device 10 to move below the vehicle connector 6100 according to the feedback signal.

[0341] When the ground charging device 10 is moved to below the vehicle connector 6100, the lifting module 14 is controlled to drive the ground connector 21a to rise along the height direction Z of the housing 11 through the charging opening 111, so that the ground connector 21a docks with the vehicle connector 6100.

[0342] It should be noted that the opening / closing module 30 can control the opening of the charging opening 111 on the housing 11 based on the sensing signal generated by the sensing module 17 after sensing the vehicle-end connector 6100. This ensures that when the ground-end charging device 10 is not operating, the opening / closing module 30 always keeps the charging opening 111 closed, thus improving the overall protection performance of the ground-end charging device 10 and preventing external debris from entering the housing 11. Subsequently, the docking module 20 acquires the position of the vehicle-end connector 6100 and generates a feedback signal, controlling the walking module 60 to start operating before the lifting module 14, causing the ground-end charging device 10 to move on the target surface M until the ground-end connector 21a moves directly below the vehicle-end connector 6100. Then, the lifting module 14 starts operating again and drives the ground-end connector 21a to rise, completing the docking with the vehicle-end connector 6100. By employing the control logic that allows the walking module 60 to act before the lifting module 14, collisions or interference between the ground connector 21a and external objects can be effectively avoided during the horizontal position adjustment of the ground charging device 10. Simultaneously, the photoelectric receiver 23 and image acquisition module 24 in the docking module 20 provide precise position feedback before lifting the ground connector 21a, ensuring the accuracy and safety of the docking between the ground connector 21a and the vehicle connector 6100. Thus, the docking of the ground charging device 10 and the vehicle connector 6100 is automated, highly efficient, highly precise, and seamless.

[0343] Please see Figure 3 ,like Figures 37-39 As shown, the second vehicle-side charging device 6000b includes a vehicle-side connector 6100 and a cover assembly 6200. The vehicle-side connector 6100 includes a vehicle-side charging interface 81; the cover assembly 6200 is rotatably connected to the vehicle-side connector 6100, and the cover assembly 6200 has an open position and a closed position relative to the vehicle-side connector 6100 to open or close the vehicle-side charging interface 81. The cover assembly 6200 and the vehicle-side connector 6100, which is provided with the vehicle-side charging interface 81, adopt a rotatable connection structure, allowing the cover assembly 6200 to switch between a closed position and an open position relative to the vehicle-side connector 6100.

[0344] When the vehicle is not charging, the cover assembly 6200 remains in the shielded position, providing all-around protection for the vehicle-side charging interface 81 of the vehicle-side connector 6100. This effectively prevents external dust, rainwater, debris, and other contaminants from entering the interface, ensuring its cleanliness and integrity. When the vehicle needs to charge automatically, the cover assembly 6200 rotates relative to the vehicle-side connector 6100 to the open position, fully exposing the vehicle-side charging interface 81. This provides an unobstructed working space for the precise insertion and connection of external charging equipment with the vehicle-side charging interface 81.

[0345] The rotating cover assembly 6200, compared to the traditional sliding opening and closing structure, eliminates the need for complex sliding mating pairs, simplifying the movement structure and addressing the technical shortcomings of existing sliding cover assemblies 6200, such as easy wear, slow movement, and jamming leading to charging failure. On one hand, the rotating opening and closing mechanism of the cover assembly 6200 simplifies the movement and reduces component wear during long-term reciprocating opening and closing, avoiding problems such as slide jamming, slow movement of moving parts, and structural failure. This significantly improves the stability and reliability of the opening and closing action of the second vehicle-side charging device 6000b, extends the overall service life of the equipment, and reduces maintenance costs. On the other hand, the rotating cover assembly 6200 eliminates the need for slide rail movement space, allowing for a smaller vehicle-side connector 6100 and thus a smaller overall size and optimized dimensions of the second vehicle-side charging device 6000b.

[0346] The vehicle-side connector 6100 is used for current and signal transmission with the ground connector 21a of the ground-side charging device 10.

[0347] See Figure 39 and Figure 39 For example, the vehicle-side connector 6100 includes a first base 6130, and the vehicle-side charging interface 81 is disposed on the first base 6130. The cover assembly 6200 includes a cover body 6210 and a rotation drive member 6220. One end of the cover body 6210 is rotatably connected to the first base 6130, and the rotation drive member 6220 is disposed on the first base 6130 and drivenly connected to the cover body 6210 to cause the cover body 6210 to rotate relative to the first base 6130. The cover body 6210 has a first surface 6212, and the first base 6130 has a second surface 6134. When the cover body 6210 is in the covered position, the first surface 6212 and the second surface 6134 are disposed opposite to each other. The cover 6210 is provided with a protective groove 6213, the opening of which extends through the first surface 6212. When the cover 6210 is switched from the open position to the covered position, the vehicle-side charging interface 81 gradually fits into the protective groove 6213 from its opening. This design further enhances the protection of the vehicle-side charging interface 81.

[0348] Optionally, continue to refer to Figure 38 The vehicle-side connector 6100 also includes a high-voltage interface 6140, which is located on the first base 6130. The high-voltage interface 6140 is used for physical connection with the vehicle charging controller to transmit the main charging current between the second vehicle-side charging device 6000b and the vehicle. The vehicle-side connector 6100 also includes a low-voltage interface, which is located on the vehicle-side connector 6100 and is used for physical connection with the vehicle charging controller to transmit control signals between the vehicle-side charging device 6000 and the vehicle.

[0349] Optionally, the high-voltage interface 6140 and the low-voltage interface are located on the side of the first base 6130.

[0350] like Figure 38 and Figure 39 As shown, in some embodiments, the second vehicle-side charging device 6000b further includes a positioning component 6300, which is disposed in at least one of the cover component 6200 and the vehicle-side connector 6100. When the cover component 6200 is in the open position, the positioning component 6300 is exposed. The positioning component 6300 is configured to provide positioning guidance for docking of the second vehicle-side charging device 6000b with the ground-side charging device 10.

[0351] Specifically, the positioning component 6300 and the photoelectric receiver 23 and image acquisition module 24 on the docking module 20 cooperate to provide positioning guidance for the docking of the second vehicle-side charging device 6000b with the ground-side charging device 10.

[0352] In one embodiment, a positioning component 6300 is disposed on at least one of a cover 6210 and a first base 6130, the cover 6210 being rotatably connected to the first base 6130; a rotation drive 6220 is configured to drive the cover 6210 to rotate between an open position and a closed position. Exemplarily, the rotation drive 6220 is a servo motor.

[0353] Using a servo motor as the preferred rotation drive component 6220, the servo motor's precise angle output and torque drive capability drive the cover 6210 to rotate stably between the blocked and open positions relative to the first base 6130. When the vehicle is not charging, the servo motor drives the cover 6210 to remain in the blocked position, providing shielding protection for the vehicle-side charging interface 81 and the positioning component 6300 on the first base 6130. When the vehicle needs to perform automatic charging, the servo motor precisely drives the cover 6210 to rotate to the open position, exposing the vehicle-side charging interface 81 and exposing the positioning component 6300, thus cooperating with the ground charging device 10 to complete the positioning alignment and plug-in charging operation. After charging is completed, the servo motor reverses and drives the cover 6210 back to the blocked position, thereby realizing the automatic opening and closing protection of the vehicle-side charging interface 81 and the linkage opening and closing function of the positioning component 6300.

[0354] This embodiment replaces the traditional sliding opening and closing structure by adopting a structure in which the first base 6130 carries the vehicle-end charging interface 81, the cover 6210 is hinged and rotates, and a servo motor is used as the rotation drive component 6220. This structural arrangement avoids the defects of sliding joints, such as easy wear, jamming, sluggish movement, and structural failure, from the root of the problem. The servo motor has the advantages of precise angle control, stable output torque, fast response speed, and strong controllability of start and stop actions, which can ensure that the opening and closing action of the cover 6210 is smooth, accurate, and repeatable, effectively improving the reliability and service life of the opening / closing action of the second vehicle-end charging device 6000b. Meanwhile, the positioning component 6300 is integrated on the first base 6130 or the cover 6210, and can be opened and closed in conjunction with the cover 6210. The structure has a high degree of integration and a compact layout, and no additional linkage structure is required. While ensuring the protection performance of the vehicle-side charging interface 81, it can stably cooperate with the positioning component 6300 to complete the automatic charging alignment guidance, significantly improving the automation level, alignment accuracy and working stability of the overall device, and adapting to various complex driving and charging conditions of vehicles.

[0355] Furthermore, the positioning component 6300 achieves state linkage switching based on the rotatable opening and closing structure of the cover component 6200 relative to the vehicle-end connector 6100. When the cover component 6200 is in the shielding position to protect the vehicle-end charging interface 81, the positioning component 6300 is hidden along with the structure to avoid external environmental factors causing pollution or impact damage to the positioning component 6300, ensuring the structural integrity and positioning accuracy of the positioning component 6300. When the vehicle enters the automatic charging mode and the cover component 6200 rotates to the open position to expose the vehicle-end charging interface 81, the positioning component 6300 is simultaneously fully exposed. At this time, the exposed positioning component 6300 can form a precise cooperation with the adaptation positioning structure of the ground-end charging device 10, providing active positioning guidance during the alignment and insertion process of the ground-end charging device 10, assisting the ground-end charging device 10 to accurately align with the vehicle-end charging interface 81 and complete the charging insertion operation. After charging is completed, the cover component 6200 resets to shield, and the positioning component 6300 is simultaneously hidden, restoring the overall protective state of the device.

[0356] The second vehicle-side charging device 6000b is improved by adding a positioning component 6300 that can be exposed when the cover is opened and hidden when the cover is closed. This improvement addresses the technical defects of the existing sliding cover component 6200, which is prone to slow movement, jamming, and structural failure due to long-term wear, resulting in decreased positioning accuracy and failure of automatic charging docking. The positioning component 6300 can achieve precise positioning under the premise that the cover component 6200 moves stably, which is conducive to improving the precise positioning between the second vehicle-side charging device 6000b and the ground-side charging device 10.

[0357] In some embodiments, the positioning component 6300 includes at least one of an image acquisition module 24, a passive visual identifier component, an optical signal component, a magnetic field signal component, and an ultrasonic signal component. This embodiment utilizes a positioning component 6300 that integrates multiple sensing and recognition structures. This positioning component 6300 selectively employs one or a combination of a passive visual identifier component, an optical signal component, a magnetic field signal component, and an ultrasonic signal component, and is mounted at least at one of the cover component 6200 and the vehicle-end connector 6100, coordinating with the opening and closing action of the cover component 6200. When the vehicle is not charging, the cover component 6200 remains in a concealed position to hide the positioning component 6300, protecting the various positioning functional structures from external environmental erosion and damage, and ensuring the stability of the positioning reference, signal, and recognition parameters. When the vehicle needs automatic charging, the cover assembly 6200 rotates relative to the vehicle-side connector 6100 to the open position, fully exposing the positioning assembly 6300. The exposed positioning assemblies 6300 can respectively form adaptive connections with the corresponding identification and receiving structures and signal matching structures of the ground-side charging device 10. Through precise interaction of visual recognition matching, light signals, magnetic field signals, or ultrasonic signals, the docking position and insertion trajectory of the ground-side charging device 10 are corrected in real time, providing precise positioning guidance for the automatic insertion and coordination between the second vehicle-side charging device 6000b and the ground-side charging device 10. After charging is completed, the cover assembly 6200 returns to its original position, and the positioning assembly 6300 is hidden, completing a single automatic charging positioning guidance process.

[0358] In some of these embodiments, please refer to Figure 38 The positioning component 6300 includes at least one of a first signal module 6310 and a second signal module 6320. The first signal module 6310 is disposed in at least one of the cover component 6200 and the vehicle-end connector 6100. The first signal module 6310 is used to provide a first signal to the ground-end charging device 10 and cooperates with the image acquisition module 24 to achieve preliminary positioning of the ground-end charging device 10. The second signal module 6320 is disposed in at least one of the cover component 6200 and the vehicle-end connector 6100. The second signal module 6320 is used to provide a second signal to the ground-end charging device 10 and cooperates with the photoelectric receiver 23 to perform secondary positioning (precise positioning) of the ground-end charging device 10. The first signal and the second signal are different. The first signal module 6310 and the second signal module 6320 can be selectively or jointly installed at at least one of the cover assembly 6200 and the vehicle end connector 6100. The first signal output by the first signal module 6310 and the second signal output by the second signal module 6320 are two different types of positioning signals. Each signal module is linked to the opening and closing action of the cover assembly 6200.

[0359] When the vehicle is not charging, the cover assembly 6200 remains in the shielded position, protecting the first signal module 6310 and / or the second signal module 6320. This effectively isolates the signal modules from external dust, rain, impacts, and other adverse factors, preventing damage and parameter deviations, and ensuring the accuracy and stability of each signal module. When the vehicle is automatically charging, the cover assembly 6200 rotates relative to the vehicle-side connector 6100 to the open position, exposing at least one of the first signal module 6310 and the second signal module 6320 and activating it to output the corresponding first and second signals. The ground-side charging device 10 can receive and identify different types of positioning signals, and perform position calibration, attitude correction, and docking trajectory planning through single signal matching or dual signal fusion calculation. This provides multi-dimensional positioning guidance for the precise insertion and connection between the ground-side charging device 10 and the vehicle-side charging interface 81. After charging is complete, the cover assembly 6200 resets and rotates to the shielding position, re-shielding each signal module, pausing signal output and restoring the overall protection state, thus completing the entire automatic charging, positioning, and docking process.

[0360] The positions of the first signal module 6310 and the second signal module 6320 are set according to the structural layout of the vehicle-side charging device 6000. Their positions have no impact on the function. The layout can avoid mutual interference between structures and minimize the overall structural volume while ensuring the function.

[0361] It is understandable that a signal receiver can be configured on the ground-side charging device 10, and a signal transmitter can be configured on the second vehicle-side charging device 6000b. Alternatively, a signal receiver can be configured on the second vehicle-side charging device 6000b, and a signal transmitter can be configured on the ground-side charging device 10. In this embodiment, specifically, a signal receiver can be configured on the ground-side charging device 10, and a signal transmitter can be configured on the second vehicle-side charging device 6000b, to illustrate how the docking module on the ground-side charging device 10 docks with the vehicle-side charging device 6000 for charging. Specifically, here, the signal receiver is configured as a photoelectric receiver 23 and an image acquisition module 24, and the signal transmitter is the first signal module 6310 and the second signal module 6320.

[0362] Further, see Figure 38 and Figure 39The first signal module 6310 includes a first characteristic light source 6311 and a second characteristic light source 6312, which are used in conjunction with the image acquisition module 24. The first signal module 6310 provides light sources with different characteristics through the first characteristic light source 6311 and the second characteristic light source 6312, facilitating identification by the image acquisition module 24 of the ground-side charging device 10. This provides guidance for aligning the position of the ground-side charging device 10 with the vehicle-side charging interface 81, thereby improving positioning accuracy.

[0363] Optionally, the first feature light source 6311 and the second feature light source 6312 have different light source characteristics, such as different geometric shapes, different light source colors, different light source flashing frequencies, etc., which can be set accordingly according to the identification method of the ground terminal charging device 10.

[0364] Optionally, the first characteristic light source 6311 and the second characteristic light source 6312 are spaced apart along a first direction X and / or a second direction Y. The first characteristic light source 6311 and the second characteristic light source 6312 can be two sets of light sources spaced apart along the first direction X, or two sets of light sources spaced apart along the second direction Y, or they can be spaced apart along both the first and second directions X and Y. During operation, the orientation of the first characteristic light source 6311 and the second characteristic light source 6312 is related to the information acquisition method of the ground terminal charging device 10.

[0365] For example, see Figure 38 When the first characteristic light source 6311 and the second characteristic light source 6312 are spaced apart along the first direction X, the ground terminal charging device 10 moves along the second direction Y, thereby enabling the ground terminal charging device 10 to simultaneously acquire information from the first characteristic light source 6311 and the second characteristic light source 6312 in the second direction Y.

[0366] At this time, the ground charging device 10 can determine whether its position is centered or biased towards one of the first feature light source 6311 and the second feature light source 6312 based on the information of identifying the first feature light source 6311 and the second feature light source 6312. The ground charging device 10 can adjust its posture according to the judgment result, and then adjust the movement direction of the ground charging device 10 so that the positions of the ground charging interface 12 and the vehicle charging interface 81 correspond as much as possible.

[0367] In some embodiments, the first feature light source 6311 is a first strip light source, and the second feature light source 6312 is a second strip light source. The lengths of the first strip light source and the second strip light source are different in the first direction X and / or the second direction Y. The first direction X and the second direction Y intersect.

[0368] At this time, the first feature light source 6311 and the second feature light source 6312 are surface light sources with simple structures, which do not occupy the space along the third direction Z and avoid interference with other structures.

[0369] For example, the first and second strip light sources can be designed as a single light source extending along a first direction X or a second direction Y. The operator can block it along its extension direction as needed to divide it into two groups of light sources of different lengths, thereby forming the first and second strip light sources. Of course, in other embodiments, the first and second strip light sources can also be two independent light sources set separately, and this embodiment does not limit this.

[0370] It is worth noting that the shapes of the first and second strip light sources can be rectangular, elliptical, square, etc., and this embodiment does not limit them.

[0371] The first and second light sources have different lengths in the direction in which they are spaced apart, which makes it easier for the ground charging device 10 to identify and distinguish them.

[0372] For example, in this embodiment, the first strip light source and the second strip light source extend along the first direction X, and are spaced apart in the first direction X. One set is a rectangular light source, and the other set is a square light source. The ground charging device 10 moves along the second direction Y to read the dimensions of the first strip light source and the second strip light source in the first direction X, and calculates the offset between the center of the ground charging device 10 and the center of the vehicle charging interface 81 based on the different dimensions of the two sets of light sources in the first direction X. This allows the ground charging device 10 to adjust its position according to the offset, making the positions of the ground charging interface 12 and the vehicle charging interface 81 more matched, which helps to improve the accuracy of the docking of the ground charging interface 12 and the vehicle charging interface 81.

[0373] In some of these embodiments, such as Figure 38 and Figure 39As shown, the first signal module 6310 further includes a third feature light source 6313. In the first direction X, the third feature light source 6313 is offset from one of the first feature light source 6311 and the second feature light source 6312; or in the second direction Y, the third feature light source 6313 is offset from one of the first feature light source 6311 and the second feature light source 6312. In at least one of the first direction X, the second direction Y, and the third direction Z, the third feature light source 6313 has different features compared to the first feature light source 6311 or the second feature light source 6312. The third direction Z intersects the first direction X and the second direction Y in pairs. The third feature light source 6313 is an auxiliary identification light source. The third feature light source 6313 can provide an auxiliary light source when one of the first feature light source 6311 and the second feature light source 6312 has an obstruction structure or malfunction in the structural layout. This ensures that the ground terminal charging device 10 identifies the position according to the different types of feature light sources of the first signal module 6310, thereby providing positioning guidance for the movement of the ground terminal charging device 10. This helps to avoid positioning failure due to obstruction or malfunction of the first feature light source 6311 and the second feature light source 6312, and improves the stability of the identification position of the ground terminal charging device 10.

[0374] For example, when the first feature light source 6311 and the second feature light source 6312 extend along the first direction X, and one of them is blocked in the second direction Y, the third feature light source 6313 is misaligned with the blocked first feature light source 6311 or the second feature light source 6312 in the first direction X. According to the spatial layout requirements, it can also be misaligned in the second direction Y.

[0375] The third feature light source 6313 is arranged in a spatially staggered manner. It can be staggered in either the first feature light source 6311 or the second feature light source 6312 in the intersecting first direction X or the second direction Y. In at least one of the intersecting first direction X, second direction Y, and third direction Z, the third feature light source 6313 has a differentiated structure or optical feature that is different from the first feature light source 6311 and the second feature light source 6312, forming a multi-dimensional, staggered optical recognition layout with the original two sets of feature light sources. During the automatic charging alignment process, under normal circumstances, the first feature light source 6311 and the second feature light source 6312 can be used to complete position recognition and posture correction. When the first feature light source 6311 or the second feature light source 6312 fails to recognize or loses features due to factors such as obstruction by the overall vehicle structure layout, obstruction by external debris, or failure of the light source itself, the third feature light source 6313, which is spatially misaligned and has independent differentiated features, can immediately intervene and continuously output optical feature signals that can be recognized by the image acquisition module 24. By supplementing the optical recognition reference, it continuously provides position recognition basis for the ground charging device 10, ensuring that the ground charging device 10 can continuously calculate its own position deviation relative to the vehicle charging interface 81, complete the movement trajectory and docking posture adjustment in real time, and continuously provide stable positioning guidance for the automatic charging docking process.

[0376] Optionally, see Figure 38 The third feature light source 6313 is a columnar light source, and the first base 6130 is provided with a relief cavity 6133 to avoid the third feature light source 6313 when the cover assembly 6200 is in the obstructed position. This setting can further improve the recognition effect of the image acquisition module 24.

[0377] This embodiment adds a third feature light source 6313 with staggered placement and multi-dimensional differentiated characteristics as an auxiliary identification light source, constructing a redundant and complementary optical positioning system based on dual-light source positioning. This effectively solves the problem that identification interruption, positioning failure, and docking failure are prone to occur when a single light source is blocked or malfunctions in the existing dual-feature light source positioning scheme. Through the staggered layout and differentiated feature settings of the third feature light source 6313, the identification fault tolerance space of optical positioning is effectively broadened. It can quickly fill in and take over the positioning and identification work when the main identification light source is malfunctioning, avoiding the risk of automatic charging positioning interruption and docking failure caused by partial blockage or light source failure. It significantly improves the continuity, stability, and reliability of the alignment identification of the ground charging device 10, further optimizes the alignment accuracy of the vehicle-side charging interface 81 and the ground-side charging interface 12, effectively adapts to complex vehicle installation structures and harsh outdoor operating conditions, and significantly improves the environmental adaptability and working stability of the whole vehicle automatic charging system.

[0378] With the above structure, the first signal module 6310 can provide initial positioning guidance for the ground charging device 10, so that it approaches the second vehicle-side charging device 6000b.

[0379] In some of these embodiments, see Figure 38 and Figure 39 The second signal module 6320 includes at least one set of signal light sources 6321, which emit preset light source signals along a first direction X or a second direction Y. By emitting the preset light source signals along the first direction X or the second direction Y, and using the emission direction of the preset light source signals, the second signal module 6320, in conjunction with the photoelectric receiver 23, provides secondary precise positioning guidance for the ground charging device 10, which facilitates precise alignment between the ground charging interface 12 and the vehicle charging interface 81.

[0380] Optionally, the signal light source 6321 is an infrared light source. Infrared light sources have advantages such as positioning not being affected by ambient visible light, and can work stably in complete darkness, strong light, and backlight conditions. Furthermore, the infrared spectrum is not easily affected by environmental clutter.

[0381] Furthermore, the second signal module 6320 and the first signal module 6310 are combined to introduce an active positioning scheme using infrared and feature light sources. Unaffected by ambient visible light and texture, it can operate stably in harsh conditions such as complete darkness, strong light, backlight, and mud, rain, and snow, enhancing the environmental adaptability of the positioning component 6300. Simultaneously, the positioning component 6300 has low resolution requirements and a simple processing algorithm for the image acquisition module 24 of the ground charging device 10, which helps to significantly reduce standby power consumption and hardware costs, while improving positioning accuracy and reliability under harsh conditions such as low light, low texture, and mud, rain, and snow.

[0382] In some embodiments, there are at least two sets of signal light sources 6321. At least one set of signal light sources 6321 emits a preset light source signal along a first direction X, and at least one set of signal light sources 6321 emits a preset light source signal along a second direction Y. The preset light source signals of the two sets of signal light sources 6321 intersect to form an intersection point. The ground charging device 10 moves to the position corresponding to the intersection point, thereby aligning with the vehicle charging interface 81. During the automatic charging alignment process, each set of signal light sources 6321 synchronously outputs a preset light source signal in the corresponding direction and forms a stable spatial intersection point reference. The ground charging device 10 uses its own image acquisition module 24 to collect and identify the light source signals in two different directions and their spatial intersection point positions. Using this spatial intersection point as a precise alignment reference, the device adjusts its own movement posture and trajectory in real time until the ground charging device 10 moves to the preset alignment position corresponding to the intersection point. This achieves precise correspondence and matching between the ground charging device 10 and the vehicle charging interface 81, providing precise position reference support for subsequent charging plug-in operations.

[0383] This embodiment establishes a precise optical positioning system centered on a spatial intersection point by setting two sets of signal light sources 6321 that emit preset light source signals in different directions. The fixed intersection point formed by the spatial intersection of the two sets of light source signals serves as the alignment reference. Compared to traditional single-vision recognition and alignment methods without a fixed reference, this system forms a unique and stable spatial alignment reference, effectively avoiding problems such as blurred positioning references and large alignment deviations caused by viewing angle deviations and attitude shifts. This significantly simplifies the position calculation logic of the ground charging device 10 and reduces the difficulty of alignment recognition. Relying on the fixed intersection point positioning method, the final parking position of the ground charging device 10 can be precisely constrained, ensuring accurate correspondence between the ground charging device 10 and the vehicle charging interface 81. This significantly improves the alignment accuracy and plug-in matching degree of automatic charging, effectively enhancing the stability and success rate of automatic charging docking. Furthermore, the system is simple in structure, has a reliable positioning reference, and is adaptable to various complex docking conditions and vehicle attitude scenarios.

[0384] In the first direction X and the second direction Y, at least one set of signal light sources 6321 emitting preset light source signals along the first direction X are offset from at least one set of signal light sources 6321 emitting preset light source signals along the second direction Y. Using the fixed intersection point formed by the spatial intersection of the two light source signals from different directions as an alignment reference, a rationally laid out and reference-stable multi-dimensional optical positioning system is constructed. Compared with the directly aligned light source structure, the offset arrangement can effectively avoid the problems of mutual occlusion of light source signals from different directions, signal overlap interference, and unclear intersection points, ensuring that both light source signals can be completely output and stably converge, forming a spatial positioning intersection point with higher recognizability and stronger uniqueness. This structure can provide a precise and reliable alignment reference for the ground charging device 10, reduce image acquisition and position calculation errors, effectively avoid alignment inaccuracies caused by perspective shift and vehicle posture deviation, accurately constrain the parking position and insertion posture of the ground charging device 10, significantly improve the alignment accuracy and insertion matching degree of the vehicle-to-ground charging interface 12, further improve the fault tolerance, stability and success rate of automatic charging docking, and has a simple and reasonable structural layout with stronger environmental adaptability and working condition applicability.

[0385] like Figure 40 and Figure 41 As shown, a sealing structure 6120 is also provided between the cover assembly 6200 and the vehicle-end connector 6100. The sealing structure 6120 is configured to seal the gap between the vehicle-end connector 6100 and the cover assembly 6200 when the cover assembly 6200 is in the obstructed position. This sealing structure 6120 can keep the vehicle-end connector 6100 in a sealed state when not charging, which helps to enhance the sealing reliability and service life of the device under complex working conditions such as mud, sand, ice and snow.

[0386] The sealing structure 6120 forms a sealed area, where the positioning component 6300 and the vehicle-end charging interface 81 are both located. This ensures that the positioning component 6300 and the vehicle-end charging interface 81 are protected when the cover component 6200 is in the obstructed position, thereby improving the stability and safety of the second vehicle-end charging device 6000b. The enclosed, independent sealed area accommodates the positioning component 6300 and the vehicle-end charging interface 81. When the cover component 6200 is in the obstructed position, reliable sealing protection is achieved through the double-fitting of the sealing element 6122 with the cover component 6200 and the vehicle-end connector 6100. This effectively prevents damage to the vehicle-end charging interface 81 and the positioning component 6300 caused by external contaminants, moisture erosion, and external impacts. It also eliminates problems such as interface oxidation short circuits, positioning component 6300 failure due to dirt accumulation, and parameter deviation, continuously ensuring the charging stability of the vehicle-end charging interface 81 and the positioning accuracy of the positioning component 6300.

[0387] Continue reading Figure 41 The sealing structure 6120 includes a sealing groove 6121 and a sealing element 6122 that cooperate with each other. Part of the sealing element 6122 is disposed within the sealing groove 6121, while the remaining part protrudes outward from the sealing groove 6121. When the cover assembly 6200 is in the obstructed position, the sealing element 6122 simultaneously seals with both the cover assembly 6200 and the vehicle-end connector 6100. The structure of the sealing element 6122, embedded within the sealing groove 6121 and partially protruding outward, provides good assembly stability and a high tolerance for sealing errors. It can accommodate assembly errors during the rotation and closure of the cover assembly 6200, ensuring an effective seal is formed with each closure. This significantly improves the waterproof and dustproof performance, operational safety, and long-term operational stability of the second vehicle-end charging device 6000b, extending the overall service life of the device and making it suitable for complex outdoor operating conditions such as rain, snow, and dust.

[0388] The seal 6122 includes a second sealing lip 61222 and at least one set of first sealing lips 61221. When the cover assembly 6210 is in the blocked position, the first sealing lip 61221 simultaneously abuts against the opposing surfaces of the cover assembly 6200 and the vehicle end connector 6100; the second sealing lip 61222 is connected to the first sealing lip 61221 and is located in the sealing groove 6121. The composite seal 6122, comprising a first sealing lip 61221 and a second sealing lip 61222, cooperates with the sealing groove 6121 to form a layered sealing structure 6120. The second sealing lip 61222 is embedded within the sealing groove 6121, which can limit and fix the seal 6122 as a whole, preventing the seal 6122 from falling off, shifting, or loosening, thus ensuring the assembly reliability and structural stability of the sealing structure 6120. The first sealing lip 61221 can simultaneously abut against the opposing surfaces of the cover assembly 6200 and the vehicle end connector 6100 on both sides when the cover assembly 6200 is in the obstructed position, achieving full coverage sealing of the contact surface gaps. Compared with a single sealing structure 6120, this significantly improves... The sealing fit and tightness effectively prevent external pollutants and moisture from entering the sealed area, preventing oxidation, corrosion, short circuits, and other malfunctions of the vehicle-side charging interface 81, as well as dirt accumulation, light efficiency attenuation, and positioning parameter deviation in the positioning component 6300. This ensures the charging reliability of the vehicle-side charging interface 81 and the positioning accuracy of the positioning component 6300. At the same time, the double-layer lip composite sealing structure 6120 has stronger fault tolerance and can adapt to the assembly gap and closing deviation during the rotation and closing process of the cover 6210. The sealing effect is uniform and stable, effectively improving the waterproof, dustproof, and dirt-proof capabilities and safety of the second vehicle-side charging device 6000b, and significantly improving the working stability and service life of the device under long-term outdoor conditions.

[0389] Optionally, when the first sealing lip 61221 is a set, the first sealing lip 61221 and the second sealing lip 61222 are connected at an angle, so that the first sealing lip 61221 is tilted toward one side of the sealing groove 6121, so that the first sealing lip 61221 is located between the cover assembly 6200 and the vehicle end connector 6100, and at the same time abuts against the cover assembly 6200 and the vehicle end connector 6100 to form a seal.

[0390] Optionally, when there are two sets of first sealing lips 61221, the two sets of first sealing lips 61221 are arranged opposite to each other and are connected at an angle to the second sealing lip 61222. The two sets of first sealing lips 61221 are located on both sides of the second sealing lip 61222. On both sides of the sealing groove 6121, the two sets of first sealing lips 61221 abut against the cover assembly 6200 and the vehicle end connector 6100 respectively, so that the sealing element 6122 achieves a double sealing structure 6120 on both sides of the sealing groove 6121, which is beneficial to improving the sealing performance.

[0391] Optionally, the seal 6122 and the sealing groove 6121 are provided on the vehicle-end connector 6100, so that the seal 6122 can also abut against the ground connector 21a during charging, thus preventing mud, rainwater, snow water, etc. from entering the charging vehicle-end connector 6100 and the ground connector 21a.

[0392] like Figures 37-39 As shown, in some embodiments, the second vehicle-side charging device 6000b further includes a locking component 6400. When the cover component 6200 is in the covered position, the locking component 6400 is used to lock the relative position of the cover component 6200 and the vehicle-side connector 6100. When the cover component 6200 is in the open position and the vehicle-side charging interface 81 is connected to the ground-side charging interface 12 of the ground-side charging device 10, the locking component 6400 is used to lock the relative position of the vehicle-side connector 6100 and the ground-side charging device 10.

[0393] The second vehicle-side charging device 6000b provided in this application, when not charging, keeps the cover assembly 6200 in a shielded position to cover the vehicle-side charging interface 81, isolating it from rainwater, mud, and other foreign objects. The locking assembly 6400 locks the relative position of the cover assembly 6200 and the vehicle-side connector 6100, reducing or preventing accidental opening of the cover assembly 6200. This improves the protection of the vehicle-side charging interface 81, reducing or preventing rust or damage caused by dust and water accumulation, thus enhancing the performance of the vehicle-side charging interface 81 and reducing contact problems caused by decreased performance. Short circuit faults reduce charging anomalies or failures, improving the reliability of the charging process. When charging the vehicle, the locking component 6400 releases the lock between the cover component 6200 and the vehicle connector 6100, allowing the cover component 6200 to be in the open position, exposing the vehicle charging interface 81. The vehicle charging interface 81 is then connected to the ground charging interface 12 of the ground charging device 10. The locking component 6400 locks the relative position of the vehicle connector 6100 and the ground charging device 10, reducing the possibility of the vehicle charging interface 81 and the ground charging interface 12 becoming loose during charging, thus reducing charging anomalies and improving the reliability of the charging process.

[0394] It should be noted that the number of locking components 6400 is not limited in this application. For example, two locking components 6400 are provided, one locking component 6400 is used to lock the vehicle end connector 6100 and the cover assembly 6200, and the other locking component 6400 is used to lock the vehicle end connector 6100 and the ground charging device 10, that is, to lock the ground connector 21a.

[0395] In some embodiments, there is one locking component 6400, which can lock the vehicle-end connector 6100 and the cover assembly 6200, as well as the vehicle-end connector 6100 and the ground charging device 10. This arrangement helps to simplify the structure of the device and reduce the number of parts.

[0396] The following embodiments are described using a locking component 6400 as one example.

[0397] See Figures 39 to 43 In some embodiments, the locking component 6400 is disposed on the first base 6130, and the cover component 6200 further includes a first mating portion 6230; when the cover component 6200 is in the obstructed position, the locking component 6400 locks into the first mating portion 6230; when the ground charging interface 12 is connected to the vehicle charging interface 81, the locking component 6400 locks into the ground charging device 10. Disposing the locking component 6400 on the first base 6130 allows the same locking component 6400 to separately lock the cover component 6200 to the vehicle connector 6100, and to lock the vehicle connector 6100 to the ground charging device 10.

[0398] For example, see Figure 37 , Figure 45 as well as Figure 46 The ground charging device 10 includes a second mating part 1300, which is disposed on the docking module 20. The second mating part 1300 is provided with a second locking hole 1301. When the ground charging interface 12 and the vehicle charging interface 81 are plugged in, the locking component 6400 can be inserted into the second locking hole 1301. In this way, the ground charging interface 12 can be locked by the locking component 6400, which is conducive to the stable plugging of the ground charging interface 12 and the vehicle charging interface 81.

[0399] Specifically, the second mating part 1300 is disposed on the fixed base 22 or the main board 211 and is locked in engagement with the locking component 6400.

[0400] Thus, by setting the locking component 6400, the cover component 6200 can be locked when charging is not required, so that the cover component 6200 is stably in the closed position, thus providing protection for the vehicle-side charging interface 81. At the same time, during charging, that is, after the ground-side charging interface 12 and the vehicle-side charging interface 81 are connected, the locking component 6400 cooperates with the second mating part 1300 to lock the ground-side charging device 10, thereby facilitating the stable connection between the vehicle-side charging interface 81 and the ground-side charging interface 12.

[0401] Here, the second mating part 1300 is configured as a rod (see...). Figure 46 ).

[0402] Furthermore, the locking mechanism of the locking component 6400 and the first mating part 6230 is the same as that of the locking component 6400 and the second mating part 1300.

[0403] See Figure 37 , Figure 40 , Figure 43 and Figure 44 The locking assembly 6400 includes a locking actuator 6410, which includes a locking end 6411. The locking end 6411 is used to lock into the first mating part 6230. When the cover assembly 6200 is in the blocked position, a first receiving cavity is formed between the first base 6130 and the cover assembly 6200, and the locking end 6411 is located within the first receiving cavity. When the cover assembly 6200 is in the blocked position, the locking end 6411 is located within the first receiving cavity, which protects the locking end 6411, reducing or preventing accidental contact or damage to the locking end 6411, and helping to improve the stability of locking and unlocking.

[0404] In some embodiments, the locking actuator 6410 is embedded in the first base 6130 so that the locking actuator 6410 is not exposed outside the first base 6130. The first base 6130 is provided with a first receiving groove 6131, which has a first slot 61311. When the cover assembly 6200 is in the blocked position, the cover assembly 6200 blocks the first slot 61311 to form a first receiving cavity with the first base 6130. Exemplarily, when the cover assembly 6200 is rotatably connected to the first base 6130, the first slot 61311 penetrates the second surface 6134 of the first base 6130. When the cover assembly 6200 switches from the open position to the blocked position, the cover assembly 6200 blocks the first slot 61311. When the locking actuator 6410 is locked with the first mating part 6230, the locking end 6411 is located in the first receiving groove 6131.

[0405] See Figure 3 , Figures 40 to 44 In other embodiments, the cover assembly 6200 is provided with a second receiving groove 6211, which has a second opening 62111. When the cover assembly 6200 is in the blocked position, the first base 6130 blocks the second opening 62111 to form a first receiving cavity between itself and the cover assembly 6200. Exemplarily, the cover body 6210 is provided with a second receiving groove 6211, the second opening 62111 penetrating the first surface 6212 of the cover body 6210, and a locking end 6411 protruding outward from the first base 6130. When the cover assembly 6200 switches from the open position to the blocked position, the locking end 6411 is inserted into the second receiving groove 6211 from the second opening 62111.

[0406] In some embodiments, when the cover assembly 6200 is in the open position and the vehicle-side charging interface 81 is connected to the ground-side charging interface 12, a second receiving cavity is formed between the ground-side charging device 10 and the first base 6130, and the locking end 6411 is located within the second receiving cavity. When charging the vehicle, the locking end 6411 is located within the second receiving cavity to reduce or avoid damage or accidental contact of the exposed locking end 6411, thereby improving the stability of the locking end 6411.

[0407] This scheme does not limit the way the second receiving cavity is formed.

[0408] In some of these embodiments, see Figure 39 The locking actuator 6410 is embedded in the first base 6130 so that the locking actuator 6410 is not exposed outside the first base 6130. The first base 6130 is provided with a first receiving groove 6131, which has a first slot 61311. When the cover assembly 6200 is in the open position and the vehicle-side charging interface 81 is connected to the ground-side charging interface 12, the ground-side charging device 10 blocks the first slot 61311 to form a second receiving cavity (not shown) between itself and the first base 6130. Exemplarily, in use, the vehicle-side charging interface 81 and the ground-side charging interface 12 are plugged in along a first direction. When the vehicle-side charging interface 81 and the ground-side charging interface 12 are plugged in, the second surface 6134 of the first base 6130 faces the ground-side charging device 10, and during the plugging process of the vehicle-side charging interface 81 and the ground-side charging interface 12, the ground-side charging device 10 blocks the first slot 61311.

[0409] In other embodiments, when the locking end 6411 is locked to the ground charging device 10, the locking end 6411 protrudes outward from the first base 6130. When the ground charging interface 12 and the vehicle charging interface 81 are plugged in, the locking end 6411 can be inserted into the second locking hole 1301. In this way, the ground charging interface 12 can be locked by the locking component 6400, which is beneficial to the stable plugging of the ground charging interface 12 and the vehicle charging interface 81. Furthermore, when the vehicle charging interface 81 is connected to the ground charging interface 12, the first base 6130 blocks the third slot to form a second receiving cavity (not shown) between itself and the ground charging device 10.

[0410] This solution does not limit the specific form of the locking component 6400. The locking component 6400 can be set as a mechanical lock, electronic lock, electromagnetic lock, etc., as long as it can lock the cover component 6200 and the vehicle end connector 6100 respectively, and lock the vehicle end connector 6100 and the ground end charging device 10.

[0411] For example, when the locking component 6400 is in the form of an electromagnetic lock, the first mating portion 6230 provided on the cover component 6200 can magnetically engage with the locking component 6400. Similarly, the second mating portion 1300 of the ground charging device 10 can magnetically engage with the locking component 6400. In other words, the locking component 6400 can achieve magnetic engagement with the first mating portion 6230 of the cover component 6200 or the vehicle connector 6100 through electromagnetic attraction, thereby achieving locking or unlocking.

[0412] In some embodiments, the locking component 6400 takes the form of an electronic lock. The following embodiments illustrate this using the example of the locking component 6400 being an electronic lock.

[0413] See Figure 37 , Figure 39 as well as Figures 42 to 44 In some embodiments, the first base 6130 has a mounting cavity 6132 inside. The locking assembly 6400 includes a locking actuator 6410 and a lock body 6420. The lock body 6420 is located inside the mounting cavity 6132 and is drivenly connected to the locking actuator 6410 so that the locking actuator 6410 can lock into the first mating part 6230 or the ground charging device 10. Placing the lock body 6420 inside the mounting cavity 6132 avoids exposing the lock body 6420, contributing to the miniaturization of the device.

[0414] In some embodiments, the locking actuator 6410 is movably disposed relative to the first base 6130, and the locking actuator 6410 has a locked position and an unlocked position. The lock body 6420 includes a drive portion 6421 and a transmission portion 6422, and the drive portion 6421 is drivenly connected to the locking actuator 6410 through the transmission portion 6422. Exemplarily, both the drive portion 6421 and the transmission portion 6422 are located within the mounting cavity 6132.

[0415] See Figure 37 , Figures 42-44In some embodiments, the locking actuator 6410 is slidably disposed relative to the first base 6130. When the locking actuator 6410 is embedded in the first base 6130: the first mating portion 6230 disposed on the cover 6210 protrudes from the first surface 6212 of the cover 6210, the first receiving groove 6131 on the first base 6130 communicates with the mounting cavity 6132, and the locking end 6411 of the locking actuator 6410 extends from the mounting cavity 6132 into the first receiving groove 6131, or is embedded from the first receiving groove 6131 into the mounting cavity 6132. When the cover assembly 6200 is in the obstructed position, the first mating portion 6230 is embedded in the first receiving groove 6131 and locks in engagement with the locking end 6411. For example, the first mating part 6230 is provided with a first locking hole 6231, and the locking end 6411 includes a locking rod that can pass through the first locking hole 6231 and lock into the first mating part 6230.

[0416] See Figure 2 , Figure 4 and Figure 5 In some embodiments, the locking actuator 6410 is slidably disposed relative to the first base 6130. When the locking end 6411 of the locking actuator 6410 protrudes from the first base 6130, a sliding groove is provided on the second surface 6134 of the first base 6130. The sliding groove communicates with the mounting cavity 6132. The locking end 6411 is slidably disposed in the sliding groove along the extension direction of the sliding groove. The cover body 6210 of the cover assembly 6200 is provided with a second receiving groove 6211. The second opening 62111 of the second receiving groove 6211 penetrates the first surface 6212 of the cover body 6210. The sidewall of the second receiving groove 6211 forms a first mating part 6230. A first locking hole 6231 is provided on the sidewall of the second receiving groove 6211. The locking end 6411 includes a locking rod that can pass through the first locking hole 6231 and lock into the first mating part 6230.

[0417] See Figure 40 and Figure 43 In some embodiments, the locking assembly 6400 further includes a manual unlocking part 6430, which is connected to the transmission part 6422. By operating the manual unlocking part 6430, the locking actuator 6410 can be driven to switch from the locked position to the unlocked position. When the drive part 6421 of the locking assembly 6400 fails, the manual unlocking part 6430 can be manually operated to drive the transmission part 6422 to unlock, which helps to improve the emergency use performance of the device.

[0418] For example, the drive unit 6421 drives the transmission unit 6422 to slide relative to the first base 6130. The manual unlocking unit 6430 includes a rope, one end of which is located inside the mounting cavity 6132 and connected to the transmission unit 6422, and the other end is an operating end located outside the first base 6130 for operation by an operator.

[0419] In some embodiments, the second vehicle-side charging device 6000b further includes at least one of a control module and an electronic control switch. The control module is communicatively connected to the cover assembly 6200, the positioning assembly 6300, and the locking assembly 6400. The control module employs a processor. The electronic control switch is configured to switch the energized state of the vehicle-side connector 6100 between the vehicle-side charging interface 81 and the AC charging port of the vehicle-side charging device 6000. The electronic control switch controls the switching between the high-voltage interface 6140 and the low-voltage interface and the bottom vehicle-side interface, ensuring that when charging is performed at the bottom vehicle-side interface, the side high-voltage interface 6140 and the low-voltage interface are not energized. When charging is performed at the side high-voltage interface 6140 and the low-voltage interface, charging at the bottom vehicle-side interface is not energized, ensuring charging and personnel safety.

[0420] Please see Figures 47 to 50 In one embodiment, to facilitate the docking between the ground charging device 10 and the second vehicle charging device 6000b, the vehicle charging system 1a further includes a guide structure 90. The guide structure 90 is disposed on at least one of the ground charging interface 12 and the vehicle charging interface 81, and is configured to guide the docking of the ground charging interface 12 and the vehicle charging interface 81. Understandably, by providing the ground charging interface 12, the vehicle charging interface 81, and the guide structure 90, the vehicle charging system 1a can reduce the difficulty of docking between the ground charging interface 12 and the vehicle charging interface 81 by utilizing the guidance of the guide structure 90, thereby reducing the docking time and improving the user experience.

[0421] Here, the ground charging device 10 is used to drive the ground charging interface 12 to connect with the vehicle charging interface 81 when a charging signal is received, and output the power supply voltage through the ground charging interface 12.

[0422] The charging signal can be sent from the vehicle to the ground charging device 10. For example, when the vehicle detects that its battery level is lower than a set value after parking, it sends a charging signal to the ground charging device 10. Alternatively, the driver can send the charging signal to the ground charging device 10 via a mobile terminal, such as a mobile phone or tablet. Alternatively, the ground charging device 10 may also include a charging pile connected to the vehicle's charging interface 81 via a cable, allowing the sending of charging signals to be achieved by controlling the charging pile. The communication connection can be a Wi-Fi signal connection or a Bluetooth signal connection; no specific limitation is made here.

[0423] In some embodiments, see Figure 47 and Figure 48 The guide structure 90 includes a guide surface 8112. The guide surface 8112 is used to guide the docking of the ground charging interface 12 and the vehicle charging interface 81. At this time, the guide surface 8112 can be set on the vehicle charging interface 81, or it can be set on the ground charging interface 12, or both the vehicle charging interface 81 and the ground charging interface 12 can be provided with the guide surface 8112.

[0424] For example, in one specific implementation, see [reference] Figure 1 and Figure 2 The guide surface 8112 is disposed on the vehicle-end charging interface 81, and along the direction in which the ground charging interface 12 is inserted into the vehicle-end charging interface 81, the cross-section of the guide surface 8112 perpendicular to the direction in which the ground charging interface 12 is inserted into the vehicle-end charging interface 81 gradually decreases. At this time, the guide structure 90 is disposed on the vehicle-end charging interface 81.

[0425] Understandably, the guide surface 8112 is set as a guide slope so that the ground charging interface 12 can be guided towards the center of the vehicle charging interface 81 during docking, so as to facilitate the insertion of the ground terminal and the vehicle terminal. At this time, the shape of the vehicle charging interface 81 on the guide surface 8112 is conical or flared.

[0426] At this time, the vehicle-side charging interface 81 is provided with a vehicle-side plug hole 8111 for the ground-side charging interface 12 to be inserted.

[0427] Of course, in another specific implementation, the guide surface 8112 can also be provided on the ground charging interface 12. In this case, along the direction in which the vehicle charging interface 81 is inserted into the ground charging interface 12, the cross-section of the guide surface 8112 gradually decreases perpendicular to the direction in which the vehicle charging interface 81 is inserted into the ground charging interface 12. In this case, the guide structure 90 is provided on the ground charging interface 12. Alternatively, both the ground charging interface 12 and the vehicle charging interface 81 can be provided with guide surfaces. When these two guide surfaces are connected, they contact each other and simultaneously serve a guiding function, guiding the precise connection of the ground charging interface 12 and the vehicle charging interface 81, reducing the probability of connection jamming. In this case, both the ground charging interface 12 and the vehicle charging interface 81 are provided with guide structures 90.

[0428] The ground charging interface 12 includes a ground terminal. The vehicle charging interface 81 includes a vehicle terminal that can be plugged into the ground terminal.

[0429] In some embodiments, see Figure 47 and Figure 48The vehicle-side charging interface 81 includes a vehicle-side retaining ring 811 and a vehicle-side terminal. The vehicle-side retaining ring 811 surrounds a vehicle-side insertion hole 8111 for insertion into a ground-side charging interface 12. The vehicle-side terminal is located within the vehicle-side insertion hole 8111 and is used for insertion and mating with the ground-side terminal in the ground-side charging interface 12. At least a portion of the inner surface of the vehicle-side retaining ring 811 is a guide surface 8112 that provides guidance for the ground-side charging interface 12.

[0430] Understandably, the ground charging interface 12 can be connected to the vehicle charging interface 81, and the power supply voltage can be output through the ground charging interface 12 to charge the vehicle. A vehicle-side insertion hole 8111 is formed by a vehicle-side retaining ring 811 for the ground charging interface 12 to be inserted. At least a portion of the inner side of the vehicle-side retaining ring 811 serves as a guide surface 8112 to guide the ground charging interface 12, thereby facilitating the insertion of the ground charging interface 12 into the vehicle-side insertion hole 8111 and achieving connection with the vehicle charging interface 81. This reduces connection difficulty, shortens connection time, and improves the user experience.

[0431] In some embodiments, the vehicle-side charging interface 81 is located under the vehicle. This effectively prevents damage to the vehicle-side charging interface 81 from external collisions, rain, etc. It also facilitates docking with the ground-side charging interface 12, reducing the lifting distance of the ground-side charging interface 12. For example, the ground-side charging interface 12 can be located in a parking space, and after the vehicle is parked, the ground-side charging interface 12 can be lifted to dock with the vehicle-side charging interface 81.

[0432] Of course, the vehicle-side charging port 81 can also be located in other parts of the vehicle, such as the rear of the vehicle.

[0433] See Figure 1 and Figure 2 In some embodiments, the vehicle end retaining ring 811 includes a plug-in section and a guide section, the inner side of the guide section is a guide surface 8112, and the plug-in section surrounds and forms a vehicle end plug-in hole 8111.

[0434] Understandably, the insertion section forms the vehicle-end insertion hole 8111, mainly used for positioning and limiting the ground-end charging interface 12, so that the vehicle-end charging interface 81 and the ground-end charging interface 12 can be stably connected, improving the safety of charging the vehicle. The guide section mainly guides the ground-end charging interface 12 through the guide surface 8112. Even if there is a certain degree of deviation between the ground-end charging interface 12 and the vehicle-end charging interface 81, the guide surface 8112 can still allow the ground-end charging interface 12 to be inserted into the vehicle-end insertion hole 8111.

[0435] The guide section is flared in shape, meaning it has a large-diameter end and a small-diameter end, with the large-diameter end located on the outer side. Alternatively, the outer end of the guide section may have a chamfered structure, which can also form the aforementioned guide surface 8112.

[0436] In some embodiments, the circumferential edge of the top of the ground charging interface 12 is provided with a chamfered structure. This, in conjunction with the guide surface 8112 of the vehicle-side retaining ring 811, serves to guide and position the ground charging interface 12 and the vehicle-side charging interface 81 when they are docked, facilitating the docking of the ground charging interface 12 and the vehicle-side charging interface 81.

[0437] In some embodiments, see Figure 48 and Figure 49 The vehicle-end terminals include a vehicle-end L-phase terminal 812, a vehicle-end N-phase terminal 813, a vehicle-end PE terminal 814, a vehicle-end CC terminal 815, and a vehicle-end CP terminal 816. The vehicle-end L-phase terminal 812 and the vehicle-end N-phase terminal 813 are spaced apart in the second direction Y, and in the second direction Y, the vehicle-end PE terminal 814, the vehicle-end CC terminal 815, and the vehicle-end CP terminal 816 are all located between the vehicle-end L-phase terminal 812 and the vehicle-end N-phase terminal 813.

[0438] Understandably, the spaced L-phase terminal 812 and N-phase terminal 813 on the vehicle side increase the physical creepage distance between them, improving the safety of plugging and unplugging the ground charging interface 12 relative to the vehicle charging interface 81. Furthermore, placing the PE terminal 814, CC terminal 815, and CP terminal 816 between the L-phase terminal 812 and N-phase terminal 813 allows for a more rational wiring harness arrangement and more even force distribution when the ground charging interface 12 and vehicle charging interface 81 are plugged in. This ensures a more stable physical connection during high-current transmission and reduces overheating issues caused by poor contact.

[0439] In some embodiments, the vehicle-side charging interface 81 further includes at least one first temperature detector 818, which is used to monitor the temperature of the vehicle-side terminals. For example, two first temperature detectors 818 are provided to monitor the temperatures of the vehicle-side L-phase terminal 812 and the vehicle-side N-phase terminal 813, respectively. Of course, one or more first temperature detectors 818 may also be provided to monitor the temperature of one or more vehicle-side terminals.

[0440] For example, see Figure 48 The vehicle-side terminals include a vehicle-side L-phase terminal 812, wherein a first temperature detector 818 is used to monitor the temperature of the vehicle-side L-phase terminal 812. Specifically, the first temperature detector 818 mainly monitors the temperature of the vehicle-side L-phase terminal 812 in real time when the vehicle-side charging interface 81 and the ground-side charging interface 12 are connected to charge the vehicle.

[0441] Understandably, after the L-phase terminal 812 on the vehicle side is connected to the L-phase terminal 124 on the ground side, it serves as the main power line for transmitting large currents. Under long-term high-load operation, it is prone to generating heat. Therefore, the temperature of the L-phase terminal 812 on the vehicle side is monitored in real time by the first temperature detector 818. When the temperature exceeds the safety threshold, a signal can be fed back to stop charging. Or when the temperature is close to the safety threshold, a signal can be fed back to reduce the charging power or reduce the charging current, thus ensuring charging safety and optimizing charging efficiency.

[0442] For example, see Figure 48 and Figure 49 The vehicle-side terminals include a vehicle-side N-phase terminal 813. A first temperature detector 818 is used to monitor the temperature of the vehicle-side N-phase terminal 813. Specifically, the first temperature detector 818 monitors the temperature of the vehicle-side N-phase terminal 813 in real time when the vehicle-side charging interface 81 and the ground charging interface 12 are connected to charge the vehicle.

[0443] Understandably, during AC charging, the N-phase and L-phase form a complete current loop, carrying the same amount of current. Therefore, the N-phase terminal 813 at the vehicle end will also generate abnormal heat due to prolonged high current operation, dust accumulation, oxidation, or poor contact. Therefore, by monitoring the temperature in real time, charging can be stopped or the charging power can be reduced when the temperature exceeds or approaches the safety threshold, thus ensuring charging safety and optimizing charging efficiency.

[0444] See Figure 50 The ground terminal includes a ground L-phase terminal 124, a ground N-phase terminal 125, a ground PE terminal 126, a ground CC terminal 127, and a ground CP terminal 128. The ground L-phase terminal 124 and the ground N-phase terminal 125 are spaced apart in the second direction Y, and the ground PE terminal 126, the ground CC terminal 127, and the ground CP terminal 128 are all located between the ground L-phase terminal 124 and the ground N-phase terminal 125 in the second direction Y.

[0445] The L-phase ground terminal 124 is connected to the L-phase vehicle terminal 812 to transmit electrical energy from the external power grid to the vehicle. The N-phase ground terminal 125 is connected to the N-phase vehicle terminal 813, working in conjunction with the L-phase to provide a complete current loop for AC power, ensuring stable charging. The PE ground terminal 126 is connected to the PE vehicle terminal 814 to connect the ground wire of the ground charging device 10 and the ground wire of the second vehicle charging device 6000b. The CC ground terminal 127 is connected to the CC vehicle terminal 815 to confirm that the ground charging interface 12 and the vehicle charging interface 81 are fully and securely connected. The CP ground terminal 128 is connected to the CP vehicle terminal 816 to transmit a pulse width modulation signal, informing the vehicle of the maximum safe charging current that the current ground charging device 10 can provide, so that the vehicle's on-board charger can adjust the charging power accordingly.

[0446] See Figure 48 and Figure 49 The vehicle-end terminal also includes at least one vehicle-end high-voltage interlock terminal 817, and the ground-end terminal includes at least one ground-end high-voltage interlock terminal 129. The ground-end high-voltage interlock terminal 129 can be plugged into the vehicle-end high-voltage interlock terminal 817 one by one, thereby forming a high-voltage interlock after docking.

[0447] like Figure 45 As shown, when the ground charging interface 12 and the vehicle charging interface 81 are connected, the vehicle high-voltage interlock terminal 817 is plugged into the ground high-voltage interlock terminal 129, thereby connecting to the vehicle's vehicle controller to monitor the high-voltage connection status in real time. This also avoids the dangerous arcing caused by direct plugging and unplugging in a high-voltage environment, thus improving safety.

[0448] For example, see Figure 49 and Figure 50 There are two high-voltage interlock terminals 817 at the vehicle end and two high-voltage interlock terminals 129 at the ground end. The two high-voltage interlock terminals 817 at the vehicle end and the two high-voltage interlock terminals 129 at the ground end are connected in a one-to-one correspondence.

[0449] Among them, see Figure 48 Two high-voltage interlock terminals 817 are spaced apart in the second direction Y, and two high-voltage interlock terminals 817, two high-voltage interlock terminals 815, and two high-voltage interlock terminals 816 are spaced apart in the second direction Y. The two high-voltage interlock terminals 817, two high-voltage interlock terminals 815, and two high-voltage interlock terminals 816 are arranged in a quadrilateral. In the first direction X, the two high-voltage interlock terminals 817, two high-voltage interlock terminals 814, and two high-voltage interlock terminals 815 are arranged in this manner.

[0450] See Figure 50 The distribution of the high-voltage interlock terminals of the ground charging interface 12 is similar to that of the vehicle charging interface 81, and will not be described in detail here.

[0451] In some embodiments, one of the vehicle-end terminal and the ground terminal is provided with a terminal insertion hole, and the other is provided with a pin that can be inserted into the terminal insertion hole.

[0452] See Figure 48 In one specific implementation, the vehicle-end terminal has a terminal insertion hole for the ground terminal to be inserted. In this case, the ground terminal is a pin.

[0453] Specifically, the L-phase terminal 812, N-phase terminal 813, CC terminal 815, CP terminal 816, PE terminal 814, and high-voltage interlock terminal 817 on the vehicle end all have terminal insertion holes for the corresponding ground terminal to be inserted.

[0454] Of course, in another specific implementation, the ground terminal can have a terminal insertion hole for the vehicle terminal to be inserted, in which case the vehicle terminal is a pin.

[0455] In some embodiments, see Figure 50 The ground charging interface 12 has a terminal insertion cavity for inserting a vehicle-end terminal, wherein the ground terminal is disposed within the terminal insertion cavity. This means that when the ground charging interface 12 and the vehicle-end charging interface 81 are connected, the vehicle-end terminal is inserted into the terminal insertion cavity, thereby achieving limiting and positioning. Furthermore, with the vehicle-end terminal having a terminal insertion hole for inserting the ground terminal, dual positioning and limiting are achieved, improving the stability of the connection between the ground charging interface 12 and the vehicle-end charging interface 81.

[0456] For details, please refer to Figure 50 The ground charging interface 12 has three spaced-apart insertion cavities: a first insertion cavity 121, a second insertion cavity 122, and a third insertion cavity 123. Specifically, the ground L-phase terminal 124 is located in the first insertion cavity 121; the ground PE terminal 126, ground CC terminal 127, and ground CP terminal 128 are all located in the second insertion cavity 122; and the ground N-phase terminal 125 is located in the third insertion cavity 123. This arrangement of three independent insertion cavities increases the contact area between the ground charging interface 12 and the vehicle-side charging interface 81, further improving the stability of their connection.

[0457] In addition, the aforementioned ground high-voltage interlock terminal 129 is also located in the second insertion cavity 122.

[0458] It should be noted that the shape of each plug cavity is adapted to the shape of the inserted vehicle-end terminal. For example, the first plug cavity 121 is a circular plug cavity adapted to the L-phase terminal 812 of the vehicle end. The second plug cavity 122 can be adapted to the boundary shape of the structure formed by the vehicle-end CC terminal 815, vehicle-end PE terminal 814, vehicle-end CP terminal 816 and vehicle-end high-voltage interlock terminal 817.

[0459] Of course, in other embodiments, the vehicle-side charging interface 81 may have a terminal insertion cavity for inserting a ground terminal. In this case, the vehicle-side terminal is located within the terminal insertion cavity. Furthermore, the ground terminal has a terminal insertion hole for inserting the vehicle-side terminal, in which case the vehicle-side terminal is a pin.

[0460] In addition, the second vehicle-side charging device 6000b also includes an electronic control switch and a second temperature detector, the second temperature detector being used to monitor the temperature of the electronic control switch.

[0461] The second temperature detector is mainly used to monitor the temperature of the electronic control switch in real time when the ground charging interface 12 and the vehicle charging interface 81 are connected to the vehicle for charging. This is because the electronic control switch is the core control component of the high-voltage system during charging, bearing the important responsibility of connecting and disconnecting large currents. The purpose of real-time temperature monitoring is to prevent the contacts from overheating and burning out, avoid thermal runaway, and thus ensure the safety of the entire charging system.

[0462] The electronic control switch can be selected as a relay.

[0463] The second vehicle-side charging device 6000b also includes a processor and a third temperature detector, which is used to monitor the temperature of the processor.

[0464] The third temperature detector is primarily used to monitor the processor's temperature in real time when the ground-side charging interface 12 and the vehicle-side charging interface 81 are connected to the vehicle for charging. This is because the processor needs to continuously perform high-frequency data calculations, signal processing, and logical judgments during the charging process, thus generating a significant amount of heat. Real-time monitoring of the processor's temperature by the third temperature detector prevents overheating and failure of the chip, ensuring the safe and stable operation of the charging system. The processor can be selected as an MCU (Microcontroller Unit).

[0465] In some embodiments, the charging system further includes a cloud platform, with the ground-side charging device 10 communicatively connected to the cloud platform to send vehicle charging parameters to the cloud platform. These charging parameters include, but are not limited to, charging power, charging voltage, and charging current. Furthermore, the ground-side charging device 10 can also send fault information during charging to the cloud platform for storage and subsequent retrieval of the fault information.

[0466] Please see Figures 51 to 61In a second aspect, this application also provides a vehicle charging method, which is applied to the vehicle charging system 1a described above.

[0467] Specifically, Figure 51 This is a flowchart of an embodiment of the vehicle charging method provided in this application. Please refer to... Figure 51 The method provided in this embodiment may include the following steps:

[0468] Step S101: When it is determined that the second vehicle-side charging device 6000b has established a communication connection with the ground-side charging device 10, it is determined whether the vehicle where the second vehicle-side charging device 6000b is located meets the ground-side charging conditions. When it is determined that the vehicle meets the ground-side charging conditions, a charging signal is generated and sent to the ground-side charging device 10.

[0469] In practice, when a vehicle is parked within a preset range of the ground-based charging device 10, such as in a parking space, the second vehicle-side charging device 6000b on the vehicle establishes a wireless communication connection with the ground-based charging device 10. This connection can be via Bluetooth or Wi-Fi. After the communication connection is established, the second vehicle-side charging device 6000b pre-determines whether the vehicle it is located in meets the ground-based charging conditions. It should be noted that the communication connection between the second vehicle-side charging device 6000b and the ground-based charging device 10 can be established directly between the two devices or indirectly through a domain controller on the vehicle.

[0470] The specific charging conditions at the ground end include, but are not limited to: the cover 6210 of the second vehicle-side charging device 6000b is in normal working condition; the locking component 6400 of the second vehicle-side charging device 6000b is in normal working condition; the communication connection between the second vehicle-side charging device 6000b and the ground end charging device 10 is in a stable state; and the vehicle's own state (e.g., the vehicle's gear position signal, handbrake signal, power battery SOC, and power battery temperature) meets the preset charging conditions.

[0471] After determining that the vehicle meets the above-mentioned ground charging conditions, a charging signal is generated and sent to the ground charging device 10 so that the ground charging device 10 knows that the vehicle can perform the bottom charging process. It should be noted that if the second vehicle-side charging device 6000b is equipped with a cover 6210, the cover 6210 can be opened in advance before sending the charging signal to the ground charging device 10 to expose the vehicle-side charging interface 81 in the second vehicle-side charging device 6000b.

[0472] For example, when a user reverses into a preset charging parking space, they park the vehicle in the designated area according to the parking space markings or the guidance of the vehicle's surround view image. During the reversing process, the second vehicle-side charging device 6000b on the vehicle can automatically establish a Bluetooth connection with the ground-side charging device 10. Furthermore, after the Bluetooth connection is established, if it is confirmed that the vehicle meets the ground-side charging conditions, a charging signal is sent to the ground-side charging device 10, and the ground-side charging device 10 then begins to perform subsequent movement and docking actions.

[0473] In step S102, the ground charging device 10 responds to the charging signal, controls the ground charging device 10 to move to the target docking position below the second vehicle-side charging device 6000b, and controls the ground charging device 10 to dock with the second vehicle-side charging device 6000b.

[0474] Specifically, after receiving the charging signal, the ground-side charging device 10 performs preparatory actions to move towards the vehicle. These preparatory actions can be flexibly configured according to the actual state of the ground-side charging device 10, and are not specifically limited here. For example, the ground-side charging device 10 controls its own parking electronic lock to unlock, so that the ground-side charging device 10 switches to a movable state.

[0475] Furthermore, the ground-side charging device 10 identifies the spatial pose of the second vehicle-side charging device 6000b using data collected by its onboard vision / radar positioning system, and performs path planning and motion control based on the identification results until the ground-side charging device 10 reaches the target docking position below the second vehicle-side charging device 6000b. It should be noted that at this target docking position, the ground-side charging device 10 and the second vehicle-side charging device 6000b are aligned horizontally. For example, the ground-side charging device 10 is equipped with a photoelectric receiver 23 and an image acquisition module 24, among other structures for positioning.

[0476] Subsequently, the ground charging device 10 controls itself to dock with the second vehicle-side charging device 6000b. Specifically, for example, the ground charging device 10 controls its own ground charging interface 12 to rise until the ground charging interface 12 successfully docks with the vehicle-side charging interface 81 in the second vehicle-side charging device 6000b, and when the two are successfully docked, the ground charging device 10 controls the ground charging interface 12 to maintain the current lifting height.

[0477] In step S103, when the charging pile 2a determines that the ground charging device 10 and the second vehicle charging device 6000b have successfully connected, it establishes a first charging circuit between the pile body 2b in the charging pile 2a and the ground charging device 10, and charges the vehicle through the first charging circuit.

[0478] Specifically, the ground charging device 10 sends the status information that the ground charging interface 12 and the vehicle charging interface 81 have been successfully connected to the charging pile device 2a. Then, when the charging pile device 2a receives the status information, it confirms that the ground charging device 10 and the second vehicle charging device 6000b have been successfully connected.

[0479] It should be noted that the pile body 2b in the pile-end charging device 2a is connected to the ground-end charging interface 12 through AC power lines (including live wire and neutral wire), ground wire, and control pilot (CP) signal line, and a switch unit is connected in series on the AC power line.

[0480] After confirming successful docking between the ground charging device 10 and the second vehicle-side charging device 6000b, the charging pile 2a acquires the signal on the control guide signal line. If the signal on the control guide signal line meets the preset signal conditions (e.g., confirming whether the CP voltage amplitude and PWM duty cycle are normal), it controls the switching unit (e.g., relay) on the AC power line to close, so that the AC output terminal of the pile 2b is connected to the vehicle's power battery via the AC power line, the ground charging interface 12 in the ground charging device 10, the second vehicle-side charging device 6000b, and the on-board charger, forming a first charging circuit. Based on this first charging circuit, the pile 2b outputs AC power to the vehicle, which is then converted into DC power by the vehicle's on-board charger to charge the power battery.

[0481] The vehicle charging method provided in this embodiment, when determining that the second vehicle-side charging device 6000b and the ground-side charging device 10 have established a communication connection, determines whether the vehicle where the vehicle-side charging device 6000 is located meets the ground-side charging conditions, and when it is determined that the vehicle meets the ground-side charging conditions, generates and sends a charging signal to the ground-side charging device 10; the ground-side charging device 10 responds to the charging signal, controls the ground-side charging device 10 to move to the target docking position below the second vehicle-side charging device 6000b, and controls the ground-side charging device 10 to dock with the second vehicle-side charging device 6000b; when it is determined that the ground-side charging device 10 and the second vehicle-side charging device 6000b have successfully docked, the pile-side charging device 2a establishes a first charging circuit between the pile body 2b in the pile-side charging device 2a and the ground-side charging device 10, and charges the vehicle through the first charging circuit. In this way, when the vehicle meets the ground charging conditions, it sends a charging signal to the ground charging device 10. The ground charging device 10 then automatically responds to the vehicle's charging signal and actively moves to the bottom of the vehicle to dock with the vehicle-side charging device 6000. This process does not require manual operation by the user, simplifies the charging process, and enables seamless charging of the vehicle.

[0482] Figure 52 The flowchart is for Embodiment 2 of the vehicle charging method provided in this application. Please refer to... Figure 52 Based on the above embodiments, generating and sending a charging signal to the ground charging device 10 includes:

[0483] In step S201, the cover 6210 in the second vehicle-side charging device 6000b is opened to expose the vehicle-side charging interface 81 in the second vehicle-side charging device 6000b, and the positioning component 6300 in the second vehicle-side charging device 6000b is controlled to send a position guidance signal.

[0484] In specific implementation, when it is determined that the vehicle meets the ground charging conditions, the cover 6210 of the second vehicle-side charging device 6000b is opened to expose the vehicle-side charging interface 81 in the second vehicle-side charging device 6000b. It should be noted that the cover 6210 can be opened by flipping, sliding, or other means to expose the vehicle-side charging interface 81 to the external environment, thereby allowing the vehicle-side charging interface 81 to be connected to the ground charging device 10.

[0485] Subsequently, the positioning component 6300 in the second vehicle-side charging device 6000b emits a position guidance signal. For example, the vehicle-side connector 6100 is equipped with a light source and an infrared laser emitter. By controlling the light source and activating the infrared laser emitter, it emits light source signals and infrared signals as position guidance signals. This position guidance signal is used for positioning and navigation of the ground-side charging device 10, enabling it to approach the bottom of the vehicle according to the position guidance signal until it moves to the target docking position below the second vehicle-side charging device 6000b.

[0486] Furthermore, in one possible implementation, after determining that a wireless communication connection has been established between the second vehicle-side charging device 6000b and the ground-side charging device 10, the vehicle-side charging device 6000 reports the connection status information to the domain controller on the vehicle. Upon receiving the connection status information, the domain controller determines that the second vehicle-side charging device 6000b has established a communication connection with the ground-side charging device 10. At this time, the domain controller generates a charging guidance request and returns it to the vehicle-side charging device 6000 to control the opening of the cover 6210 in the second vehicle-side charging device 6000b and to control the positioning component 6300 in the second vehicle-side charging device 6000b to emit a position guidance signal.

[0487] In step S202, when the cover 6210 is detected to be open and the positioning component 6300 in the second vehicle-side charging device 6000b sends a position guidance signal, a charging signal is generated and sent to the ground-side charging device 10.

[0488] Specifically, when the cover 6210 is detected to be open and the positioning component 6300 in the second vehicle-side charging device 6000b emits a position guidance signal, a charging signal is generated and sent to the ground-side charging device 10.

[0489] The method provided in this embodiment controls the cover 6210 in the second vehicle-side charging device 6000b to open after determining that the vehicle meets the ground-side charging conditions, and then controls the positioning component 6300 in the second vehicle-side charging device 6000b to send a position guidance signal, thereby sending a charging signal to the ground-side charging device 10. This ensures that the vehicle-side is ready for docking when the ground-side charging device 10 receives the charging signal, thereby improving the reliability and safety of the charging process.

[0490] Figure 53 The flowchart is for Embodiment 3 of the vehicle charging method provided in this application. Please refer to... Figure 53 Based on the above embodiments, in response to a charging signal, controlling the ground-side charging device 10 to move to the target docking position below the second vehicle-side charging device 6000b includes:

[0491] Step S301: Upon receiving a charging signal, the parking electronic lock of the ground charging device 10 is unlocked to allow the ground charging device 10 to be in a movable state.

[0492] It should be noted that when the ground charging device 10 is in standby mode, its walking module 60 is usually locked by a parking electronic lock to prevent the device from accidentally sliding or being pushed by people.

[0493] Specifically, after receiving the charging signal, the ground charging device 10 sends an unlocking command to the parking electronic lock in advance. The parking electronic lock can be an electromagnetic lock or a mechanical lock driven by a motor, so that the locking pin of the parking electronic lock retracts or disengages, thereby releasing the braking or locking state of the walking module 60, allowing the ground charging device 10 to move on the target surface M.

[0494] In step S302, the cover plate 31 in the ground charging device 10 is opened to expose the ground charging interface 12 in the ground charging device 10.

[0495] In this embodiment, the ground charging device 10 includes a ground charging interface 12 and a cover plate 31 covering the outside of the ground charging interface 12. The cover plate 31 remains closed in the standby state to prevent dust, water, and external damage.

[0496] In practice, the ground charging device 10 sends an opening command to the opening and closing drive 32 of the cover plate 31, so that the opening and closing drive 32 responds to the opening command and drives the cover plate 31 to open by flipping, translating or sliding, thereby exposing the ground charging interface 12 to the external environment so that it can dock with the second vehicle-side charging device 6000b.

[0497] It should be noted that the ground charging device 10 can detect whether the cover 31 has been opened to the correct position by means of a limit switch or position sensor installed on the opening and closing path of the cover 31. If the cover 31 is not detected to be opened to the correct position within a preset time, the ground charging device 10 can output an alarm message and suspend subsequent actions to avoid performing lifting or moving operations when the ground charging interface 12 is not fully exposed.

[0498] In step S303, after detecting that the cover plate 31 is open and the parking electronic lock is unlocked, a position guidance signal is received, and the position guidance of the ground charging device 10 is performed according to the position guidance signal so that the ground charging device 10 moves to the target docking position.

[0499] Specifically, after detecting that the cover 31 is open and the parking electronic lock is unlocked, the ground charging device 10 can receive a position guidance signal from the positioning component 6300 in the second vehicle-side charging device 6000b, and control the ground charging device 10 to move closer to the bottom of the vehicle according to the received position guidance signal, until the ground charging device 10 reaches the target docking position below the second vehicle-side charging device 6000b. At this target docking position, the ground charging device 10 and the second vehicle-side charging device 6000b are aligned in the horizontal direction, so as to perform the subsequent lifting and engagement operation.

[0500] In addition, during the process of moving towards the vehicle, the ground charging device 10 can be combined with the anti-collision sensor installed on the ground charging device 10 to perform obstacle avoidance control, so as to avoid collision with the vehicle tires, chassis or surrounding obstacles and ensure the safety of the movement process.

[0501] The method provided in this embodiment involves the ground charging device 10 unlocking its parking electronic lock after receiving a charging signal, allowing it to switch to a movable state. It also controls the cover 31 to open, exposing the ground charging interface 12. This ensures the ground charging device 10 can move smoothly to the bottom of the vehicle, and that the ground charging interface 12 will not collide or become stuck when lifted due to the cover 31 not being open. Simultaneously, the ground charging device 10 is guided by a position guidance signal received from the positioning component 6300 in the second vehicle-side charging device 6000b, accurately moving to the target docking position to achieve precise horizontal alignment between the ground charging device 10 and the second vehicle-side charging device 6000b.

[0502] Figure 54 The flowchart for Embodiment 4 of the vehicle charging method provided in this application is shown below. Please refer to... Figure 54 Based on the above embodiments, controlling the ground-side charging device 10 to interface with the second vehicle-side charging device 6000b includes:

[0503] In step S401, after the ground charging device 10 moves to the target docking position, it sends a positioning success signal to the second vehicle charging device 6000b, so that the second vehicle charging device 6000b forwards the positioning success signal to the domain controller on the vehicle, so that the domain controller generates and sends a charging permission command to the ground charging device 10.

[0504] Specifically, after the ground charging device 10 moves to the target docking position, the ground charging device 10 sends a positioning success signal to the second vehicle charging device 6000b through its wireless communication link with the second vehicle charging device 6000b, so as to inform the vehicle that the ground charging device 10 has been successfully positioned horizontally.

[0505] It should be noted that after receiving the positioning success signal, the second vehicle-side charging device 6000b forwards it to the domain controller on the vehicle. This domain controller is the core computing unit responsible for decision-making and coordination within the vehicle. Upon receiving the positioning success signal, the domain controller generates a charging permission command and sends it to the ground-side charging device 10 via the second vehicle-side charging device 6000b, instructing the ground-side charging device 10 to perform subsequent lifting and docking actions.

[0506] In step S402, upon receiving a charging permission command, the ground charging interface 12 is raised so that it connects with the vehicle charging interface 81.

[0507] In this step, after receiving the charging permission command issued by the domain controller, the ground charging device 10 controls the lifting module 14 in the ground charging device 10 to lift the ground charging interface 12. The lifting module 14 is used to move the ground charging interface 12 up and down in the vertical direction (third direction Z). The ground charging interface 12 is used to connect with the vehicle charging interface 81 to achieve a charging connection. This embodiment does not limit the specific form of the lifting module.

[0508] Understandably, the ground-side charging interface 12 gradually approaches the second vehicle-side charging device 6000b during the lifting process and docks with the second vehicle-side charging device 6000b under the drive of the lifting module. Simultaneously, the ground-side charging device 10 can monitor its lifting height in real time during the lifting process via a position sensor installed on the ground-side charging interface 12.

[0509] The method provided in this embodiment involves the ground charging device 10 sending a positioning success signal to the vehicle after moving to the target docking position, and the domain controller on the vehicle issuing a charging permission command to instruct the ground charging device 10 to perform a lifting docking action, thereby ensuring the safety of the docking process.

[0510] Figure 55 The flowchart for Embodiment 5 of the vehicle charging method provided in this application is shown below. Please refer to... Figure 55 Based on the above embodiments, after the ground-side charging device 10 is connected to the second vehicle-side charging device 6000b, the vehicle charging method further includes:

[0511] In step S501, when the second vehicle-side charging device 6000b detects that the ground-side charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlocked connection state, it generates and sends a first high-voltage interlock signal to the ground-side charging device 10; wherein, the first high-voltage interlock signal is used to indicate that the ground-side charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlocked connection state.

[0512] Specifically, after the ground charging device 10 is connected to the second vehicle-side charging device 6000b, the second vehicle-side charging device 6000b detects the connection status of the high-voltage interlock circuit between the ground charging interface 12 and the vehicle-side charging interface 81. When it detects that the ground charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlock connection state, it generates and sends a first high-voltage interlock signal to the ground charging device 10. This first high-voltage interlock signal is used to characterize that the ground charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlock connection state.

[0513] In step S502, the ground-end charging device 10 sends the first high-voltage interlock signal to the pile-end charging device 2a.

[0514] In this step, after receiving the first high-voltage interlock signal sent by the second vehicle-side charging device 6000b, the ground-side charging device 10 forwards the first high-voltage interlock signal to the pile-side charging device 2a.

[0515] In step S503, when the charging device 2a at the pile end receives the first high-voltage interlock signal, it determines that the charging device 10 at the ground end and the charging device 6000b at the vehicle end have successfully docked.

[0516] It should be noted that after receiving the first high-voltage interlock signal, the charging device 2a at the charging pile end can determine that the ground charging interface 12 and the vehicle charging interface 81 have been successfully connected.

[0517] The method provided in this embodiment generates a first high-voltage interlock signal and feeds it back to the ground-end charging device 10 after detecting that the high-voltage interlock circuit is connected. The ground-end charging device 10 forwards the first high-voltage interlock signal to the pile-end charging device 2a, so that the pile-end charging device 2a can confirm that the ground-end charging device 10 and the second vehicle-end charging device 6000b have successfully connected, thereby ensuring the reliability of the charging connection.

[0518] Figure 56 The flowchart for Embodiment Six of the vehicle charging method provided in this application is shown below. Please refer to... Figure 56 The method provided in this embodiment may include the following steps:

[0519] In step S601, when the second vehicle-side charging device 6000b detects that the ground-side charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlocked connection state, it controls the ground-side charging interface 12 and the vehicle-side charging interface 81 to be electronically interlocked and generates a locking signal; wherein, the locking signal is used to indicate that the vehicle-side charging interface 81 and the ground-side charging interface 12 have been electronically interlocked.

[0520] In a specific implementation, for example, when the second vehicle-side charging device 6000b detects that the ground-side charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlocked connection state, it controls the locking component 6400 of the vehicle-side charging interface 81 to lock, so that the ground-side charging interface 12 and the vehicle-side charging interface 81 are electronically interlocked, and a locking signal is generated.

[0521] Furthermore, in one possible implementation, the second vehicle-side charging device 6000b can send a first high-voltage interlock signal to the domain controller on the vehicle, so that the domain controller, upon receiving the first high-voltage interlock signal, sends an electronic interlock locking command to the second vehicle-side charging device 6000b. Subsequently, in response to the electronic interlock locking command, the second vehicle-side charging device 6000b controls the locking component 6400 of the vehicle-side charging interface 81 to lock, thereby electronically interlocking the ground-side charging interface 12 with the vehicle-side charging interface 81 and generating a locking signal.

[0522] It should be noted that, in this embodiment, the locking signal is used to indicate that the vehicle-side charging interface 81 and the ground-side charging interface 12 are electronically interlocked, that is, the ground-side charging interface 12 is locked inside the vehicle-side charging interface 81 and cannot be pulled out by external force during the charging process.

[0523] In step S602, the second vehicle-side charging device 6000b sends a locking signal to the pile-side charging device 2a via the ground-side charging device 10.

[0524] In this step, after generating a locking signal, the second vehicle-side charging device 6000b sends the locking signal to the ground-side charging device 10 via the wireless communication link between the second vehicle-side charging device 6000b and the ground-side charging device 10. After receiving the locking signal, the ground-side charging device 10 forwards the locking signal to the pile-side charging device 2a.

[0525] The method provided in this embodiment controls the locking component 6400 to lock after the second vehicle-side charging device 6000b detects that the high-voltage interlock circuit is connected. After the locking component 6400 is locked, a locking signal is generated and sent to the pile-side charging device 2a via the ground-side charging device 10, ensuring that a reliable connection is achieved before the charging circuit is established, thereby improving the safety and stability of vehicle charging.

[0526] Figure 57 The flowchart for Embodiment Seven of the vehicle charging method provided in this application is shown below. Please refer to... Figure 57 The method provided in this embodiment, which establishes a first charging circuit between the pile body 2b in the pile-end charging device 2a and the ground-end charging device 10, may include the following steps:

[0527] Step S701: Obtain the signal on the control guide signal line between the pile body 2b in the pile-end charging device 2a and the ground-end charging interface 12, and receive the lock signal sent by the second vehicle-end charging device 6000b through the ground-end charging device 10.

[0528] In this embodiment, the pile body 2b in the pile-end charging device 2a is connected to the ground-end charging interface 12 through AC power lines (including live wire and neutral wire), ground wire, and control guide signal lines, respectively. A switch unit (e.g., a relay) is connected in series on the AC power lines.

[0529] Specifically, the charging device 2a at the charging pile acquires the signal on the control guide signal line and detects whether the signal on the control guide signal line meets the preset signal conditions. For example, the preset signal condition is that the voltage signal on the control guide signal line is 6V PWM.

[0530] At the same time, the charging pile 2a receives a locking signal sent by the second vehicle-side charging device 6000b through the ground-side charging device 10. This locking signal indicates that the vehicle-side charging interface 81 and the ground-side charging interface 12 are electronically interlocked.

[0531] In step S702, when it is confirmed that the locking signal has been received and the signal on the control guide signal line meets the preset signal conditions, the AC power line between the control pile 2b and the ground charging interface 12 is connected to establish the first charging circuit.

[0532] Specifically, when the charging pile terminal 2a confirms receipt of the locking signal and the signal on the control guide signal line meets the preset signal conditions, it controls the switch unit on the AC power line to close, so that the AC output terminal of the charging pile is connected to the vehicle's power battery in sequence via the AC power line, the ground terminal charging device 10, the second vehicle terminal charging device 6000b, and the on-board charger, forming the first charging circuit. Based on this first charging circuit, the charging pile outputs AC power to the vehicle, which is then converted into DC power by the vehicle's on-board charger to charge the power battery.

[0533] The method provided in this embodiment obtains the signal on the control guide signal line through the charging pile end device 2a and receives the locking signal sent by the second vehicle end charging device 6000b. Only after confirming that the signal on the control guide signal line meets the preset signal conditions and the locking signal has been received, does it control the AC power line to conduct in order to establish the first charging circuit. This effectively avoids the safety risks caused by the charging circuit being connected when the vehicle is not ready or when the second vehicle end charging device 6000b and the ground end charging device 10 are not reliably interlocked. It effectively improves the safety and reliability of the charging process and can meet the standard safety specifications for AC charging control guidance.

[0534] Figure 58 The flowchart for Embodiment 8 of the vehicle charging method provided in this application is shown below. Please refer to... Figure 58 The vehicle charging method provided in this embodiment may further include the following steps:

[0535] In step S801, when the charging device 2a detects that the signal on the control guide signal line does not meet the preset signal conditions during the charging process, it controls the AC power line to disconnect, thereby disconnecting the first charging circuit, and sends a charging circuit disconnection signal to the ground charging device 10.

[0536] It should be noted that the domain controller on the vehicle is connected to the vehicle-side charging interface 81 via a control guide signal line, which is equipped with a switching unit. Furthermore, after the vehicle-side charging interface 81 is successfully connected to the ground-side charging interface 12, a control guide circuit is formed between the charging pile 2b of the charging pile 2a and the vehicle.

[0537] When the domain controller on the vehicle determines that charging has ended, it will control the switch unit on the control guide signal line between itself and the vehicle-side charging interface 81 to disconnect. Furthermore, during vehicle charging, if the charging pile 2a detects that the signal on the control guide signal line between the charging pile 2a and the ground-side charging interface 12 does not meet the preset signal conditions, it will control the switch unit on the AC power line to disconnect the first charging circuit and simultaneously send a charging circuit disconnection signal to the ground-side charging device 10.

[0538] In step S802, the ground-side charging device 10 sends a charging circuit disconnection signal to the second vehicle-side charging device 6000b.

[0539] In this step, the ground charging device 10 forwards the received charging circuit disconnection signal to the second vehicle-side charging device 6000b through its wireless communication link with the second vehicle-side charging device 6000b.

[0540] In step S803, after receiving the charging circuit disconnection signal, the second vehicle-side charging device 6000b controls the ground-side charging device 10 and the vehicle-side charging interface 81 to release the electronic interlock, and generates and sends an unlock signal to the ground-side charging device 10; wherein, the unlock signal is used to indicate that the ground-side charging interface 12 and the vehicle-side charging interface 81 have released the electronic interlock.

[0541] Specifically, after receiving a charging circuit disconnection signal, the second vehicle-side charging device 6000b controls the locking component 6400 of the vehicle-side charging interface 81 to unlock, thereby releasing the electronic interlock between the ground-side charging device 10 and the vehicle-side charging interface 81, and generates an unlock signal, which is then sent to the ground-side charging device 10. This unlock signal indicates that the electronic interlock between the ground-side charging interface 12 and the vehicle-side charging interface 81 has been released.

[0542] Furthermore, in one possible implementation, the second vehicle-side charging device 6000b can forward the received charging circuit disconnection signal to the domain controller on the vehicle, so that the domain controller, upon receiving the charging circuit disconnection signal, sends an electronic interlock release command to the second vehicle-side charging device 6000b. Subsequently, in response to the electronic interlock release command, the second vehicle-side charging device 6000b controls the locking component 6400 of the vehicle-side charging interface 81 to unlock, thereby releasing the electronic interlock between the ground-side charging device 10 and the vehicle-side charging interface 81, and generating and sending an unlock signal to the ground-side charging device 10.

[0543] In step S804, after receiving the unlock signal, the ground charging device 10 controls the ground charging device 10 to perform a reset operation.

[0544] It should be noted that the reset operation refers to the ground charging device 10 restoring its various actuators to their initial state before the charging process started. For example, in the above charging process, the actions performed by the ground charging device 10 include unlocking the parking electronic lock, moving the ground charging device 10 to the target docking position, and raising the ground charging interface 12 using the lifting module. Correspondingly, the reset operation performed by the ground charging device 10 includes lowering the lifting module to disengage the ground charging interface 12 from the vehicle charging interface 81, moving the ground charging device 10 to its initial docking position, and locking the parking electronic lock. Thus, the reset operation is flexibly configured according to the actions performed by the ground charging device 10 during the charging process, allowing the ground charging device 10 to return to its initial standby state after each charging process, awaiting the triggering of the next charging task.

[0545] The method provided in this embodiment determines whether the vehicle has finished charging by real-time monitoring of the signal on the control guide signal line by the charging pile terminal 2a, and disconnects the AC power line after confirming that the vehicle has finished charging, thus achieving accurate response of the charging pile terminal 2a to the vehicle's charging stop command. Furthermore, the ground terminal charging device 10 performs a reset operation after receiving the unlock signal, ensuring a safe and orderly charging end process while automatically restoring the ground terminal charging device 10 to its initial standby state. This allows for device reset after charging without user intervention, significantly improving the automation level and seamless experience of the vehicle charging process.

[0546] Figure 59 The flowchart for Embodiment Nine of the vehicle charging method provided in this application is shown below. Please refer to... Figure 59 The vehicle charging method provided in this embodiment may further include the following steps:

[0547] Step S901: Control the ground charging interface 12 to descend to the first preset initial position so that the ground charging interface 12 is disengaged from the vehicle charging interface 81; wherein, the unlock signal is used to indicate that the electronic interlock between the vehicle charging interface 81 and the ground charging interface 12 has been released.

[0548] Specifically, after receiving the unlocking signal from the second vehicle-side charging device 6000b, the ground-side charging device 10 confirms that the electronic interlock between the vehicle-side charging interface 81 and the ground-side charging interface 12 has been released. At this time, the lifting module in the ground-side charging device 10 is controlled to descend, so that the ground-side charging interface 12 is lowered to the first preset initial position (i.e., the initial storage position of the ground-side charging interface 12 in the ground-side charging device 10 before it is lifted), thereby completely disengaging the ground-side charging interface 12 from the vehicle-side charging interface 81 in the third direction Z.

[0549] In step S902, after the ground charging interface 12 descends to the first preset initial position, the ground charging device 10 is controlled to move to the second preset initial position.

[0550] In this step, after confirming that the ground charging interface 12 has descended to the first preset initial position, the ground charging device 10 controls the ground charging device 10 to move from the bottom area of ​​the vehicle to the second preset initial position. The second preset initial position refers to the initial parking position of the ground charging device 10 in the standby state, which can usually be set on one side or edge of the charging parking space without occupying the normal parking space of the vehicle.

[0551] In step S903, the cover plate 31 is closed so that the ground charging interface 12 is housed in the ground charging device 10, and the parking electronic lock of the ground charging device 10 is locked so that the ground charging device 10 is in an immovable state.

[0552] Specifically, after the ground charging device 10 moves to the second preset initial position and stops, the ground charging device 10 sends a closing command to the opening and closing drive component 32 of the cover plate 31 to drive the cover plate 31 to close by means of translation or sliding. After the ground charging interface 12 is housed inside the housing 11, it can effectively prevent dust, water droplets and external forces from contaminating or damaging the ground charging interface 12, ensuring that the device maintains a good protective state in standby mode.

[0553] Furthermore, a locking command is sent to the parking electronic lock of the ground charging device 10, causing the ground charging device 10 to switch to an immovable state. At this point, the ground charging device 10 returns to its initial standby state, waiting for the next charging task to be triggered.

[0554] The method provided in this embodiment, after receiving the unlock signal, the ground charging device 10 performs a device reset in the following order: the ground charging interface 12 descends, the ground charging device 10 returns to its horizontal position, the protective cover is closed, and the electronic lock is locked. This allows the ground charging device 10 to automatically return to its initial standby state. The device reset after charging can be completed without user intervention, which significantly improves the automation level and seamless experience of the vehicle charging process.

[0555] Figure 60 The flowchart for Embodiment 10 of the vehicle charging method provided in this application is shown below. Please refer to... Figure 60 The method provided in this embodiment, after generating and sending an unlock signal to the ground charging device 10, may further include the following steps:

[0556] In step S1001, when the second vehicle-side charging device 6000b detects that the ground-side charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlock disconnected state, it controls the cover 6210 to close so that the vehicle-side charging interface 81 is housed inside the second vehicle-side charging device 6000b.

[0557] Specifically, after the second vehicle-side charging device 6000b releases the electronic interlock between the ground-side charging interface 12 and the vehicle-side charging interface 81, if it detects that the ground-side charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlocked open state, it determines that the closing operation of the cover 6210 can be performed. At this time, the second vehicle-side charging device 6000b sends a closing command to the rotation drive of the cover 6210 to drive the cover 6210 to close by flipping, translating, or sliding, so that the cover 6210 is once again placed over the vehicle-side charging interface 81.

[0558] Understandably, the vehicle-side charging interface 81 is housed within the vehicle-side charging device 6000, which effectively prevents dust, water droplets, and external forces from contaminating or damaging the vehicle-side charging interface 81, ensuring that the vehicle-side charging interface 81 maintains a good protective state when not charging.

[0559] Furthermore, in one possible implementation, the second vehicle-side charging device 6000b generates and sends an unlock signal to the ground-side charging device 10, while simultaneously sending the unlock signal to the domain controller on the vehicle. Also, when the second vehicle-side charging device 6000b detects that the ground-side charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlock disconnected state, it generates a second high-voltage interlock signal. This second high-voltage interlock signal indicates that the ground-side charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlock disconnected state. Subsequently, the second vehicle-side charging device 6000b sends the second high-voltage interlock signal to the domain controller, so that after confirming receipt of the unlock signal and the second high-voltage interlock signal, the domain controller sends a cover 6210 closing command to the second vehicle-side charging device 6000b. In response to the cover 6210 closing command, the second vehicle-side charging device 6000b controls the cover 6210 to close, so that the vehicle-side charging interface 81 is housed within the second vehicle-side charging device 6000b.

[0560] The method provided in this embodiment, after the second vehicle-side charging device 6000b releases the electronic interlock between the ground-side charging interface 12 and the vehicle-side charging interface 81, if it detects that the high-voltage interlock between the ground-side charging interface 12 and the vehicle-side charging interface 81 is disconnected, controls the cover 6210 to close. This effectively avoids the risk of component collision or compression damage caused by prematurely closing the cover 6210 while the ground-side charging interface 12 is still inserted into the vehicle-side charging interface 81, effectively improving the safety of equipment operation. Simultaneously, the cover 6210 automatically closes after charging is complete, achieving the sealing and protection of the vehicle-side charging interface 81 without manual user operation, significantly improving the automation level and seamless experience of the vehicle charging process.

[0561] Figure 61 The flowchart for Embodiment Eleven of the vehicle charging method provided in this application is shown below. Please refer to... Figure 61 The method provided in this embodiment, when it is determined that the vehicle does not meet the ground charging conditions, may further include the following steps:

[0562] In step S1101, the vehicle-side charging device 6000 sends a charging gun 2c activation command to the pile-side charging device 2a.

[0563] It should be noted that the ground charging conditions include, but are not limited to: the cover 6210 of the second vehicle-side charging device 6000b is in normal working condition, the locking component 6400 of the second vehicle-side charging device 6000b is in normal working condition, the communication connection between the second vehicle-side charging device 6000b and the ground-side charging device 10 is in a stable state, and the vehicle's own state (e.g., the vehicle's gear position signal, handbrake signal, power battery SOC and power battery temperature, etc.).

[0564] When it is determined that the vehicle does not meet any of the above-mentioned ground charging conditions (e.g., cover 6210 opening failure, locking component 6400 failure, unstable communication connection between the second vehicle-side charging device 6000b and the ground charging device 10, vehicle not in P gear, handbrake not engaged, power battery SOC not within the allowable charging range, power battery temperature not within the allowable charging range, etc.), the vehicle-side charging device 6000 determines that the vehicle does not currently meet the ground charging conditions and sends a charging gun 2c activation command to the charging pile-side charging device 2a.

[0565] In step S1102, in response to the activation command of the charging gun 2c, the charging device 2a at the pile end establishes a second charging circuit between the pile body 2b and the charging gun 2c in the charging device 2a at the pile end, and charges the vehicle through the second charging circuit; wherein, the charging gun 2c is used to dock and charge the first vehicle-end charging device 6000a in the vehicle-end charging device 6000.

[0566] In practice, in response to the activation command of the charging gun 2c, the charging terminal 2a controls the switch unit on the AC power line between the pile body 2b and the charging gun interface to close, thereby establishing a second charging circuit between the pile body 2b and the charging gun 2c. After the second charging circuit is established, when the charging gun 2c is plugged into the charging interface on the side of the vehicle, the charging gun 2c and the first vehicle-side charging device 6000a are connected, and the vehicle can be charged through the second charging circuit.

[0567] It should be noted that the first charging circuit and the second charging circuit can share the same AC power input within the pile body 2b, but they are independently controlled through different output paths and switching units, so that the same device can be compatible with different charging access methods.

[0568] The method provided in this embodiment, when it is determined that the vehicle does not meet the ground-side charging conditions, sends an activation command for the charging gun 2c to the charging pile 2a. The charging pile 2a then responds to this command by establishing a second charging circuit between the charging pile 2b and the charging gun 2c, enabling the vehicle to be charged via plug-in charging. This avoids situations where the vehicle cannot charge due to a malfunction in the vehicle's bottom charging function or unmet conditions. Therefore, while improving vehicle charging safety, it ensures that the vehicle can complete charging normally.

[0569] This embodiment provides a vehicle charging method, which is applied to a ground-based charging device 10; the vehicle charging method may include:

[0570] (1) After the ground-side charging device 10 establishes a communication connection with the second vehicle-side charging device 6000b in the vehicle-side charging device 6000, it receives the charging signal sent by the second vehicle-side charging device 6000b.

[0571] Specifically, after the ground charging device 10 establishes a communication connection with the second vehicle-side charging device 6000b in the vehicle-side charging device 6000, it receives the charging signal sent by the second vehicle-side charging device 6000b. At this time, the ground charging device 10 knows that the vehicle where the vehicle-side charging device 6000 is located can perform the bottom charging process.

[0572] (2) In response to the charging signal, control the ground charging device 10 to move to the target docking position below the second vehicle charging device 6000b, and control the ground charging device 10 to dock with the second vehicle charging device 6000b.

[0573] Specifically, upon receiving a charging signal, the system performs preparatory actions to move towards the vehicle. These preparatory actions can be flexibly configured according to the actual state of the ground charging device 10, and are not specifically limited here. For example, the ground charging device 10 controls its own parking electronic lock to unlock, so that the ground charging device 10 switches to a movable state.

[0574] Furthermore, the ground-side charging device 10 uses data collected by its onboard vision / radar positioning system to identify the spatial pose of the second vehicle-side charging device 6000b, and performs path planning and motion control based on the identification results until the ground-side charging device 10 reaches the target docking position below the second vehicle-side charging device 6000b. It should be noted that at this target docking position, the ground-side charging device 10 and the second vehicle-side charging device 6000b are aligned horizontally. For example, the photoelectric receiver 23 and image acquisition module 24 installed in the ground-side charging device 10 cooperate with the second vehicle-side charging device 6000b to identify the spatial pose of the second vehicle-side charging device 6000b.

[0575] Subsequently, the ground charging device 10 controls itself to dock with the second vehicle-side charging device 6000b. Specifically, for example, the ground charging device 10 controls its own ground charging interface 12 to rise until the ground charging interface 12 successfully docks with the vehicle-side charging interface 81 in the second vehicle-side charging device 6000b, and when the two are successfully docked, the ground charging device 10 controls the ground charging interface 12 to maintain the current lifting height.

[0576] It should be noted that the specific examples in this embodiment can refer to the examples described in the foregoing embodiments and optional implementations, and will not be repeated here.

[0577] The vehicle charging method provided in this embodiment automatically performs preparatory actions and moves autonomously to the target docking position at the bottom of the vehicle after receiving the charging signal. Then, it controls the ground charging interface 12 to lift and dock with the second vehicle-side charging device 6000b. The entire process does not require user intervention and can achieve automatic charging docking.

[0578] In some embodiments, controlling the ground-side charging device 10 to move to the target docking position below the second vehicle-side charging device 6000b in response to a charging signal may include:

[0579] (1) When a charging signal is received, the parking electronic lock of the ground charging device 10 is unlocked so that the ground charging device 10 is in a movable state.

[0580] It should be noted that when the ground charging device 10 is in standby mode, its walking module 60 is usually locked by a parking electronic lock to prevent the device from accidentally sliding or being pushed by people.

[0581] Specifically, after receiving the charging signal, the ground charging device 10 sends an unlocking command to the parking electronic lock in advance. The parking electronic lock can be an electromagnetic lock or a motor-driven mechanical lock. Upon receiving the unlocking command, the locking pin of the parking electronic lock retracts or disengages to release the braking or locking state of the walking module 60, allowing the ground charging device 10 to move on the target surface M. The ground charging device 10 can confirm whether the electronic lock has been successfully unlocked by reading the level signal fed back by the parking electronic lock or detecting the position of the locking pin. If it is confirmed that the electronic lock has been successfully unlocked, it indicates that the ground charging device 10 has switched to a movable state and can move towards the vehicle.

[0582] (2) Control the opening of the cover plate 31 in the ground charging device 10 to expose the ground charging interface 12 in the ground charging device 10.

[0583] In practice, the ground charging device 10 sends an opening command to the opening and closing drive member 32 of the cover plate 31, so that the opening and closing drive member 32 responds to the opening command and drives the cover plate 31 to open by flipping, translating or sliding, thereby exposing the ground charging interface 12 to the external environment so that it can dock with the second vehicle-side charging device 6000b on the vehicle.

[0584] It should be noted that the ground charging device 10 can detect whether the cover 31 has been opened to the correct position by means of a limit switch or position sensor installed on the opening and closing path of the cover 31. If the cover 31 is not detected to be opened to the correct position within a preset time, the ground charging device 10 can output an alarm message and suspend subsequent actions to avoid performing lifting or moving operations when the ground charging interface 12 is not fully exposed.

[0585] (3) After detecting that the cover plate 31 is open and the parking electronic lock is unlocked, the position guidance signal sent by the positioning component 6300 in the second vehicle-end charging device 6000b is received, and the position guidance of the ground-end charging device 10 is performed according to the position guidance signal so that the ground-end charging device 10 moves to the target docking position.

[0586] Specifically, after detecting that the cover 31 is open and the parking electronic lock is unlocked, the ground charging device 10 can receive a position guidance signal from the positioning component 6300 in the second vehicle-side charging device 6000b, and control the ground charging device 10 to move closer to the bottom of the vehicle according to the received position guidance signal, until the ground charging device 10 reaches the target docking position below the second vehicle-side charging device 6000b. At this target docking position, the ground charging device 10 and the second vehicle-side charging device 6000b are aligned in the horizontal direction (i.e., in the XY direction) to facilitate subsequent lifting and engagement operations.

[0587] In addition, during the process of moving towards the vehicle, the ground charging device 10 can be combined with the anti-collision sensor installed on the ground charging device 10 to perform obstacle avoidance control, so as to avoid collision with the vehicle tires, chassis or surrounding obstacles and ensure the safety of the movement process.

[0588] The method provided in this embodiment involves the ground charging device 10 unlocking its parking electronic lock after receiving a charging signal, allowing it to switch to a movable state. It also controls the cover 31 to open, exposing the ground charging interface 12. This ensures the ground charging device 10 can move smoothly to the bottom of the vehicle, and that the ground charging interface 12 will not collide or get stuck during lifting due to the cover not being open. Simultaneously, the ground charging device 10 is guided by a position guidance signal from the positioning component 6300 in the second vehicle-side charging device 6000b, accurately moving to the target docking position to achieve precise horizontal alignment between the ground charging device 10 and the second vehicle-side charging device 6000b. Specifically, this involves controlling the positioning component 6300 in the second vehicle-side charging device 6000b to send a position guidance signal.

[0589] In some embodiments, controlling the ground-side charging device 10 to interface with the second vehicle-side charging device 6000b may include:

[0590] (1) After the ground charging device 10 moves to the target docking position, it sends a positioning success signal to the second vehicle charging device 6000b, so that the second vehicle charging device 6000b forwards the positioning success signal to the domain controller on the vehicle where the second vehicle charging device 6000b is located, so that the domain controller generates and sends a charging permission command to the ground charging device 10.

[0591] Specifically, after the ground charging device 10 moves to the target docking position, the ground charging device 10 sends a positioning success signal to the second vehicle charging device 6000b through its wireless communication link with the second vehicle charging device 6000b, so as to inform the vehicle that the ground charging device 10 has been successfully positioned horizontally.

[0592] It should be noted that after receiving the positioning success signal, the second vehicle-side charging device 6000b forwards it to the domain controller on the vehicle. This domain controller is the core computing unit responsible for decision-making and coordination within the vehicle. Upon receiving the positioning success signal, the domain controller generates a charging permission command and sends it to the ground-side charging device 10 via the second vehicle-side charging device 6000b, instructing the ground-side charging device 10 to perform subsequent lifting and docking actions.

[0593] (2) When a charging permission command is received, the ground charging interface 12 is raised so that the ground charging interface 12 is connected to the second vehicle-side charging device 6000b.

[0594] In this step, after receiving the charging permission command issued by the domain controller, the ground charging device 10 controls the lifting module in the ground charging device 10 to lift the ground charging interface 12. The lifting module is used to move the ground charging interface 12 up and down in the vertical direction (i.e., the third direction Z). The ground charging interface 12 is used to connect with the vehicle-side charging interface 81 to achieve a charging connection. This embodiment does not limit the specific form of the lifting module; for details, please refer to the description in the foregoing embodiments.

[0595] It should be understood that during the lifting process, the ground charging interface 12 gradually approaches the second vehicle-side charging device 6000b and, driven by the lifting module, docks with the vehicle-side charging interface 81 of the second vehicle-side charging device 6000b. Furthermore, the ground charging device 10 can monitor its lifting height in real time during the lifting process via a position sensor installed on the ground charging interface 12.

[0596] The method provided in this embodiment involves the ground charging device 10 sending a positioning success signal to the vehicle after moving to the target docking position, and the domain controller on the vehicle issuing a charging permission command to instruct the ground charging device 10 to perform a lifting docking action, thereby ensuring the safety of the docking process.

[0597] In some embodiments, the vehicle charging method described above may further include:

[0598] (1) The ground-end charging device 10 receives a charging circuit disconnection signal sent by the pile-end charging device 2a; wherein the charging circuit disconnection signal is used to indicate that the first charging circuit between the pile body 2b in the pile-end charging device 2a and the ground-end charging device 10 is disconnected.

[0599] Specifically, the ground-end charging device 10 receives a charging circuit disconnection signal sent by the pile-end charging device 2a to know that the first charging circuit between the pile body 2b in the pile-end charging device 2a and the ground-end charging device 10 is disconnected.

[0600] (2) The ground charging device 10 sends a charging circuit disconnection signal to the second vehicle charging device 6000b, so that after receiving the charging circuit disconnection signal, the second vehicle charging device 6000b controls the ground charging device 10 and the second vehicle charging device 6000b to release the electronic interlock, and generates and sends an unlocking signal to the ground charging device 10; wherein, the unlocking signal is used to indicate that the ground charging interface 12 and the second vehicle charging device 6000b have released the electronic interlock.

[0601] Specifically, the ground charging device 10 sends a charging circuit disconnection signal to the second vehicle-side charging device 6000b. Upon receiving the charging circuit disconnection signal, the second vehicle-side charging device 6000b controls the locking component 6400 of the vehicle-side charging interface 81 to unlock, thereby disengaging the electronic interlock between the ground charging device 10 and the vehicle-side charging interface 81, and generates an unlocking signal, which is then sent to the ground charging device 10. This unlocking signal indicates that the electronic interlock between the ground charging interface 12 and the vehicle-side charging interface 81 has been disengaged.

[0602] (3) After receiving the unlock signal, the ground charging device 10 controls the ground charging device 10 to perform a reset operation.

[0603] It should be noted that the reset operation refers to the ground charging device 10 restoring its various actuators to their initial state before the charging process started. For example, in the above charging process, the actions performed by the ground charging device 10 include unlocking the parking electronic lock, moving the ground charging device 10 to the target docking position, and raising the ground charging interface 12 using the lifting module. Correspondingly, the reset operation performed by the ground charging device 10 includes lowering the lifting module to disengage the ground charging interface 12 from the vehicle charging interface 81, moving the ground charging device 10 to its initial docking position, and locking the parking electronic lock. Thus, the reset operation is flexibly configured according to the actions performed by the ground charging device 10 during the charging process, allowing the ground charging device 10 to return to its initial standby state after each charging process, awaiting the triggering of the next charging task.

[0604] The method provided in this embodiment forwards a charging circuit disconnection signal from the ground-side charging device 10 to the second vehicle-side charging device 6000b. This allows the second vehicle-side charging device 6000b to control the ground-side charging device 10 to release the electronic interlock with the vehicle-side charging interface 81, ensuring that the ground-side charging device 10 can safely perform a reset operation. In this way, while ensuring a safe and orderly charging completion process, the ground-side charging device 10 automatically returns to its initial standby state, completing the device reset after charging without user intervention. This significantly improves the automation level and seamless experience of the vehicle charging process.

[0605] In some embodiments, controlling the ground charging device 10 to perform a reset operation may include:

[0606] (1) Control the ground charging interface 12 to descend to the first preset initial position so that the ground charging interface 12 is disconnected from the second vehicle-side charging device 6000b.

[0607] Specifically, after receiving the unlocking signal from the second vehicle-side charging device 6000b, the ground-side charging device 10 confirms that the electronic interlock between the vehicle-side charging interface 81 and the ground-side charging interface 12 has been released. At this time, the lifting module in the ground-side charging device 10 is controlled to descend, so that the ground-side charging interface 12 is lowered to the first preset initial position (i.e., the initial storage position of the ground-side charging interface 12 in the ground-side charging device 10 before it is lifted), thereby completely disengaging the ground-side charging interface 12 from the vehicle-side charging interface 81 in the vertical direction.

[0608] (2) After the ground charging interface 12 descends to the first preset initial position, the ground charging device 10 is controlled to move to the second preset initial position.

[0609] In this step, after confirming that the ground charging interface 12 has descended to the first preset initial position, the ground charging device 10 controls the ground charging device 10 to move from the bottom area of ​​the vehicle to the second preset initial position. The second preset initial position refers to the initial parking position of the ground charging device 10 in the standby state, which can usually be set on one side or edge of the charging parking space without occupying the normal parking space of the vehicle.

[0610] (3) Control the cover plate 31 to close so that the ground charging interface 12 is stored in the ground charging device 10, and control the parking electronic lock to lock so that the ground charging device 10 is in an immovable state.

[0611] Specifically, after the ground charging device 10 moves to the second preset initial position and stops, the ground charging device 10 sends a closing command to the opening and closing drive component 32 of the cover plate 31 to drive the cover plate 31 to close by flipping, translating, or sliding. After the ground charging interface 12 is housed in the housing 11, it can effectively prevent dust, water droplets, and external forces from contaminating or damaging the ground charging interface 12, ensuring that the device maintains a good protective state in standby mode.

[0612] Furthermore, a locking command is sent to the parking electronic lock of the ground charging device 10, causing the ground charging device 10 to switch to an immovable state. At this point, the ground charging device 10 returns to its initial standby state, waiting for the next charging task to be triggered.

[0613] The method provided in this embodiment, after receiving the unlock signal, performs a device reset in the following order: the ground charging interface 12 descends, the ground charging device 10 returns to its horizontal position, the protective cover is closed, and the electronic lock is locked. This allows the ground charging device 10 to automatically return to its initial standby state, completing the device reset after charging without user intervention. This significantly improves the automation level and seamless experience of the vehicle charging process.

[0614] This embodiment provides a vehicle charging method, which is applied to a vehicle-side charging device 6000; the vehicle charging method may include:

[0615] (1) When the second vehicle-side charging device 6000b in the vehicle-side charging device 6000 establishes a communication connection with the ground-side charging device 10, it is determined whether the vehicle where the vehicle-side charging device 6000 is located meets the ground-side charging conditions.

[0616] Specifically, after the second vehicle-side charging device 6000b establishes a wireless communication connection with the ground-side charging device 10, the vehicle-side charging device 6000 pre-determines whether the vehicle to which the vehicle-side charging device 6000 is located meets the ground-side charging conditions. These ground-side charging conditions include, but are not limited to: the cover 6210 of the second vehicle-side charging device 6000b is functioning normally; the locking component 6400 of the second vehicle-side charging device 6000b is functioning normally; the communication connection between the second vehicle-side charging device 6000b and the ground-side charging device 10 is stable; and the vehicle's own status (e.g., the vehicle's gear position signal, handbrake signal, power battery SOC, and temperature).

[0617] When it is determined that the vehicle meets the ground charging conditions, a charging signal is generated and sent to the ground charging device 10.

[0618] Specifically, after determining that the vehicle meets the above-mentioned ground charging conditions, a charging signal is generated and sent to the ground charging device 10 so that the ground charging device 10 knows that the vehicle can perform the bottom charging process.

[0619] It should be noted that the specific examples in this embodiment can refer to the examples described in the foregoing embodiments and optional implementations, and will not be repeated here.

[0620] The method provided in this embodiment determines whether the vehicle where the vehicle-side charging device 6000 is located meets the ground charging conditions when the second vehicle-side charging device 6000b in the vehicle-side charging device 6000 establishes a communication connection with the ground charging device 10. When the vehicle meets the ground charging conditions, a charging signal is generated and sent to the ground charging device 10 to guide the ground charging device 10 to start the bottom charging process. This process does not require user intervention and significantly improves the user's seamless charging experience.

[0621] In some embodiments, generating and sending a charging signal to the ground charging device 10 may include:

[0622] (1) Control the cover 6210 in the second vehicle-end charging device 6000b to open so that the vehicle-end charging interface 81 in the second vehicle-end charging device 6000b is exposed, and control the positioning component 6300 in the second vehicle-end charging device 6000b to send a position guidance signal.

[0623] In specific implementation, when it is determined that the vehicle meets the ground charging conditions, the cover 6210 of the second vehicle-side charging device 6000b is opened to expose the vehicle-side charging interface 81 in the second vehicle-side charging device 6000b. It should be noted that the cover 6210 can be opened by flipping, sliding, or other means to expose the vehicle-side charging interface 81 to the external environment, thereby allowing the vehicle-side charging interface 81 to be connected to the ground charging device 10.

[0624] Subsequently, the positioning component 6300 in the second vehicle-side charging device 6000b is controlled to emit a position guidance signal. For example, the positioning component 6300 includes an infrared laser emitter. By controlling the activation of the infrared laser emitter, it emits an infrared signal as a position guidance signal. This position guidance signal is used for positioning and navigation of the ground-side charging device 10, enabling the ground-side charging device 10 to approach the bottom of the vehicle according to the position guidance signal until it moves to the target docking position below the second vehicle-side charging device 6000b.

[0625] (2) When the cover 6210 is detected to be open and the positioning component 6300 in the second vehicle-end charging device 6000b sends a position guidance signal, a charging signal is generated and sent to the ground-end charging device 10.

[0626] Specifically, when the cover 6210 is detected to be open and the positioning component 6300 in the second vehicle-side charging device 6000b emits a position guidance signal, a charging signal is generated and sent to the ground-side charging device 10 so that the ground-side charging device 10 knows that the vehicle can perform the bottom charging process.

[0627] The method provided in this embodiment controls the cover 6210 in the second vehicle-side charging device 6000b to open after determining that the vehicle meets the ground-side charging conditions, and then controls the positioning component 6300 in the second vehicle-side charging device 6000b to send a position guidance signal, thereby sending a charging signal to the ground-side charging device 10. This ensures that the vehicle side is ready for docking when the ground-side charging device 10 receives the charging signal, avoids the risk of collision caused by premature movement of the ground-side charging device 10, and improves the reliability and safety of the charging process.

[0628] In some embodiments, the vehicle charging method described above may further include:

[0629] (1) Receive the positioning success signal sent by the ground charging device 10 and send the positioning success signal to the domain controller on the vehicle so that the domain controller generates a charging permission command when it receives the positioning success signal and sends the charging permission command to the second vehicle-side charging device 6000b.

[0630] Specifically, upon receiving the successful positioning signal, it is forwarded to the vehicle's domain controller, which is the core computing unit responsible for decision-making and coordination within the vehicle. Upon receiving the successful positioning signal, the domain controller generates a charging permission command.

[0631] (2) Send the received charging permission command to the ground charging device 10 so that the ground charging device 10 controls the ground charging device 10 to dock with the vehicle charging interface 81.

[0632] Specifically, the charging permission command is sent to the ground charging device 10 to instruct the ground charging device 10 to perform subsequent lifting and docking operations.

[0633] (3) When it is detected that the ground charging device 10 and the vehicle charging interface 81 are in a high-voltage interlock connection state, a first high-voltage interlock signal is generated and sent to the ground charging device 10; wherein, the first high-voltage interlock signal is used to characterize that the ground charging device 10 and the vehicle charging interface 81 are in a high-voltage interlock connection state.

[0634] Specifically, after the ground charging device 10 is connected to the second vehicle-side charging device 6000b, the connection status of the high-voltage interlock circuit between the ground charging interface 12 and the vehicle-side charging interface 81 is detected. When it is detected that the ground charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlock connection state, a first high-voltage interlock signal is generated and sent to the ground charging device 10. This first high-voltage interlock signal is used to characterize that the ground charging interface 12 and the vehicle-side charging interface 81 are in a high-voltage interlock connection state.

[0635] The method provided in this embodiment ensures the safety of the docking process by having the domain controller on the vehicle issue a charging permission command in response to a successful positioning signal, thereby instructing the ground charging device 10 to perform a lifting and docking action. Simultaneously, upon detecting a connection in the high-voltage interlock circuit, a first high-voltage interlock signal is generated and fed back to the ground charging device 10, enabling it to confirm successful docking between the ground charging device 10 and the second vehicle-side charging device 6000b, thus ensuring the reliability of the charging connection.

[0636] In some embodiments, the vehicle charging method described above may further include:

[0637] (1) When it is detected that the ground charging device 10 and the vehicle charging interface 81 are in a high-voltage interlocked connection state, the ground charging device 10 and the vehicle charging interface 81 are electronically interlocked, and a locking signal is generated; wherein, the locking signal is used to indicate that the vehicle charging interface 81 and the ground charging device 10 are electronically interlocked.

[0638] Specifically, when it is detected that the ground charging interface 12 and the vehicle charging interface 81 are in a high-voltage interlocked connection state, the locking component 6400 of the vehicle charging interface 81 is controlled to lock, so that the ground charging interface 12 and the vehicle charging interface 81 are electronically interlocked, and a locking signal is generated.

[0639] (2) The locking signal is sent to the pile charging device 2a through the ground charging device 10 so that the pile charging device 2a establishes the first charging circuit between the pile body 2b in the pile charging device 2a and the ground charging device 10 according to the locking signal.

[0640] In this step, a locking signal is sent to the ground charging device 10, and the ground charging device 10 forwards the locking signal to the pile charging device 2a, so that when the pile charging device 2a confirms that it has received the locking signal and the signal on the control guide signal line meets the preset signal conditions, the pile charging device 2a establishes the first charging circuit between the pile body 2b in the pile charging device 2a and the ground charging device 10.

[0641] The method provided in this embodiment controls the ground charging device 10 and the vehicle charging interface 81 to be electronically interlocked when the ground charging device 10 and the vehicle charging interface 81 are detected to be in a high-voltage interlocked connection state. The ground charging device 10 sends a locking signal to the charging pile device 2a, so that the charging pile device 2a can establish the first charging circuit only after confirming the locking signal and the control guidance signal is normal. This effectively avoids the safety risks caused by accidental loosening of the connector or hot plugging and unplugging during the charging process, and improves the safety and reliability of the charging process.

[0642] In some embodiments, the vehicle charging method described above may further include:

[0643] (1) After receiving the charging circuit disconnection signal sent by the ground charging device 10, the ground charging device 10 and the vehicle charging interface 81 are controlled to release the electronic interlock and generate an unlocking signal; wherein, the charging circuit disconnection signal is used to indicate that the first charging circuit between the pile body 2b in the pile charging device 2a and the ground charging device 10 is disconnected; the unlocking signal is used to indicate that the electronic interlock between the ground charging device 10 and the vehicle charging interface 81 has been released.

[0644] Specifically, upon receiving a charging circuit disconnection signal, the locking component 6400 of the vehicle-side charging interface 81 is unlocked, thereby releasing the electronic interlock between the ground-side charging device 10 and the vehicle-side charging interface 81, and generating an unlock signal, which is then sent to the ground-side charging device 10. This unlock signal indicates that the electronic interlock between the ground-side charging interface 12 and the vehicle-side charging interface 81 has been released.

[0645] (2) Send the unlock signal to the ground charging device 10 so that the ground charging device 10 can perform a reset operation after receiving the unlock signal.

[0646] Specifically, an unlock signal is sent to the ground charging device 10 so that the ground charging interface 12 and the vehicle charging interface 81 are now unlocked, meaning that the ground charging interface 12 and the vehicle charging interface 81 are disconnected, and the ground charging device 10 can then perform the subsequent reset operation.

[0647] The method provided in this embodiment controls the electronic interlock to be released and generates an unlocking signal after receiving a charging circuit disconnection signal, so that the ground charging device 10 can only perform the reset operation after confirming that the locking actuator has been released, thereby avoiding the risk of equipment damage and ensuring the safety and reliability of equipment reset after charging is completed.

[0648] In some embodiments, after generating the unlock signal, the process may further include:

[0649] When it is detected that the ground charging device 10 and the vehicle charging interface 81 are in a high-voltage interlock disconnected state, the control cover 6210 is closed so that the vehicle charging interface 81 is housed in the second vehicle charging device 6000b.

[0650] Specifically, if it is detected that the ground charging interface 12 and the vehicle charging interface 81 are in a high-voltage interlock disconnected state, it is determined that the closing operation of the cover 6210 can be performed. At this time, a closing command is sent to the rotation drive of the cover 6210 to drive the cover 6210 to close by flipping or other means, so that the cover 6210 is once again placed over the outside of the vehicle charging interface 81.

[0651] Understandably, the vehicle-side charging interface 81 is housed within the vehicle-side charging device 6000, which effectively prevents dust, water droplets, and external forces from contaminating or damaging the vehicle-side charging interface 81, ensuring that the vehicle-side charging interface 81 maintains a good protective state when not charging.

[0652] The method provided in this embodiment controls the cover 6210 to close when it detects that the ground charging interface 12 and the vehicle charging interface 81 are in a high-voltage interlock disconnected state. This effectively avoids the risk of component collision or crush damage caused by prematurely closing the cover 6210 while the ground charging interface 12 is still inserted into the vehicle charging interface 81, thus significantly improving the safety of equipment operation. Simultaneously, the cover 6210 automatically closes after charging is complete, achieving the sealing and protection of the vehicle charging interface 81 without manual user operation, significantly improving the automation level and seamless experience of the vehicle charging process.

[0653] This embodiment also provides a vehicle charging system 1a, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. Please refer to... Figure 12 The vehicle charging system 1a includes a vehicle-side charging device 6000, a ground-side charging device 10, and a charging pile-side charging device 2a. The vehicle-side charging device 6000 is used to determine whether the vehicle where the vehicle-side charging device 6000 is located meets the ground-side charging conditions when it is determined that the second vehicle-side charging device 6000b in the vehicle-side charging device 6000 establishes a communication connection with the ground-side charging device 10, and to generate and send a charging signal to the ground-side charging device 10 when it is determined that the vehicle meets the ground-side charging conditions.

[0654] The ground charging device 10 is used to respond to the charging signal, control the ground charging device 10 to move to the target docking position below the second vehicle-end charging device 6000b, and control the ground charging device 10 to dock with the second vehicle-end charging device 6000b.

[0655] The charging device 2a is used to establish a first charging circuit between the pile body 2b in the charging device 2a and the ground charging device 10 when it is determined that the ground charging device 10 and the second vehicle charging device 6000b have successfully connected, and to charge the vehicle through the first charging circuit.

[0656] This embodiment also provides a ground charging device 10, which includes a ground controller for executing the steps in the corresponding method embodiments described above.

[0657] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0658] This embodiment also provides a vehicle-side charging device 6000, which includes a vehicle-side controller for executing the steps in the corresponding method embodiments described above.

[0659] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0660] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0661] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0662] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0663] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0664] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0665] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0666] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0667] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0668] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle charging system, characterized in that, The vehicle charging system includes: The vehicle-side charging device (6000) includes a first vehicle-side charging device (6000a) and a second vehicle-side charging device (6000b), wherein the first vehicle-side charging device (6000a) is disposed on the side of the vehicle and the second vehicle-side charging device (6000b) is disposed on the bottom of the vehicle. The charging device at the pile end (2a) includes a pile body (2b) and a charging gun (2c). The pile body (2b) is fixedly installed on the target surface (M). The charging gun (2c) is electrically connected to the pile body (2b) through a first cable and is used to charge and dock with the first vehicle-end charging device (6000a). A ground-end charging device (10) is movably disposed on the target surface (M) and electrically connected to the pile body (2b) via a second cable; wherein, the ground-end charging device (10) responds to the charging signal of the vehicle and can move to the bottom of the vehicle and automatically dock and charge with the second vehicle-end charging device (6000b).

2. The vehicle charging system according to claim 1, characterized in that, The ground charging device (10) includes a housing (11), a lifting module (14), and a docking module (20). The lifting module (14) is installed on the housing (11) and can move up and down in the height direction of the housing (11). The docking module (20) is installed on the lifting module (14) and can move along the height direction of the housing (11) under the drive of the lifting module (14) to dock and charge with the vehicle end connector (6100) in the second vehicle end charging device (6000b).

3. The vehicle charging system according to claim 2, characterized in that, The lifting module (14) includes: The lifting drive mechanism (141) includes a drive member (1411) and a drive seat (1412). The drive member (1411) is connected to the drive seat (1412) for driving the drive seat (1412) to reciprocate along a first direction. The first direction is set at an angle to the height direction of the housing (11). Linkage mechanism (142), the power input end of which is hinged to the drive seat (1412); The docking module (20) is hinged to the power output end of the linkage mechanism (142); when the drive seat (1412) reciprocates along the first direction, the drive seat (1412) can drive the linkage mechanism (142) to fold or unfold, so as to drive the docking module (20) to rise and fall along a third direction, which is configured as the height direction of the housing (11).

4. The vehicle charging system according to claim 3, characterized in that, The linkage mechanism (142) includes a first linkage unit (1401) and a second linkage unit (1402), the first linkage unit (1401) and the second linkage unit (1402) are stacked along the third direction, and the first linkage unit (1401) and the second linkage unit (1402) are hinged to each other.

5. The vehicle charging system according to claim 4, characterized in that, The second linkage unit (1402) includes a drive linkage (1421), one end of which is used to hinge the docking module (20), and the other end of which is hinged to the drive seat (1412). The first link unit (1401) and the second link unit (1402) share a first link (1422), which extends along the first direction and one end of the first link (1422) is hinged to the drive link (1421).

6. The vehicle charging system according to claim 5, characterized in that, The first linkage unit (1401) further includes a second linkage (1423) and a third linkage (1424). One end of the second linkage (1423) is hinged to the other end of the first linkage (1422), and the other end of the second linkage (1423) is fixedly disposed relative to the drive seat (1412) along the first direction. One end of the third link (1424) is disposed on the side of the drive link (1421) away from the first link (1422), and is simultaneously hinged to one end of the drive link (1421) and one end of the first link (1422); the other end of the third link (1424) is fixedly disposed relative to the drive seat (1412) along the first direction.

7. The vehicle charging system according to claim 6, characterized in that, The drive link (1421) includes a first drive rod portion (14211), which is disposed in the area where the first link unit (1401) is located; The second link (1423), the first drive rod (14211), and the third link (1424) are all provided with a bent portion (1403).

8. The vehicle charging system according to claim 7, characterized in that, The bending angles of the bent portions (1403) on the second link (1423) and the third link (1424) are equal and set as P, and P satisfies 147°≤P≤157°; The bending angle of the bending portion (1403) on the first drive rod portion (14211) is set to Q, and Q satisfies 158°≤Q≤168°.

9. The vehicle charging system according to claim 2, characterized in that, The docking module (20) includes a ground connector (21a) and at least three photoelectric receivers (23). The ground connector (21a) is docked and charged with the vehicle connector (6100). The at least three photoelectric receivers (23) are spaced apart and not collinear. The photoelectric receiver (23) is capable of receiving light emitted from the light source on the second vehicle-end charging device (6000b) and outputting electrical signals of different intensities according to the difference in distance between the light source and each photoelectric receiver (23).

10. The vehicle charging system according to claim 9, characterized in that, The docking module (20) also includes a fixing base (22), which is installed on the lifting module (14), the ground connector (21a) is installed on the fixing base (22), and at least three photoelectric receivers (23) are installed at intervals on the fixing base (22). And / or, the number of photodetectors (23) is four, and two of the photodetectors (23) are arranged along a first direction, and the other two photodetectors (23) are arranged along a second direction, with the first direction and the second direction forming an angle.

11. The vehicle charging system according to claim 10, characterized in that, The perpendicular bisector of the line connecting the two photodetectors (23) arranged along the first direction passes through the center of the ground connector (21a); ​​and the perpendicular bisector of the line connecting the two photodetectors (23) arranged along the second direction passes through the center of the ground connector (21a).

12. The vehicle charging system according to claim 11, characterized in that, One of the two photodetectors (23) arranged along the first direction is located on the line connecting the two photodetectors (23) arranged along the second direction.

13. The vehicle charging system according to claim 9, characterized in that, The docking module (20) also includes a fixing base (22) and an image acquisition module (24). The image acquisition module (24) is spaced apart from the ground connector (21a) and connected to the fixing base (22). The image acquisition module (24) is used to acquire the light emitted by the light source on the second vehicle-side charging device (6000b).

14. The vehicle charging system according to claim 13, characterized in that, The image acquisition module (24) and the ground connector (21a) are spaced apart along a first direction, and along the first direction, the imaging center of the image acquisition module (24) and the center of the ground connector (21a) are aligned.

15. The vehicle charging system according to claim 9, characterized in that, The docking module (20) further includes an elastic element (25) and a fixed seat (22). The fixed seat (22) is installed on the lifting module (14). The elastic element (25) is located between the ground connector (21a) and the fixed seat (22) and is connected to the ground connector (21a) and the fixed seat (22) respectively, so that the ground connector (21a) and the fixed seat (22) are movably connected.

16. The vehicle charging system according to claim 9 or 15, characterized in that, The ground connector (21a) includes a motherboard (211) and a ground charging interface (12). Along a third direction, the ground charging interface (12) protrudes and is connected to one side surface of the motherboard (211). The docking module (20) further includes a fixing base (22) and a support block (26), the support block (26) being connected to the fixing base (22), and at least a portion of the support block (26) being located above the motherboard (211) in the third direction; The third direction extends parallel to the direction of the ground charging interface (12).

17. The vehicle charging system according to claim 2, characterized in that, The ground charging device (10) further includes an opening and closing module (30). In the height direction of the housing (11), the top of the housing (11) has a charging opening (111). The opening and closing module (30) is installed on the housing (11) and can open or close the charging opening (111). The lifting module (14) is extended / retracted in the housing (11). The docking module (20) is installed at one end of the lifting module (14) near the charging opening (111). When the opening and closing module (30) opens the charging opening (111), the lifting module (14) can drive the docking module (20) to be lifted along the height direction of the housing (11) and extend out of the housing (11) to dock and charge with the vehicle connector (6100) in the second vehicle-end charging device (6000b).

18. The vehicle charging system according to claim 17, characterized in that, The opening and closing module (30) includes at least a cover plate (31), an opening and closing drive component (32), and a transmission unit (33). The cover plate (31) is movably connected to the housing (11) and is used to close or open the charging opening (111). The opening and closing drive (32) is connected to the cover plate (31) through the transmission unit (33) to drive the cover plate (31) to move relative to the housing (11) and close or open the charging opening (111).

19. The vehicle charging system according to claim 18, characterized in that, The top of the housing (11) has a first opening (1111), which forms the charging opening (111). The cover plate (31) extends from the top of the housing (11) to the side of the housing (11), and an accommodating space (1121) is formed between the cover plate (31) and the side of the housing (11). The opening and closing drive (32) and / or the transmission unit (33) are housed in the accommodating space (1121), and as the opening and closing drive (32) is driven, the cover plate (31) can simultaneously open or close the first opening (1111) and the accommodating space (1121).

20. The vehicle charging system according to claim 19, characterized in that, The side of the housing (11) is provided with a mounting groove (112) having a second opening (1122), the mounting groove (112) forms the accommodating space (1121), and the opening and closing drive member (32) and / or the transmission unit (33) are accommodated in the mounting groove (112). The cover plate (31) can simultaneously open or close the first opening (1111) and the second opening (1122).

21. The vehicle charging system according to claim 20, characterized in that, The cover plate (31) includes a baffle (311) and a connecting plate (312). The baffle (311) is movably disposed at the charging opening (111). The connecting plate (312) is located on the side of the housing (11) and forms the accommodating space (1121) between the side of the housing (11) and the side of the housing (11), and is connected to the baffle (311) and the transmission unit (33) respectively.

22. The vehicle charging system according to any one of claims 18 to 21, characterized in that, The number of the cover plates (31) is set to two, and the two cover plates (31) are set as a first cover plate (31a) and a second cover plate (31b). The first cover plate (31a) and the second cover plate (31b) are slidably disposed at the charging opening (111) and are both connected to the transmission unit (33). The opening and closing drive (32) drives the first cover plate (31a) and the second cover plate (31b) to move closer or further apart from each other through the transmission unit (33) to close or open the charging opening (111).

23. The vehicle charging system according to claim 18, characterized in that, The ground charging device (10) further includes a guide unit (34), which is located between the housing (11) and the cover plate (31) to guide the opening or closing movement of the cover plate (31) relative to the housing (11).

24. The vehicle charging system according to claim 23, characterized in that, The guide unit (34) includes a slide rail (341) and a slider (342), wherein the slider (342) slides in conjunction with the slide rail (341); The slide rail (341) extends along the movement direction of the cover plate (31), and one of the slide rail (341) and the slider (342) is installed on the housing (11) and the other is installed on the cover plate (31).

25. The vehicle charging system according to claim 2, characterized in that, The ground charging device (10) further includes an electrical component (51) and a first immersion sensor (52). The electrical component (51) is installed inside the housing (11). Along the height direction of the housing (11), the side surface of the electrical component (51) facing the target surface (M) is a first side surface (51a). The first immersion sensor (52) is installed on the first side surface (51a).

26. The vehicle charging system according to claim 25, characterized in that, The ground charging device (10) further includes a second immersion sensor (53), and the electrical component (51) has a second side (51b) opposite to the first side (51a), and the second immersion sensor (53) is mounted on the second side (51b).

27. The vehicle charging system according to claim 25, characterized in that, The electrical component (51) includes a branch module (511), a control module (512), an input cable (513), and a connecting harness (514). The branch module (511) and the control module (512) are spaced apart within the housing (11). The control module (512) has a first side surface (51a). The input cable (513) passes through the side wall of the housing (11) and is connected to the branch module (511). The branch module (511) and the control module (512) are electrically connected through the connecting harness (514). The dividing module (511) is configured as a third side surface (51c) facing the target surface (M), and the third side surface (51c) is located above the first side surface (51a) along the height direction of the housing (11).

28. The vehicle charging system according to claim 1, characterized in that, The second vehicle-side charging device (6000b) includes: Vehicle-side connector (6100), including vehicle-side charging interface (81); The cover assembly (6200) is rotatably connected to the vehicle connector (6100), and the cover assembly (6200) has an open position and a covered position relative to the vehicle connector (6100) to open or cover the vehicle charging interface (81).

29. The vehicle charging system according to claim 28, characterized in that, The second vehicle-side charging device (6000b) also includes: A positioning component (6300) is disposed in at least one of the cover assembly (6200) and the vehicle-end connector (6100), the positioning component (6300) being exposed when the cover assembly (6200) is in the open position, the positioning component (6300) being configured to provide positioning guidance for docking of the vehicle-end connector (6100) with the ground charging device (10).

30. The vehicle charging system according to claim 29, characterized in that, The positioning component (6300) includes: A first signal module (6310) is disposed in at least one of the cover assembly (6200) and the vehicle end connector (6100), and the first signal module (6310) is used to provide a first signal to the ground end charging device (10); And / or, a second signal module (6320) is provided in at least one of the cover assembly (6200) and the vehicle end connector (6100), the second signal module (6320) being used to provide a second signal to the ground end charging device (10); The first signal is different from the second signal.

31. The vehicle charging system according to claim 30, characterized in that, The first signal module (6310) include: The first feature light source (6311) and the second feature light source (6312) are used to cooperate with the image acquisition module (24) of the ground terminal charging device (10).

32. The vehicle charging system according to claim 31, characterized in that, The first feature light source (6311) is a first strip light source, and the second feature light source (6312) is a second strip light source. The lengths of the first strip light source and the second strip light source are different in the first direction and / or the second direction. The first direction and the second direction intersect.

33. The vehicle charging system according to claim 31, characterized in that, The first signal module (6310) further includes: In a first direction, the third feature light source (6313) is offset from one of the first feature light source (6311) and the second feature light source (6312); or in a second direction, the third feature light source (6313) is offset from one of the first feature light source (6311) and the second feature light source (6312). In at least one of the first direction, the second direction, and the third direction, the third feature light source (6313) has different features compared to the first feature light source (6311) or the second feature light source (6312); the third direction intersects the first direction and the second direction in pairs.

34. The vehicle charging system according to claim 30, characterized in that, The second signal module (6320) includes: At least one set of signal light sources (6321), the signal light sources (6321) emitting preset light source signals along a first direction or a second direction; Among them, there are at least two sets of signal light sources (6321), at least one set of signal light sources (6321) emits the preset light source signal along the first direction, and at least one set of signal light sources (6321) emits the preset light source signal along the second direction. The preset light source signals of the two sets of signal light sources (6321) intersect to form an intersection point. When the ground charging device (10) moves to a position relative to the intersection point, the ground charging interface (12) of the ground charging device (10) corresponds to the position of the vehicle charging interface (81).

35. The vehicle charging system according to any one of claims 29-34, characterized in that, The vehicle-side connector (6100) further includes a first base (6130), and the vehicle-side charging interface (81) is disposed on the first base (6130); the cover assembly (6200) includes: A cover (6210), wherein the positioning component (6300) is disposed in at least one of the cover (6210) and the first base (6130), the cover (6210) and the first base (6130) being rotatably connected; and A rotation drive (6220) is configured to drive the cover (6210) to rotate between the open position and the closed position.

36. The vehicle charging system according to claim 1 or 29, characterized in that: The second vehicle-side charging device (6000b) also includes: The vehicle-end connector (6100) includes a vehicle-end charging interface (81), which is used to connect to the ground-end charging interface (12) of the ground-end charging device (10) to charge the vehicle. A cover assembly (6200) is movably disposed on the vehicle-end connector (6100), the cover assembly (6200) having a covered position and an open position to cover or open the vehicle-end charging interface (81). When the cover assembly (6200) is in the obstructed position, the locking assembly (6400) is used to lock the relative position of the cover assembly (6200) and the vehicle-end connector (6100). When the cover assembly (6200) is in the open position and the vehicle-end charging interface (81) is connected to the ground-end charging interface (12), the locking assembly (6400) is used to lock the relative position of the vehicle-end connector (6100) and the ground-end charging device (10).

37. The vehicle charging system according to claim 36, characterized in that, The vehicle-end connector (6100) further includes a first base (6130), the locking component (6400) is disposed on the first base (6130), and the cover component (6200) further includes a first mating part (6230). When the cover assembly (6200) is in the obstructed position, the locking assembly (6400) locks into the first mating part (6230). When the ground charging interface (12) is connected to the vehicle charging interface (81), the locking assembly (6400) locks into the ground charging device (10).

38. The vehicle charging system according to claim 37, characterized in that, The locking assembly (6400) includes a locking actuator (6410), the locking actuator (6410) includes a locking end (6411), the locking end (6411) is used to lock into the first mating part (6230); when the cover assembly (6200) is in the blocked position, a first receiving cavity is formed between the first base (6130) and the cover assembly (6200), and the locking end (6411) is located in the first receiving cavity.

39. The vehicle charging system according to claim 38, characterized in that, When the cover assembly (6200) is in the open position and the vehicle-side charging interface (81) is connected to the ground-side charging interface (12), a second receiving cavity is formed between the ground-side charging device (10) and the first base (6130), and the locking end (6411) is located in the second receiving cavity.

40. The vehicle charging system according to claim 38, characterized in that, The locking end (6411) protrudes outward from the first base (6130); or, The locking actuator (6410) is embedded in the first base (6130) so that the locking actuator (6410) is not exposed outside the first base (6130).

41. The vehicle charging system according to claim 37, characterized in that, The first base (6130) has an internal mounting cavity (6132). The locking assembly (6400) includes a locking actuator (6410) and a lock body (6420). The lock body (6420) is located in the mounting cavity (6132). The lock body (6420) is driven to connect with the locking actuator (6410) so that the locking actuator (6410) can lock into the first mating part (6230) or the ground charging device (10).

42. The vehicle charging system according to claim 41, characterized in that, The locking actuator (6410) is movably disposed relative to the first base (6130), the locking actuator (6410) has a locked position and an unlocked position, and the lock body (6420) includes a driving part (6421) and a transmission part (6422), the driving part (6421) being drivenly connected to the locking actuator (6410) through the transmission part (6422).

43. The vehicle charging system according to claim 42, characterized in that, The locking assembly (6400) further includes: The manual unlocking part (6430) is connected to the transmission part (6422). By operating the manual unlocking part (6430), the locking actuator (6410) can be driven to switch from the locked position to the unlocked position.

44. The vehicle charging system according to claim 36, characterized in that, The second vehicle-side charging device (6000b) also includes: The sensor is communicatively connected to the locking assembly (6400) and is used to detect the connection signal between the vehicle-side charging interface (81) and the ground-side charging device (10). When the sensor detects that the vehicle-side charging interface (81) and the ground-side charging device (10) are connected in place, it sends a locking signal to the locking assembly (6400), and the locking assembly (6400) locks the ground-side charging device (10) and the vehicle-side connector (6100).

45. The vehicle charging system according to claim 1, characterized in that, The ground charging device (10) includes a ground connector (21a) having a ground charging interface (12), and the second vehicle charging device (6000b) includes a vehicle connector (6100) having a vehicle charging interface (81). The vehicle charging system also includes: A guide structure (90) is disposed on at least one of the ground charging interface (12) and the vehicle charging interface (81), the guide structure (90) being configured to guide the docking of the ground charging interface (12) and the vehicle charging interface (81).

46. ​​The vehicle charging system according to claim 45, characterized in that, The guide structure (90) includes a guide surface (8112), which is disposed at the vehicle-side charging interface (81) and, along the direction in which the ground-side charging interface (12) is inserted into the vehicle-side charging interface (81), the cross-section of the guide surface (8112) perpendicular to this direction gradually decreases; or, The guide surface (8112) is disposed on the ground end charging interface (12), and along the direction in which the vehicle end charging interface (81) is inserted into the ground end charging interface (12), the cross section of the guide surface (8112) perpendicular to this direction gradually decreases.

47. The vehicle charging system according to claim 46, characterized in that, The vehicle-side charging interface (81) further includes a vehicle-side retaining ring (811) and a vehicle-side terminal. The vehicle-side retaining ring (811) surrounds a vehicle-side insertion hole (8111) for the ground-side charging interface (12) to be inserted. The vehicle-side terminal is located inside the vehicle-side insertion hole (8111) and is used to be inserted and cooperate with the ground-side terminal in the ground-side charging interface (12). At least a portion of the inner surface of the vehicle-side retaining ring (811) is the guide surface (8112) that provides guidance to the ground-side charging interface (12).

48. A method for charging a vehicle, characterized in that, The vehicle charging method is applied to the vehicle charging system of any one of claims 1 to 45; The vehicle charging method includes: When the vehicle-side charging device determines that the second vehicle-side charging device in the vehicle-side charging device has established a communication connection with the ground-side charging device, it determines whether the vehicle where the vehicle-side charging device is located meets the ground-side charging conditions, and when it determines that the vehicle meets the ground-side charging conditions, it generates and sends a charging signal to the ground-side charging device. In response to the charging signal, the ground-end charging device controls the ground-end charging device to move to the target docking position below the second vehicle-end charging device, and controls the ground-end charging device to dock with the second vehicle-end charging device. When the charging pile determines that the ground-side charging device and the second vehicle-side charging device have successfully connected, the charging pile establishes a first charging circuit between the charging pile and the ground-side charging device, and charges the vehicle through the first charging circuit.

49. The vehicle charging method according to claim 48, characterized in that, The generation and transmission of the charging signal to the ground-end charging device includes: The cover in the second vehicle-side charging device is opened to expose the vehicle-side charging interface in the second vehicle-side charging device, and the positioning component in the second vehicle-side charging device is controlled to send a position guidance signal. When the cover is detected to be open and the positioning component sends the position guidance signal, a charging signal is generated and sent to the ground charging device.

50. The vehicle charging method according to claim 49, characterized in that, The step of controlling the ground-side charging device to move to the target docking position below the second vehicle-side charging device in response to the charging signal includes: Upon receiving the charging signal, the parking electronic lock of the ground charging device is unlocked to make the ground charging device movable. Control the opening of the cover in the ground charging device to expose the ground charging interface in the ground charging device; After detecting that the cover is open and the parking electronic lock is unlocked, the position guidance signal is received, and the position guidance of the ground charging device is performed according to the position guidance signal so that the ground charging device moves to the target docking position.

51. The vehicle charging method according to claim 50, characterized in that, The control of the ground-side charging device to interface with the second vehicle-side charging device includes: After the ground-side charging device moves to the target docking position, it sends a positioning success signal to the second vehicle-side charging device, so that the second vehicle-side charging device forwards the positioning success signal to the domain controller on the vehicle, so that the domain controller generates and sends a charging permission command to the ground-side charging device. Upon receiving the charging permission command, the ground charging interface is raised to connect with the vehicle charging interface.

52. The vehicle charging method according to claim 50, characterized in that, After the ground-side charging device is connected to the second vehicle-side charging device, the method further includes: When the second vehicle-side charging device detects that the ground-side charging interface and the vehicle-side charging interface are in a high-voltage interlocked connection state, it generates and sends a first high-voltage interlock signal to the ground-side charging device; wherein, the first high-voltage interlock signal is used to indicate that the ground-side charging interface and the vehicle-side charging interface are in a high-voltage interlocked connection state. The ground-end charging device sends the first high-voltage interlock signal to the pile-end charging device. When the charging device at the pile end receives the first high-voltage interlock signal, it determines that the charging device at the ground end has successfully connected with the charging device at the vehicle end.

53. The vehicle charging method according to claim 51, characterized in that, The method further includes: When the second vehicle-side charging device detects that the ground-side charging interface and the vehicle-side charging interface are in a high-voltage interlocked connection state, it controls the ground-side charging interface and the vehicle-side charging interface to be electronically interlocked and generates a locking signal; wherein, the locking signal is used to indicate that the vehicle-side charging interface and the ground-side charging interface have been electronically interlocked. The second vehicle-side charging device sends the locking signal to the pile-side charging device through the ground-side charging device.

54. The vehicle charging method according to claim 53, characterized in that, Establishing the first charging circuit between the pile body in the pile-end charging device and the ground-end charging device includes: The signal on the control guide signal line between the pile body and the ground charging interface in the pile-end charging device is acquired, and the locking signal sent by the second vehicle-end charging device through the ground charging device is received. When the locking signal is confirmed to be received and the signal on the control guide signal line meets the preset signal conditions, the AC power line between the pile body and the ground charging interface is turned on to establish the first charging circuit.

55. The vehicle charging method according to claim 54, characterized in that, The method further includes: When the charging device detects that the signal on the control guide signal line does not meet the preset signal condition during the charging process, it controls the AC power line to disconnect to disconnect the first charging circuit and sends a charging circuit disconnection signal to the ground charging device. The ground-side charging device sends a charging circuit disconnection signal to the second vehicle-side charging device. After receiving the charging circuit disconnection signal, the second vehicle-side charging device controls the ground-side charging device to release the electronic interlock with the vehicle-side charging interface, generates and sends an unlock signal to the ground-side charging device; wherein, the unlock signal is used to indicate that the electronic interlock between the ground-side charging interface and the vehicle-side charging interface has been released. Upon receiving the unlock signal, the ground charging device controls itself to perform a reset operation.

56. The vehicle charging method according to claim 55, characterized in that, The control of the ground terminal charging device to perform a reset operation includes: The ground charging interface is controlled to descend to a first preset initial position so that the ground charging interface is disengaged from the vehicle charging interface; wherein, the unlocking signal is used to indicate that the electronic interlock between the vehicle charging interface and the ground charging interface has been released. After the ground terminal charging interface descends to the first preset initial position, the ground terminal charging device is controlled to move to the second preset initial position. The cover is closed to house the ground charging interface within the ground charging device, and the electronic lock of the ground charging device is locked to prevent the ground charging device from moving.

57. The vehicle charging method according to claim 55, characterized in that, After generating and sending an unlock signal to the ground-end charging device, the method further includes: When the second vehicle-side charging device detects that the ground terminal charging interface and the vehicle-side charging interface are in a high-voltage interlock disconnected state, it controls the cover to close so that the vehicle-side charging interface is housed inside the second vehicle-side charging device.

58. The vehicle charging method according to claim 48, characterized in that, When it is determined that the vehicle does not meet the ground charging conditions, the method further includes: The vehicle-side charging device sends a charging gun activation command to the pile-side charging device. In response to the charging gun activation command, the charging device at the pile end establishes a second charging circuit between the pile body and the charging gun in the charging device at the pile end, and charges the vehicle through the second charging circuit; wherein, the charging gun is used to dock with the side charging device in the vehicle-side charging device.

59. A method for charging a vehicle, characterized in that, The vehicle charging method is applied to a ground-based charging device. The vehicle charging method includes: After the ground-side charging device establishes a communication connection with the second vehicle-side charging device, it receives the charging signal sent by the second vehicle-side charging device. In response to the charging signal, the ground charging device is controlled to move to the target docking position below the second vehicle-side charging device, and the ground charging device is controlled to dock with the second vehicle-side charging device.

60. The vehicle charging method according to claim 59, characterized in that, The step of controlling the ground-side charging device to move to the target docking position below the second vehicle-side charging device in response to the charging signal includes: Upon receiving the charging signal, the parking electronic lock of the ground charging device is unlocked to make the ground charging device movable. Control the opening of the cover in the ground charging device to expose the ground charging interface in the ground charging device; After detecting that the cover is open and the parking electronic lock is unlocked, the system receives a position guidance signal from the second vehicle-side charging device and guides the ground-side charging device to move to the target docking position according to the position guidance signal.

61. The vehicle charging method according to claim 60, characterized in that, The control of the ground-side charging device to interface with the second vehicle-side charging device includes: After the ground charging device moves to the target docking position, it sends a positioning success signal to the second vehicle-mounted charging device, so that the second vehicle-mounted charging device forwards the positioning success signal to the domain controller on the vehicle where the second vehicle-mounted charging device is located, so that the domain controller generates and sends a charging permission command to the ground charging device. Upon receiving the charging permission command, the ground charging interface is raised to connect with the second vehicle-side charging device.

62. The vehicle charging method according to claim 61, characterized in that, The vehicle charging method also includes: The ground-end charging device receives a charging circuit disconnection signal sent by the pile-end charging device; wherein, the charging circuit disconnection signal is used to indicate that the first charging circuit between the pile body in the pile-end charging device and the ground-end charging device is disconnected. The ground-side charging device sends the charging circuit disconnection signal to the second vehicle-side charging device, so that after receiving the charging circuit disconnection signal, the second vehicle-side charging device controls the ground-side charging device and the second vehicle-side charging device to de-interlock electronically, and generates and sends an unlock signal to the ground-side charging device; wherein, the unlock signal is used to indicate that the ground-side charging interface and the second vehicle-side charging device have de-interlocked electronically. Upon receiving the unlock signal, the ground charging device controls itself to perform a reset operation.

63. The vehicle charging method according to claim 62, characterized in that, The control of the ground terminal charging device to perform a reset operation includes: The ground charging interface is controlled to descend to a first preset initial position so that the ground charging interface is disconnected from the second vehicle-side charging device. After the ground terminal charging interface descends to the first preset initial position, the ground terminal charging device is controlled to move to the second preset initial position. The cover is closed to house the ground charging interface within the ground charging device, and the parking electronic lock is locked to immobilize the ground charging device.

64. A vehicle charging method, characterized in that, The vehicle charging method is applied to a vehicle-side charging device. The vehicle charging method includes: When determining that the second vehicle-side charging device in the vehicle-side charging device establishes a communication connection with the ground-side charging device, it is determined whether the vehicle where the vehicle-side charging device is located meets the ground-side charging conditions. When it is determined that the vehicle meets the ground charging conditions, a charging signal is generated and sent to the ground charging device.

65. The vehicle charging method according to claim 64, characterized in that, The generation and transmission of the charging signal to the ground-end charging device includes: The cover in the second vehicle-side charging device is opened to expose the vehicle-side charging interface in the second vehicle-side charging device, and the positioning component in the second vehicle-side charging device is controlled to send a position guidance signal. When the cover is detected to be open and the positioning component in the second vehicle-side charging device emits the position guidance signal, a charging signal is generated and sent to the ground-side charging device.

66. The vehicle charging method according to claim 65, characterized in that, The vehicle charging method also includes: The system receives a location success signal from the ground charging device and sends the location success signal to the domain controller on the vehicle, so that when the domain controller receives the location success signal, it generates a charging permission command and sends the charging permission command to the second vehicle-side charging device. The received charging permission command is sent to the ground charging device so that the ground charging device controls the ground charging device to connect with the vehicle charging interface. When it is detected that the ground charging device and the vehicle charging interface are in a high-voltage interlock connection state, a first high-voltage interlock signal is generated and sent to the ground charging device; wherein, the first high-voltage interlock signal is used to indicate that the ground charging device and the vehicle charging interface are in a high-voltage interlock connection state.

67. The vehicle charging method according to claim 66, characterized in that, The vehicle charging method also includes: When it is detected that the ground charging device and the vehicle charging interface are in a high-voltage interlocked connection state, the ground charging device and the vehicle charging interface are electronically interlocked, and a locking signal is generated; wherein, the locking signal is used to indicate that the vehicle charging interface and the ground charging device are electronically interlocked. The locking signal is sent to the pile-end charging device through the ground-end charging device, so that the pile-end charging device establishes a first charging circuit between the pile body in the pile-end charging device and the ground-end charging device according to the locking signal.

68. The vehicle charging method according to claim 65, characterized in that, The vehicle charging method also includes: Upon receiving a charging circuit disconnection signal from the ground-end charging device, the system controls the ground-end charging device to release the electronic interlock with the vehicle-end charging interface and generates an unlocking signal. The charging circuit disconnection signal indicates that the first charging circuit between the pile in the pile-end charging device and the ground-end charging device is disconnected. The unlocking signal indicates that the electronic interlock between the ground-end charging device and the vehicle-end charging interface has been released. The unlock signal is sent to the ground charging device so that the ground charging device controls the ground charging device to perform a reset operation after receiving the unlock signal.

69. The vehicle charging method according to claim 68, characterized in that, After generating the unlock signal, the process further includes: When it is detected that the ground charging device and the vehicle charging interface are in a high-voltage interlock disconnected state, the cover is controlled to close so that the vehicle charging interface is housed in the second vehicle charging device.

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