Charging pile and charging system

Abstract

The utility model discloses a charging pile and a charging system. According to the charging pile, one end of the mechanical arm is movably connected with the track, the other end of the mechanical arm is provided with the first charging interface, and the mechanical arm is further connected with the controller, so that the controller can obtain the position of the second charging interface of the vehicle under the condition that the vehicle is located in the preset position range; the mechanical arm is controlled to move to the first target position along the track, the first charging interface is connected with the second charging interface through the mechanical arm so as to charge the vehicle, and compared with the prior art, the mechanical arm can move to the first target position along the track regardless of the distance between the parking position of the vehicle and the charging pile; therefore, the charging process of the vehicle is completed through the mechanical arm, the whole charging process is achieved through the mechanical arm, personnel operation can be omitted, and automatic charging of the vehicle is achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to charging technology, and relate to but are not limited to a charging pile and a charging system. Background Art

[0002] At present, when new energy vehicles rely on charging piles for charging, they can only rely on themselves to manually move the plug of the charging pile to the charging port of the new energy vehicle. After charging is completed, the plug is manually moved back to the plug placement of the charging pile. The entire process requires manual operation, which is not intelligent enough. In addition, the existing standard charging cable and charging plug weigh more than 5 kilograms, which is relatively heavy overall. This also brings certain troubles to car owners during the charging process. Utility Model Content

[0003] In view of this, the charging pile and charging system provided in the embodiments of the present application can realize automatic charging without the need for human operation.

[0004] An embodiment of the present application provides a charging pile, comprising a controller, a robotic arm, and a track, wherein one end of the robotic arm is movably connected to the track, the other end of the robotic arm is provided with a first charging interface, and the robotic arm is further connected to the controller, wherein:

[0005] The controller is used to obtain the position of the second charging interface of the vehicle when the vehicle is within a preset position range, control the robotic arm to move along the track to the first target position, and connect the first charging interface with the second charging interface through the robotic arm to charge the vehicle, and the distance between the first target position and the position of the second charging interface is less than or equal to a first distance threshold.

[0006] In one embodiment, the number of the tracks is at least two, and there is an overlap between at least two tracks, wherein the controller is configured to:

[0007] The robot arm is controlled to change tracks between the at least two tracks so that the robot arm moves along the at least two tracks to the first target position.

[0008] In one embodiment, the at least two tracks are arranged perpendicular to each other.

[0009] In one embodiment, the charging pile further includes a grid platform, the track and the robotic arm are located below the grid platform, the grid platform is used to park the vehicle, a limiting structure is provided on the grid platform, and the limiting structure is used to limit the vehicle to be within the preset position range.

[0010] In one embodiment, the charging pile further includes a first camera device, which is connected to the controller, wherein:

[0011] The first camera device is used to obtain a first image including the second charging interface of the vehicle when the vehicle is within a preset position range, and send the first image to the controller so that the controller obtains the position of the second charging interface.

[0012] In one embodiment, the robotic arm includes a base, an arm body structure, and a wrist structure, wherein the base is movably connected to the track, the arm body structure is connected to the base and the wrist structure respectively, and the wrist structure is connected to the first charging port, wherein:

[0013] The controller is configured to control the base to move along the track to the first target position, and control the arm structure and the wrist structure to adjust structural parameters to achieve connection between the first charging interface and the second charging interface;

[0014] The arm structure is used to adjust the spatial position of the first charging interface according to the control of the controller;

[0015] The wrist structure is used to adjust the spatial posture of the first charging interface according to the control of the controller.

[0016] In one embodiment, the arm structure includes at least two joints, and the at least two joints are connected end to end, wherein:

[0017] The controller is used to control the arm structure to adjust the angle between any two joints of the at least two joints according to the position of the second charging interface, so as to adjust the spatial position of the first charging interface to a second target position, and the distance between the second target position and the second charging interface is less than or equal to a second distance threshold.

[0018] In one embodiment, the robotic arm further includes a positioning device, the positioning device being fixed at a position of the arm body structure at a distance from the wrist structure that is less than or equal to a third distance threshold, the positioning device being connected to the controller, wherein:

[0019] The positioning device is used to obtain current position information and send the current position information to the controller;

[0020] The controller is used to receive the current position information and control the movement of the arm structure according to the current position information and the second target position to adjust the spatial position of the first charging interface to the second target position.

[0021] In one embodiment, the wrist structure includes a second camera device and a rotating structure, one end of the rotating structure is movably connected to the arm structure, and the other end of the rotating structure is fixedly provided with the first charging port, and the second camera device and the rotating structure are respectively connected to the controller, wherein:

[0022] the second camera device is configured to obtain and transmit a second image including an actual posture of the second charging interface to the controller when the robotic arm moves to the first target position;

[0023] The controller is used to receive the second image and, based on the second image and the current posture of the rotating structure, control the rotating structure to rotate to a target posture, wherein the first charging interface matches the second charging interface under the target posture, and control the robotic arm to move until the first charging interface is connected to the second charging interface.

[0024] In a second aspect, an embodiment of the present application provides a charging system, comprising a vehicle and a charging pile as described in the first aspect, wherein the charging pile is used to charge the vehicle when connected to the vehicle.

[0025] In the above-mentioned charging pile, one end of the robotic arm is movably connected to the track, and the other end of the robotic arm is provided with a first charging interface. The robotic arm is also connected to the controller, so that the controller can obtain the position of the second charging interface of the vehicle when the vehicle is within a preset position range, control the robotic arm to move along the track to the first target position, and connect the first charging interface with the second charging interface through the robotic arm to charge the vehicle. Compared with the existing technology, regardless of the distance between the parking position of the vehicle and the charging pile, the robotic arm can move along the track to the first target position, thereby completing the charging process of the vehicle through the robotic arm. The entire charging process can be realized by the robotic arm without human operation, thereby realizing automatic charging of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to illustrate the technical solutions of the present application.

[0027] Figure 1 A schematic diagram of the structure of a charging pile provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the structure of the track provided in the embodiment of the present application;

[0029] Figure 3 A schematic diagram of the structure of the robotic arm provided in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of the structure of the charging system provided in an embodiment of the present application;

[0031] Figure 5 A schematic diagram of the implementation structure of the charging pile provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0034] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0035] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0036] Figure 1 This is a schematic diagram of the structure of a charging pile provided in an embodiment of the present application. Figure 1 As shown, the charging pile may include a controller 101, a robotic arm 102 and a track 103. One end of the robotic arm 102 is movably connected to the track 103, and the other end of the robotic arm 102 is provided with a first charging interface. The robotic arm 102 is also connected to the controller 101, wherein:

[0037] The controller 101 is used to obtain the position of the vehicle's second charging interface when the vehicle is within a preset position range, control the robotic arm 102 to move to the first target position along the track 103, and connect the first charging interface with the second charging interface through the robotic arm 102 to charge the vehicle. The distance between the first target position and the position of the second charging interface is less than or equal to the first distance threshold.

[0038] During the implementation process, when the user wants to charge the vehicle, he will park the vehicle within the charging range of the charging pile. When the charging pile detects that the vehicle is within the preset position range, the controller 101 can obtain the position of the second charging interface of the vehicle and control the robotic arm 102 to move to the first target position along the track 103, so that the distance between the robotic arm 102 and the second charging interface is less than or equal to the first distance threshold, so that the controller 101 can control the robotic arm 102 to change its posture to achieve connection between the first charging interface and the second charging interface, thereby realizing the automatic charging process of the charging pile for the vehicle.

[0039] Optionally, the above-mentioned charging pile may also include a display screen, which is connected to the controller 101. The display screen is used to receive and respond to charging instructions triggered by the user. The charging instructions include charging time, charging power and expected cost. The charging instructions are sent to the controller 101 so that after the connection between the first charging interface and the second charging interface is completed, the controller 101 can charge the vehicle according to the charging time, charging power and expected cost.

[0040] Optionally, the controller 101 is further configured to control the movement of the robotic arm 102 to separate the first charging interface and the second charging interface after charging of the vehicle is completed.

[0041] Optionally, the display screen may also be used to output charging information after the charging station completes charging the vehicle, so as to inform the user of the total cost, total duration, and total power consumption during the charging process.

[0042] Optionally, the controller 101 is further configured to send a control message to the vehicle when the distance between the vehicle and the charging station is less than a preset distance threshold and the vehicle is not within a preset location range, prompting the occupant to move the vehicle within the preset location range. In actual implementation, the control message may be a text prompt, a navigation instruction, or an audio instruction, and may be configured by those skilled in the art based on actual circumstances and is not limited in this application.

[0043] It should be understood that the robotic arm 102 includes a drive motor, which is connected to the controller 101. The controller 101 is used to control the drive parameters of the drive motor, thereby driving the robotic arm 102 to move on the track 103 and connect the first charging interface and the second charging interface.

[0044] In the above-mentioned charging pile, one end of the robotic arm 102 is movably connected to the track 103, and a first charging interface is set at the other end of the robotic arm 102. The robotic arm 102 is also connected to the controller 101, so that the controller 101 can obtain the position of the second charging interface of the vehicle when the vehicle is within the preset position range, control the robotic arm 102 to move to the first target position along the track 103, and connect the first charging interface with the second charging interface through the robotic arm 102 to charge the vehicle. Compared with the existing technology, regardless of the distance between the parking position of the vehicle and the charging pile, the robotic arm 102 can move to the first target position along the track 103, thereby completing the charging process of the vehicle through the robotic arm 102. The entire charging process is realized by the robotic arm 102, which can eliminate the need for human operation and realize automatic charging of the vehicle.

[0045] In some embodiments, the number of the tracks 103 is at least two, and at least two tracks 103 have overlapping portions, wherein the controller 101 is configured to:

[0046] The robot arm 102 is controlled to change tracks between the at least two tracks 103 , so that the robot arm 102 moves along the at least two tracks 103 to a first target position.

[0047] Because at least two tracks 103 overlap, the robotic arm 102 can move from one track 103 to another via the overlapping portion. Consequently, regardless of the vehicle's parking position, the charging station can control the robotic arm 102 to move to the corresponding position, completing the connection between the first charging port and the second charging port. Obviously, the at least two tracks 103 can be aligned or at a predetermined angle relative to each other. The specific configuration is determined by those skilled in the art based on practical circumstances and is not limited by this application.

[0048] In some embodiments, the at least two rails 103 are vertically arranged therebetween.

[0049] For example, at least two rails 103 may be at a preset angle, such as Figure 2 As shown, at least two tracks 103 include track A and track B. When the robotic arm 102 moves from track A to track B, it can start from track A, pass through the intersection C formed by track A and track B, and finally reach the first target position on track B, thereby completing the movement of the robotic arm 102.

[0050] It is understandable that by providing at least two tracks 103 with overlapping portions, the robot arm 102 can be moved in a larger activity space, thereby expanding the movement range of the robot arm 102.

[0051] In some embodiments, the charging pile further includes a grid platform, the track 103 and the robotic arm 102 are located below the grid platform, the grid platform is used to park the vehicle, a limiting structure is provided on the grid platform, and the limiting structure is used to limit the vehicle to a preset position range.

[0052] During implementation, after the driver drives the vehicle onto the grille platform, the vehicle can be ensured to be within the preset position range by sensing the position of the limiting structure. During implementation, the limiting structure can be a pier fixed on the grille platform to achieve vehicle positioning.

[0053] It is understandable that in order to ensure that the vehicle is within the preset position range, a grille platform and a limiting structure can be set to limit the parking position of the vehicle to within the preset position range, thereby enabling accurate identification of the position of the second charging port.

[0054] In some embodiments, the charging pile further includes a first camera device, which is connected to the controller 101, wherein:

[0055] The first camera device is used to obtain a first image including the second charging interface of the vehicle when the vehicle is within a preset position range, and send the first image to the controller 101 so that the controller 101 obtains the position of the second charging interface.

[0056] Optionally, the situation where the vehicle is located within the preset position range may be when the vehicle is in contact with the limiting structure. When the vehicle is not in contact with the limiting structure, the controller 101 may output a prompt message to prompt the vehicle to be in contact with the limiting structure so that the vehicle is located within the preset position range.

[0057] It can be understood that by capturing the first image including the second charging interface of the vehicle through the first camera device, the position of the second charging interface of the vehicle can be further accurately obtained.

[0058] In some embodiments, the robotic arm 102 includes a base, an arm body structure, and a wrist structure. The base is movably connected to the track 103, the arm body structure is connected to the base and the wrist structure respectively, and the wrist structure is connected to the first charging port, wherein:

[0059] Controller 101, configured to control the base to move along track 103 to a first target position, and to control the arm structure and wrist structure to adjust structural parameters to achieve connection between the first charging port and the second charging port;

[0060] The arm structure is used to adjust the spatial position of the first charging interface according to the control of the controller 101;

[0061] The wrist structure is used to adjust the spatial posture of the first charging interface according to the control of the controller 101.

[0062] Optionally, the base and the arm structure are connected by a cross roller bearing that rotates around the Z axis to ensure rotational freedom while providing sufficient support function.

[0063] Optionally, the arm structure may include at least one joint to achieve the lifting and lowering of the first charging interface. At the same time, when the number of joints is more than two, the lifting height of the first charging interface can be further improved.

[0064] Optionally, the arm structure and the wrist structure can be movably connected through multiple hinged connecting rods, one end of the connecting rod is connected to the drive motor through a fixed flange, and the other end of the connecting rod is connected to the upper-level connecting rod through a bearing.

[0065] It can be understood that by providing a robotic arm 102 including a base, an arm body structure and a wrist structure, the spatial position and spatial posture of the first charging interface can be adjusted to ensure that the first charging interface and the second charging interface can be connected.

[0066] In some embodiments, the arm-body structure includes at least two joints, and the at least two joints are connected end to end, wherein:

[0067] The controller 101 is used to control the arm structure to adjust the angle between any two joints of at least two joints according to the position of the second charging interface, so as to adjust the spatial position of the first charging interface to the second target position, and the distance between the second target position and the second charging interface is less than or equal to the second distance threshold.

[0068] For example, Figure 3 As shown, the arm structure includes three joints, namely the first joint 1021, the second joint 1022 and the third joint 1023. The first joint 1021 is movably connected to the base of the manipulator 102, the first joint 1021 and the second joint 1022 are connected end to end, the second joint 1022 and the third joint 1023 are connected end to end, and the end of the third joint 1023 away from the second joint 1022 is movably connected to the wrist structure 1024. The controller 101 can achieve a 360-degree rotation on the surface where the base is located by controlling the joint angle between the first joint 1021 and the base of the manipulator 102, and achieve a 180-degree rotation on the longitudinal section perpendicular to the surface where the base is located by controlling the joint angle between the first joint 1021 and the second joint 1022, and achieve a 180-degree rotation on the longitudinal section by controlling the joint angle between the second joint 1022 and the third joint 1023. Finally, the spatial position of the first charging port 1025 is adjusted to the second target position.

[0069] It is understandable that by controlling the arm structure by the controller 101 to adjust the angle between any two joints of at least two joints, the spatial position of the first charging interface can be further adjusted.

[0070] In some embodiments, the robotic arm 102 further includes a positioning device, which is fixed at a position of the arm structure at a distance from the wrist structure that is less than or equal to a third distance threshold, and is connected to the controller 101, wherein:

[0071] A positioning device, used to obtain current location information and send the current location information to the controller 101;

[0072] The controller 101 is used to receive current position information and control the movement of the arm structure according to the current position information and the second target position to adjust the spatial position of the first charging interface to the second target position.

[0073] During the implementation process, when the controller 101 controls the robotic arm 102 to adjust the structural parameters of the arm body structure, the positioning device close to the wrist structure can collect the current position information in real time. After sending the current position information to the controller 101, the controller 101 can further control the movement of the arm body structure according to the current position information and the second target position to adjust the spatial position of the first charging interface to the second target position.

[0074] It is understandable that by controlling the positioning device to send the current position information of the wrist structure to the controller 101, the position of the wrist structure can be further accurately adjusted, thereby ensuring that the spatial position of the first charging port can accurately reach the second target position.

[0075] In some embodiments, the wrist structure includes a second camera device and a rotating structure, one end of the rotating structure is movably connected to the arm structure, and the other end of the rotating structure is fixedly provided with a first charging port, and the second camera device and the rotating structure are respectively connected to the controller 101, wherein:

[0076] a second camera device, configured to obtain and send a second image including an actual posture of the second charging interface to the controller 101 when the robotic arm 102 moves to the first target position;

[0077] The controller 101 is used to receive the second image and control the rotating structure to rotate to a target posture based on the second image and the current posture of the rotating structure, so that the first charging interface matches the second charging interface under the target posture, and control the robot arm 102 to move until the first charging interface is connected to the second charging interface.

[0078] During the implementation process, after the robotic arm 102 moves to the first target position, the second camera device captures a second image including the actual posture of the second charging interface, and sends the second image to the controller 101, so that the controller 101 obtains the actual posture of the second charging interface, and controls the rotating structure to rotate to the target posture based on the actual posture of the second charging interface and the current posture of the rotating structure. After the rotating structure rotates to the target posture, the robotic arm 102 is controlled to move until the first charging interface is connected to the second charging interface.

[0079] Optionally, the triggering method for the above-mentioned second camera device to obtain the second image can be that the controller 101 controls the second camera device to trigger when detecting that the robotic arm 102 moves to the first target position, or the second camera device collects images within the collection range at each moment in real time, and sends the collected images to the controller 101, and the controller 101 then filters out the second image including the actual posture of the second charging interface from the collected images. The specific setting is made by technical personnel in this field according to actual conditions, and this application does not impose any restrictions.

[0080] It should be understood that the target posture of the first charging interface that matches the second charging interface is the posture that can be docked with the second charging interface. For example, the second charging interface is a male head and the first charging interface is a female head. When the male head and the female head can be docked, the posture of the female head is the target posture.

[0081] It can be understood that by controlling the second camera device to capture a second image of the actual posture of the second charging interface when the robotic arm 102 moves to the first target position, the controller 101 can further control the rotation structure of the wrist structure to rotate to the target posture that matches the first charging interface and the second charging interface, thereby realizing the connection between the first charging interface and the second charging interface.

[0082] Figure 4 This is a schematic diagram of a charging system provided in an embodiment of the present application. As shown in the figure, the charging system includes a vehicle and a charging pile described in any of the above embodiments. When the charging pile is connected to the vehicle, the charging pile can charge the vehicle.

[0083] For example, Figure 5As shown, the charging pile includes a main control cabinet 104, a robotic arm 102, a grid platform 105 and a track 103. The track 103 includes a transverse track 1031, a longitudinal track 1032, a transverse support rod 1034 and a longitudinal support rod 1033. The transverse support rod 1034 and the longitudinal support rod 1033 are used to support the transverse track 1031 and the longitudinal track 1032 respectively, so as to achieve the structural stability of the track 103. The main control cabinet 104 is connected to the robotic arm 102 through a cable 1041, and the base of the robotic arm 102 is movably connected to the track 103. The grid platform 105 is arranged above the robotic arm 102 and the track 103 to park the vehicle, and the limiting structure on the grid platform 105 can limit the position of the vehicle to within a preset position range.

[0084] The process of charging a vehicle through a charging station may include the following steps:

[0085] 101: The user drives the vehicle into the grille platform 105;

[0086] 102: The first camera 1043 in front of the main control cabinet 104 is turned on to determine the position of the vehicle;

[0087] 103: The first camera 1043 on the charging platform main control cabinet 104 will determine whether the vehicle has completely entered the correct parking space. If it fails to park correctly, the user needs to readjust the vehicle position;

[0088] 104: The first camera 1043 on the charging platform main control cabinet 104 will determine whether the vehicle has completely entered the correct parking space. If correct, the sound in the main control cabinet 104 will prompt the vehicle to enter the correct position and charging operation can be carried out;

[0089] 105: The user controls the charging command on the display screen 1042 of the main control cabinet 104 and selects the corresponding charging operation, such as charging time, charging mode such as AC / DC, power consumption and expected cost;

[0090] 106: The camera on the robotic arm 102 starts working and scans and locates the charging port on the bottom of the vehicle;

[0091] 107: Control the robotic arm 102 to change tracks on the transverse track 1031 and the longitudinal track 1032 to drive the robotic arm 102 with the first charging port and the cable to a suitable position. The robotic arm 102 rises and rotates to a suitable angle.

[0092] 108: The robotic arm 102 completes docking the first charging interface with the second charging interface on the vehicle;

[0093] 109: The charging pile starts charging according to the user's setting requirements;

[0094] 110: Charging is completed, and the robotic arm 102 disconnects the first charging interface from the second charging interface and retracts them to their original position;

[0095] 111: The main control cabinet 104 calculates the charging fee based on the actual charging amount of the user's vehicle and notifies the user that the charging is completed. The charging is completed after the user completes the payment.

[0096] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other. For the sake of brevity, they will not be repeated here.

[0097] The term "and / or" in this article is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, object A and / or object B can mean: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0098] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0099] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed across multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of this embodiment.

[0100] In addition, all functional modules in the embodiments of the present application can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the above-mentioned integrated modules can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0101] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0102] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0103] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A charging pile, characterized in that: The charging pile includes a controller, a mechanical arm and a track, one end of the mechanical arm is movably connected to the track, the other end of the mechanical arm is provided with a first charging interface, and the mechanical arm is also connected to the controller, wherein: The controller is used to obtain the position of the second charging interface of the vehicle when the vehicle is within a preset position range, control the robotic arm to move along the track to the first target position, and connect the first charging interface with the second charging interface through the robotic arm to charge the vehicle, and the distance between the first target position and the position of the second charging interface is less than or equal to a first distance threshold.

2. The charging pile according to claim 1, characterized in that: The number of the tracks is at least two, and there is an overlap between at least two tracks, wherein the controller is used to: The robot arm is controlled to change tracks between the at least two tracks, so that the robot arm moves along the at least two tracks to the first target position.

3. The charging pile according to claim 2, characterized in that: The at least two tracks are arranged vertically therebetween.

4. The charging pile according to claim 1, characterized in that: The charging pile also includes a grid platform, the track and the mechanical arm are located below the grid platform, the grid platform is used to park the vehicle, and a limiting structure is provided on the grid platform, and the limiting structure is used to limit the vehicle to be within the preset position range.

5. The charging pile according to claim 4, characterized in that: The charging pile further includes a first camera device, which is connected to the controller, wherein: The first camera device is used to obtain a first image including a second charging interface of the vehicle when the vehicle is located within a preset position range, and send the first image to the controller so that the controller obtains the position of the second charging interface.

6. The charging pile according to claim 1, characterized in that: The robotic arm comprises a base, an arm body structure and a wrist structure, wherein the base is movably connected to the track, the arm body structure is respectively connected to the base and the wrist structure, and the wrist structure is connected to the first charging interface, wherein: The controller is used to control the base to move along the track to the first target position, and control the arm structure and the wrist structure to adjust structural parameters to achieve connection between the first charging interface and the second charging interface; The arm structure is used to adjust the spatial position of the first charging interface according to the control of the controller; The wrist structure is used to adjust the spatial posture of the first charging interface according to the control of the controller.

7. The charging pile according to claim 6, characterized in that: The arm structure includes at least two joints, and the at least two joints are connected end to end, wherein: The controller is used to control the arm structure to adjust the angle between any two of the at least two joints according to the position of the second charging interface, so as to adjust the spatial position of the first charging interface to a second target position, and the distance between the second target position and the second charging interface is less than or equal to a second distance threshold.

8. The charging pile according to claim 7, characterized in that: The robotic arm further includes a positioning device, which is fixed at a position of the arm body structure at a distance less than or equal to a third distance threshold from the wrist structure, and the positioning device is connected to the controller, wherein: The positioning device is used to obtain current position information and send the current position information to the controller; The controller is used to receive the current position information and control the movement of the arm structure according to the current position information and the second target position to adjust the spatial position of the first charging interface to the second target position.

9. The charging pile according to claim 6, characterized in that: The wrist structure includes a second camera device and a rotating structure, one end of the rotating structure is movably connected to the arm structure, the other end of the rotating structure is fixedly provided with the first charging interface, the second camera device and the rotating structure are respectively connected to the controller, wherein: The second camera device is used to obtain and send a second image including an actual posture of the second charging interface to the controller when the robotic arm moves to the first target position; The controller is used to receive the second image, and control the rotating structure to rotate to a target posture according to the second image and the current posture of the rotating structure, wherein the first charging interface matches the second charging interface under the target posture, and control the robot arm to move until the first charging interface is connected to the second charging interface.

10. A charging system, characterized in that: The system includes a vehicle and a charging pile as described in any one of claims 1 to 9, wherein the charging pile is used to charge the vehicle when connected to the vehicle.

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