CN106218427B - The charging method and device of unmanned vehicle - Google Patents
The charging method and device of unmanned vehicle Download PDFInfo
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- CN106218427B CN106218427B CN201610609436.XA CN201610609436A CN106218427B CN 106218427 B CN106218427 B CN 106218427B CN 201610609436 A CN201610609436 A CN 201610609436A CN 106218427 B CN106218427 B CN 106218427B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
- B60L53/665—Methods related to measuring, billing or payment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M2220/00—Batteries for particular applications
- H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Transportation (AREA)
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- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a kind of charging method of unmanned vehicle and devices, including：Determine whether the battery charges according to the voltage value of battery in unmanned vehicle；If the battery charges, it is determined that the target charging station of the unmanned vehicle；The target charging station is driven to, and is charged by the target charging station to the battery；If detecting, the charge value of battery in the unmanned vehicle is greater than target charge value, stops charging and paying charging expense.There can be unmanned vehicle to judge whether to charge automatically according to battery capacity in the embodiment of the present invention, and charging expense is charged and pays determining to automatically determine target charging station by unmanned vehicle when needing to charge and drive to charging station, improve charging monitoring efficiency and charging reimbursement of expense efficiency.Further, since without being manually timed inspection to the electricity of unmanned vehicle, therefore can reduce human cost.
Description
Technical field
The present embodiments relate to unmanned vehicle technology more particularly to the charging methods and device of a kind of unmanned vehicle.
Background technique
Pilotless automobile is also known as unmanned vehicle, is that a kind of intelligent driving system for relying primarily on car is unmanned to realize
Intelligent automobile.With the continuous development of unmanned vehicle technology, unmanned vehicle can be according to passing through navigation system automatic running to user
The destination that selection or system distribute.
In general, by being manually monitored to the electricity of unmanned vehicle.Staff checks before unmanned vehicle returns or sets out
Whether unmanned vehicle electricity is full of, so that unmanned vehicle electricity is sufficient.If not enough power supply, staff is using charging equipment to nothing
People's vehicle charges.
But it with the increase of unmanned vehicle quantity, needs to spend a large amount of human resources, charging monitoring using artificial monitoring
Low efficiency.
Summary of the invention
The embodiment of the present invention provides the charging method and device of a kind of unmanned vehicle, to realize unmanned vehicle automatic charging, substantially
Human cost is reduced, charging monitoring efficiency is improved.
In a first aspect, the embodiment of the invention provides a kind of charging methods of unmanned vehicle, including：
Determine whether the battery charges according to the voltage value of battery in unmanned vehicle；
If the battery charges, it is determined that the target charging station of the unmanned vehicle；
The target charging station is driven to, and is charged by the target charging station to the battery；
If detecting, the charge value of battery in the unmanned vehicle is greater than target charge value, stops charging and paying charging expense
With.
Second aspect, the embodiment of the invention also provides a kind of charging units of unmanned vehicle, including：
Charge requirement judging unit, for according to the voltage value of battery in unmanned vehicle determine the battery whether needs
It charges；
Target charging station determination unit, if determining that the battery is filled for the charge requirement judging unit
Electricity, it is determined that the target charging station of the unmanned vehicle；
Navigation elements, the target charging station determined for driving to the target charging station determination unit；
Charhing unit, the target charging station for being determined by the target charging station determination unit is to the battery
It charges；
Payment unit, if stopping is filled for detecting that the charge value of battery in the unmanned vehicle is greater than target charge value
Electricity simultaneously pays charging expense.
The embodiment of the present invention can when determining that battery is charged according to the voltage value of battery in unmanned vehicle,
It determines and drives to target charging station and charge, be automatically stopped charging when charging is complete and pay charging expense.Existing skill
In art, unmanned vehicle can not determine whether to charge according to battery capacity, can not also navigate to suitable charging station and charge
And automatic payment, it is therefore desirable to manually unmanned vehicle electricity is monitored, charging monitoring low efficiency.Energy in the embodiment of the present invention
Enough there is unmanned vehicle to judge whether to charge automatically according to battery capacity, and target is automatically determined by unmanned vehicle when needing to charge determining
Charging station simultaneously drives to charging station charging and payment charging expense, improves charging monitoring efficiency and charging reimbursement of expense efficiency.
Further, since without being manually timed inspection to the electricity of unmanned vehicle, therefore human cost can be greatly reduced.
Detailed description of the invention
Fig. 1 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention one；
Fig. 2 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention two；
Fig. 3 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention three；
Fig. 4 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention four；
Fig. 5 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention five；
Fig. 6 is the flow chart of the charging method of the unmanned vehicle in the embodiment of the present invention six；
Fig. 7 is the structural schematic diagram of the charging unit of the unmanned vehicle in the embodiment of the present invention seven.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the flow chart of the charging method for the unmanned vehicle that the embodiment of the present invention one provides, and the method is applied to nobody
Vehicle electronic control unit (Electronic Control Unit, ECU), this method includes：
S110, determine whether battery charges according to the voltage value of battery in unmanned vehicle.
Unmanned vehicle obtains the electricity of battery as voltage value according to prefixed time interval.Prefixed time interval can be
One clock cycle of processor.Prefixed time interval may be the time greater than processor clock cycle, and such as 30 seconds, 1 point
Clock or 5 minutes etc..
Illustratively, after the voltage value for obtaining battery, judge whether voltage value is less than (or be less than etc.
In) preset charged charge value.If it is less than (or being less than or equal to) preset charged charge value, it is determined that charge；If
More than or equal to (or being greater than) preset charged charge value, it is determined that do not need to charge.It is total that preset charged charge value is less than battery
The 100% of electricity is greater than the 20% of battery total electricity, preferably the 50% of the 60% of battery total electricity or battery total electricity or electricity
The 40% of pond total electricity.
If S120, battery charge, it is determined that the target charging station of unmanned vehicle.
Correspondingly, then continuing to travel if you do not need to charge, S120 is executed when until needing to charge.
Illustratively, using unmanned vehicle current location as the center of circle, charging station search range is determined according to the first pre-set radius, it will
Whole charging stations in the charging station search range are used as optional charging station.A conduct is randomly choosed from optional charging station
Target charging station, or using the optional charging station nearest apart from unmanned vehicle current location as target charging station.Wherein, first is pre-
If radius be greater than 0 kilometer less than 20 kilometers, preferably 10 kilometers.
S130, target charging station is driven to, and is charged the battery by target charging station.
After determining target charging station, the address of target charging station is obtained.Specifically, can be by the address of whole charging stations
Be maintained in unmanned vehicle, when it needs to be determined that target charging station address when, from local memory device read target charging station
Corresponding address.Behind the address for getting target charging station, target charging station is driven to by navigation system.Battery charging can adopt
The mode manually to charge：After reaching target charging station, the staff of charging station filling target charging station using charging gun
The connection of the battery of electric equipment and unmanned vehicle is charged.
If S140, detecting that the charge value of battery in unmanned vehicle is greater than target charge value, stop charging and paying charging
Expense.
When the charge value of battery reaches or is more than target charge value, stop charging, such as connection of cutting and charging gun.
Target charge value is greater than preset charged charge value, and target charge value can be the 90% or 100% of battery total electricity, if it is
100% is equal to target charge value when the charge value of battery in unmanned vehicle, then stops charging.
Optionally, when payment, the staff of target charging station or charging equipment can determine phase according to charge capacity value
The amount of money answered, and (such as unmanned vehicle takes pictures, car owner's title, unmanned vehicle style by the amount of money and charge capacity value and unmanned vehicle information
Deng) it is sent to payer, it pays the bill after payer's confirmation through network.
Optionally, charging expense is paid by recognizable mark when payment.Recognizable mark can be bar code, two dimensional code
Or three-dimension code.Preferably, recognizable mark is two dimensional code.When payment, charging expense is paid by two dimensional code mode.When having charged
Bi Shi, unmanned vehicle automatically generate the two dimensional code of user payment, then show the two dimensional code in the display device.The work of charging station
Make personnel and can scan the two dimensional code by scanning device to settle accounts, is first to pay the bill.Optionally, the staff of charging station is filling
A consumption two dimensional code corresponding with the charging amount of money is generated on electric terminals, it is by the barcode scanning equipment on unmanned vehicle that the consumption is two-dimentional
Code is sent to unmanned vehicle, and unmanned vehicle is paid according to the consumption two dimensional code.Carrying out payment by the two dimensional code means of payment can
Simplify payment process, improves payment efficiency.
The embodiment of the present invention can when determining that battery is charged according to the voltage value of battery in unmanned vehicle,
It determines and drives to target charging station and charge, be automatically stopped charging when charging is complete and pay charging expense.Existing skill
In art, unmanned vehicle can not determine whether to charge according to battery capacity, can not also navigate to suitable charging station and charge
And automatic payment, it is therefore desirable to manually unmanned vehicle electricity is monitored, charging monitoring low efficiency.Energy in the embodiment of the present invention
Enough there is unmanned vehicle to judge whether to charge automatically according to battery capacity, and target is automatically determined by unmanned vehicle when needing to charge determining
Charging station simultaneously drives to charging station charging and payment charging expense, improves charging monitoring efficiency and charging reimbursement of expense efficiency.
Further, since without being manually timed inspection to the electricity of unmanned vehicle, therefore human cost can be greatly reduced.
Embodiment two
Fig. 2 is the charging method of unmanned vehicle provided by Embodiment 2 of the present invention, and the embodiment of the present invention is in above-described embodiment
On the basis of, further, S110, determine whether battery charges according to the voltage value of battery in unmanned vehicle, it can
It is embodied as：
S111, estimation drive to the first charge value of destination from current location.
According to current location and destination in unmanned vehicle driving process, travel route is dynamically determined.According to road conditions congestion
The difference of situation, the first charge value required for arriving at the destination are also different.
Optionally, in estimation, the first electricity a reference value is determined according to the distance of route first.Then, according to current road
Jam situation estimation one on line extends the time, calculates extension time corresponding extension charge value.By the first electricity a reference value
The first final charge value is determined with charge value is extended.
If the voltage value of battery is less than or equal to the first charge value in S112, unmanned vehicle, it is determined that battery needs
It charges.
First charge value is compared with voltage value, if voltage value is less than or equal to the first electricity
Value, then illustrate that the remaining capacity of battery in unmanned vehicle can not drive to destination, it is therefore desirable to charge.
Further, if destination apart from current location too far, that is, if the battery of unmanned vehicle be full power state
Destination can not be driven to, then can select at least one intermediate destination node, the centre that will currently drive towards before the destination
Destination node is as interim destination.And determine whether to charge according to interim destination.It so can effectively avoid nothing
The lasting charging according to excessively remote destination of people's vehicle improves the reliability of the remote way form of unmanned vehicle.
Technical solution provided in an embodiment of the present invention can determine that voltage value is according to voltage value and destination
It is no to drive to destination, if destination cannot be driven to, charge in time, to guarantee to drive to after charging
The reliability of unmanned vehicle automatic running is improved in destination.
Embodiment three
Fig. 3 is the charging method for the unmanned vehicle that the embodiment of the present invention three provides, and the embodiment of the present invention is in above-described embodiment
On the basis of, further, after S111, estimation drive to the first charge value of destination from current location, further include：
S113, the first charging station near destination is determined according to destination.
Optionally, the associated chargeable range of each charging station is preset, if destination is in the charging of some charging station A
In range, then the first charging station for being determined as charging station A near destination.
Optionally, using destination as the center of circle, search, apart from nearest charging station B, charging station B is determined with destination A
For the first charging station.
S114, estimation drive to the second charge value of the first charging station from destination.
The estimation mode of second charge value can refer to the mode of the first charge value of estimation.Optionally, collect it is N number of other nobody
Vehicle drives to N number of charge value used in the first charging station from destination, will seek the average value of N number of charge value as the second electricity
Value.
If S115, voltage value are greater than the first charge value and less than the sum of the first charge values and the second charge value,
Determine that battery charges.
If voltage value is greater than the first charge value and less than the sum of the first charge value and the second charge value, illustrate to work as
Preceding electricity can drive to destination, but can not drive to the first charging station near destination.In other words, it is not charging
In the case of, that is, allow to for current passenger to be carried to its destination, but reliable unmanned vehicle can not be provided for next bit passenger
Service.Therefore, if voltage value is greater than the first charge value and less than the sum of the first charge value and the second charge value, it is determined that
Battery charges.
Technical solution provided in an embodiment of the present invention can guarantee that unmanned vehicle is closed according to the first charging station near destination
Reason arranges charging practical, avoid the problem that drawing arrive at the destination after can not drive to charging station and lead to unmanned vehicle service disruption, it is real
After existing unmanned vehicle reasonable assurance charging opportunity, can continue to guarantee unmanned vehicle service, improve unmanned vehicle service duration and can
By property.
Example IV
Fig. 4 is the charging method for the unmanned vehicle that the embodiment of the present invention four provides, and the embodiment of the present invention is in above-described embodiment
On the basis of, further, the target charging station of the unmanned vehicle is determined in S120, it is implementable to be：
S121, estimate respectively drive at least two preset charged stations from current location needed for charging distance charge value.
The mode of estimation charging distance charge value can refer to the mode of the second charge value of estimation or the first charge value.Herein not
It repeats.Preset charged station can any one charging station in whole charging stations, or true according to the first pre-set radius
Whole charging stations in fixed search range.
For example, the brush neck at preset charged station is M, by estimation charging distance charge value, each preset charged station is obtained
Corresponding charging distance charge value obtains M charging distance charge value.
S122, the alternative charging that the preset charged station that the distance charge value that charges is less than voltage value is determined as to unmanned vehicle
It stands.
If the distance electricity that charges is less than (or being less than or equal to) voltage value, it is pre- to illustrate that current electric quantity can drive to
If charging power station.If the distance electricity that charges is more than or equal to (or being greater than) voltage value, illustrate that current electric quantity can not travel
To preset charged power station.
In upper example, in M charging distance charge value, voltage value is less than by N number of charging distance charge value, then should
N number of associated preset charged station of charging distance charge value is determined as alternative charging station.
S123, information and/or the distance between alternative charging station and current location are waited according to the vehicle of alternative charging station,
Target charging station is determined from alternative charging station.
Alternative charging station can count the vehicle currently to charge, and the vehicle fleet size to be charged such as.According to row
The quantity of team's vehicle obtains vehicle waiting information.The reality that alternative charging station is driven to from current location is determined according to navigation system
Distance, rather than the linear distance on map.Optionally, the closer alternative charging station of charging negligible amounts, actual range is chosen to make
For target charging station.
Optionally, the distance alternative charging station nearest apart from current location is determined as target charging station.Alternatively, will wait
The least alternative charging station of vehicle fleet size is determined as target charging.
Further, when two alternative distances of the charging station apart from current location are essentially identical, (such as range difference is less than 200
Rice) then, the alternative charging station for waiting vehicle fleet size less is determined as by target charging station according to vehicle outstanding message.
Technical solution provided in an embodiment of the present invention at a distance from unmanned vehicle current location and can be filled according to charging station
The vehicle in power station waits situation to determine target charging station, so that unmanned vehicle can quickly charge after reaching charging station,
It reduces for, (including time or the waiting charging time etc. for driving towards target charging station), improving charge efficiency the time required to charging.
Embodiment five
Fig. 5 is the charging method for the unmanned vehicle that the embodiment of the present invention five provides, and the embodiment of the present invention is in above-described embodiment
On the basis of, further, the target charging station is mobile target charging station, is carried out by target charging station to battery in S130
Charging, it is implementable to be：
Step 131 determines target charge position according to the motion track of current location and mobile target charging station.
Target charging station can also be mobile target charging station other than it can be fixed charging station.Such as moving charging
Electric car.Gasoline or diesel oil can be used as power in movable charging vehicle, it is possible to use electric energy is moved as power for unmanned vehicle
Dynamic formula charging.The running track of mobile target charging station can be by server United Dispatching and control.Unmanned vehicle can by server
Know mobile target charging station nearest around current location, or the free time mobile target nearest apart from unmanned truck position
Charging station.Unmanned vehicle can carry out mobile charging to server application, and server is requested according to the mobile charging that unmanned vehicle is sent
The corresponding mobile target charging station of scheduling drives towards unmanned vehicle and charges.
Optionally, charging place can drive towards any position on the guidance path of destination for unmanned vehicle current location.
It can be according to the position and unmanned vehicle current location target charge position for moving target charging station, so that unmanned vehicle drives to the position
It is identical that the distance set with mobile target charging station drives to the time of the position.
Optionally, if unmanned vehicle current electric quantity is greater than the first charge value, less than the first charge value and the second charge value
With, then target charge position be destination.
Step 132 drives to target charge position, and target charge position pass through mobile target charging station to battery into
Row charging.
After driving to target charge position, if mobile target charging station is manned, driver is unmanned vehicle progress
Artificial charging.If mobile target charging station is also that vehicle carries out certainly after unmanned vehicle is docked with mobile target charging station
Dynamic charging.
Technical solution provided in an embodiment of the present invention, unmanned vehicle can be charged by mobile target charging station, so that
Even if because emergency case (such as excessive congestion) leads to not charge value (such as the first charge value or the second electricity according to estimation
Value) when driving to fixed target charging station, it still is able to charge by mobile target charging station, improves unmanned vehicle charging
Reliability.
Embodiment six
Fig. 6 is the charging method for the unmanned vehicle that the embodiment of the present invention six provides, and the embodiment of the present invention is in above-described embodiment
On the basis of, further, charged the battery in S130 by target charging station, including：
S133, it detects whether to reach the wireless charging area of target charging station.
Wireless charging area can transmitting calibration signal can drive into correct charge position so as to unmanned vehicle.Illustratively,
Calibration signal can be the pulse signal of preset format, such as persistently export peak pulse signal, enable the unmanned vehicle signal
Determine that front is charge position.
If S134, reaching the wireless charging area, nothing is carried out to the battery by the wireless charging area
Line charge electricity.
Wireless charging area can provide wireless charging service by the wireless signal of sending for wireless charging electric car.
Unmanned vehicle can identify wireless charging area in the embodiment of the present invention, after driving into wireless charging area,
Carry out wireless charging.Since wireless charging is not necessarily to carry out the plug operation of charging gun, can be operated in no staff
In the case where charge to unmanned vehicle, and then reduce charging station human cost.
Embodiment seven
Fig. 7 is a kind of structural schematic diagram of the charging unit for unmanned vehicle that the embodiment of the present invention seven provides, the unmanned vehicle
Charging unit be located in the electronic control unit of unmanned vehicle, the charging unit of unmanned vehicle includes：
Charge requirement judging unit 11, for according to the voltage value of battery in unmanned vehicle determine the battery whether need
It charges；
Target charging station determination unit 12, if for the charge requirement judging unit 11 determine the battery need into
Row charging, it is determined that the target charging station of the unmanned vehicle；
Navigation elements 13, the target charging station determined for driving to the target charging station determination unit 12；
Charhing unit 14, the target charging station for being determined by the target charging station determination unit 12 is to described
Battery charges；
Payment unit 15, if stopping for detecting that the charge value of battery in the unmanned vehicle is greater than target charge value
It charges and pays charging expense.
Further, the charge requirement judging unit 11 is specifically used for：
Estimation drives to the first charge value of destination from current location；
If the voltage value of battery is less than or equal to first charge value in unmanned vehicle, it is determined that the battery needs
It charges.
Further, charge requirement judging unit 11 is specifically used for：
The first charging station near the destination is determined according to the destination；
Estimation drives to the second charge value of first charging station from the destination；
If the voltage value is greater than first charge value and is less than first charge value and second electricity
The sum of magnitude, it is determined that the battery charges.
Further, the target charging station determination unit 12 is specifically used for：
Charging distance charge value needed for driving at least two preset charged stations from current location is estimated respectively；
The preset charged station that the distance charge value that charges is less than the voltage value is determined as the unmanned vehicle
Alternative charging station；
It is waited between information and/or the alternative charging station and the current location according to the vehicle of the alternative charging station
Distance, from the alternative charging station determine target charging station.
Further, the target charging station is mobile target charging station；The charhing unit 14 is specifically used for：
Target charge position is determined according to the motion track of current location and the mobile target charging station；
Drive to the target charge position, and in the target charge position by the mobile target charging station to institute
Battery is stated to charge.
Further, the charhing unit 14 is specifically used for：
Detect whether to reach the wireless charging area of the target charging station；
If reaching the wireless charging area, wireless charging is carried out to the battery by the wireless charging area
Electricity.
Further, the payment unit 15 is specifically used for, and pays charging expense by two dimensional code mode.
Method provided by the embodiment of the present invention one to embodiment six can be performed in above-mentioned apparatus, has and executes above method phase
The functional module and beneficial effect answered.The not technical detail of detailed description in embodiments of the present invention, reference can be made to the present invention is implemented
Method provided by example one to embodiment six.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of charging method of unmanned vehicle, which is characterized in that including：
Determine whether the battery charges according to the voltage value of battery in unmanned vehicle；
If the battery charges, it is determined that the target charging station of the unmanned vehicle；
The target charging station is driven to, and is charged by the target charging station to the battery；
During the charging process, if detecting, the charge value of battery in the unmanned vehicle is greater than target charge value, stops charging simultaneously
Pay charging expense；
Wherein, the voltage value according to battery in unmanned vehicle determines whether the battery charges, including：
Estimation drives to the first charge value of destination from current location；
If in unmanned vehicle the voltage value of battery be less than or equal to first charge value, it is determined that the battery need into
Row charging；
After estimation drives to the first charge value of destination from current location, the current electricity according to battery in unmanned vehicle
Magnitude determines whether the battery charges, and further includes：
The first charging station near the destination is determined according to the destination；
Estimation drives to the second charge value of first charging station from the destination；
If the voltage value is greater than first charge value and is less than first charge value and second charge value
The sum of, it is determined that the battery charges.
2. the charging method of unmanned vehicle according to claim 1, which is characterized in that the target of the determination unmanned vehicle
Charging station, including：
Charging distance charge value needed for driving at least two preset charged stations from current location is estimated respectively；
The preset charged station that the distance charge value that charges is less than the voltage value is determined as the alternative of the unmanned vehicle
Charging station；
According to the vehicle of the alternative charging station wait between information and/or the alternative charging station and the current location away from
From the determining target charging station from the alternative charging station.
3. the charging method of unmanned vehicle according to claim 1, which is characterized in that the target charging station is mobile target
Charging station；It is described to be charged by the target charging station to the battery, including：
Target charge position is determined according to the motion track of current location and the mobile target charging station；
Drive to the target charge position, and in the target charge position by the mobile target charging station to the electricity
It charges in pond.
4. the charging method of unmanned vehicle according to claim 1, which is characterized in that described to pass through the target charging station pair
The battery charges, including：
Detect whether to reach the wireless charging area of the target charging station；
If reaching the wireless charging area, wireless charging is carried out to the battery by the wireless charging area.
5. the charging method of unmanned vehicle described in any one of -4 according to claim 1, which is characterized in that the payment charging expense
With, including：
Charging expense is paid by two dimensional code mode.
6. a kind of charging unit of unmanned vehicle, which is characterized in that including：
Charge requirement judging unit, for determining whether the battery needs to carry out according to the voltage value of battery in unmanned vehicle
Charging；
Target charging station determination unit, if determining that the battery charges for the charge requirement judging unit,
Then determine the target charging station of the unmanned vehicle；
Navigation elements, the target charging station determined for driving to the target charging station determination unit；
Charhing unit, the target charging station for being determined by the target charging station determination unit carry out the battery
Charging；
Payment unit is used for during the charging process, if detecting, the charge value of battery in the unmanned vehicle is greater than target charge value,
Then stop charging and paying charging expense；
Wherein, the charge requirement judging unit is specifically used for：
Estimation drives to the first charge value of destination from current location；
If in unmanned vehicle the voltage value of battery be less than or equal to first charge value, it is determined that the battery need into
Row charging；
The first charging station near the destination is determined according to the destination；
Estimation drives to the second charge value of first charging station from the destination；
If the voltage value is greater than first charge value and is less than first charge value and second charge value
The sum of, it is determined that the battery charges.
7. the charging unit of unmanned vehicle according to claim 6, which is characterized in that the target charging station determination unit tool
Body is used for：
Charging distance charge value needed for driving at least two preset charged stations from current location is estimated respectively；
The preset charged station that the distance charge value that charges is less than the voltage value is determined as the alternative of the unmanned vehicle
Charging station；
According to the vehicle of the alternative charging station wait between information and/or the alternative charging station and the current location away from
From the determining target charging station from the alternative charging station.
8. the charging unit of unmanned vehicle according to claim 6, which is characterized in that the target charging station is mobile target
Charging station；The charhing unit is specifically used for：
Target charge position is determined according to the motion track of current location and the mobile target charging station；
Drive to the target charge position, and in the target charge position by the mobile target charging station to the electricity
It charges in pond.
9. the charging unit of unmanned vehicle according to claim 6, which is characterized in that the charhing unit is specifically used for：
Detect whether to reach the wireless charging area of the target charging station；
If reaching the wireless charging area, wireless charging is carried out to the battery by the wireless charging area.
10. the charging unit of the unmanned vehicle according to any one of claim 6-9, which is characterized in that the payment unit
It is specifically used for：
Charging expense is paid by two dimensional code mode.
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