CN108656995A - Method, system, equipment and the storage medium of mobile charging device charge and discharge - Google Patents
Method, system, equipment and the storage medium of mobile charging device charge and discharge Download PDFInfo
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- CN108656995A CN108656995A CN201810509058.7A CN201810509058A CN108656995A CN 108656995 A CN108656995 A CN 108656995A CN 201810509058 A CN201810509058 A CN 201810509058A CN 108656995 A CN108656995 A CN 108656995A
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- electric vehicle
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- 238000007600 charging Methods 0.000 title claims abstract description 391
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000000007 visual effect Effects 0.000 claims abstract description 45
- 230000005611 electricity Effects 0.000 claims abstract description 40
- 238000004891 communication Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000012790 confirmation Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 abstract description 10
- 238000003780 insertion Methods 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 8
- 238000005457 optimization Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 8
- 238000011161 development Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000004146 energy storage Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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Classifications
-
- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and 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
- 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
- B60L53/30—Constructional details of charging stations
-
- 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
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- 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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention provides the method for mobile charging device charge and discharge, system, equipment and storage mediums, and this approach includes the following steps：Mobile charging device visual identifying system mounted acquires image；According to visual identifying system acquired image recognition charge port region；Identify that the charge port region is located at electric vehicle or positioned at charging pile according to the neighboring region around the charge port region of acquired image；According to the electric vehicle or charging pile of identification, go out the space coordinate of charge port according to the charge port region recognition of acquired image, and according to the space coordinate, pass through mobile charging device mechanical arm mounted, charging gun insertion charge port on the robotic arm will be carried, starts to charge to the charge port of electric vehicle or be charged from charging pile to the mobile charging device by the charge port.The present invention can conveniently supplement the solution of electricity for electric vehicle in the parking lot for the charging pile not charged to electric vehicle directly.
Description
Technical field
The present invention relates to electric vehicle charging fields, specifically, being related to the charging pile not charged to electric vehicle directly
Method, system, equipment and the storage medium of mobile charging device charge and discharge in parking lot.
Background technology
Electric vehicle charging solution will often rely on charging pile at present, and the construction of charging pile often both needs to account for
With valuable land resource, and declaration in advance is needed to audit, formality is very complicated, in built place, when because of preconsolidation stress
The deficiency of consideration can not necessarily arrange, and prodigious obstruction is caused for the development of electric vehicle.There are also removable
Formula charging robot, only proposes some coarse concepts, distance can land also very big distance.
Because current fixed charging pile can not move, when building Parking Area, it is necessary to according to may park
The certain proportion of electric vehicle be equipped with some charging piles, occupy very large area.Moreover, charging is required for plugging manually every time
It charging gun and is paid after charging complete.If car owner does not in time extract charging gun after charging complete, vacate
Charging parking stall, and the charging that will influence other electronic car owners, reduce the utilization rate of charging pile, user experience is very poor, also there is fuel oil
Vehicle occupies the phenomenon that with charging pile parking stall so that the charging of electric vehicle becomes impossible, these are all unfavorable for electric vehicle
It promotes.
This programme is intended to solve in the parking lot (such as Public Parking) for the charging pile not charged to electric vehicle directly, profit
With robot, automatic Pilot, navigation, car networking, interior net, visual identity, mechanical arm, energy storage, automatic charging technology etc. it is complete
U.S. combines, and is the solution that electric vehicle conveniently supplements electricity for above-mentioned no charging pile scene.
Invention content
For the problems of the prior art, the purpose of the present invention is to provide the method for mobile charging device charge and discharge, it is
System, equipment and storage medium can provide facility in the charging pile parking lot that do not charge to electric vehicle directly for electric vehicle
Ground supplements the solution of electricity.
The embodiment of the present invention provides a kind of method of mobile charging device charge and discharge, includes the following steps：S101, movement
Charging unit visual identifying system mounted acquires image；S102, it is charged according to the acquired image recognition of visual identifying system
Mouth region domain；S103, identify that the charge port region is located at electricity according to the neighboring region around the charge port region of acquired image
Motor-car is located at charging pile；If S104, identifying that the charge port region is located at electric vehicle, according to the charge port of acquired image
Region recognition goes out the space coordinate of the charge port of electric vehicle, and according to the space coordinate, mounted by mobile charging device
The charging gun of carrying on the robotic arm is inserted into the charge port of electric vehicle by mechanical arm, starts to charge to the charge port of electric vehicle；
If S105, identifying that the charge port region is located at charging pile, charging pile is gone out according to the charge port region recognition of acquired image
Charge port space coordinate, and machine will be mounted in by mobile charging device mechanical arm mounted according to the space coordinate
Charging gun on tool arm is inserted into the charge port of charging pile, starts from charging pile through the charge port to the mobile charging device
Charging.
Optionally, the visual identifying system is mounted on the mechanical arm, the visual identifying system Image Acquisition side
To the charging gun corresponding to the mechanical arm.
Optionally, the step S101 includes：The visual identifying system capturing panoramic view image；The step S102 packets
It includes：At least one quasi- charge port region is identified according to the panoramic picture；When identifying multiple quasi- chargings in the panoramic picture
When the domain of mouth region, ratio of each quasi- charge port region in the panoramic picture is calculated；By the ratio in the panoramic picture
The maximum quasi- charge port region of proportion is as the charge port region；According to the charge port region in the panoramic picture
In position and the mechanical arm horizontal circle initial position, determine the corresponding charge port in the charge port region relative to institute
State the relative position of the charging gun of mechanical arm；It is pre- relative to the relative position of the charging gun of the mechanical arm according to the charge port
Adjust the mechanical arm so that the charging gun is towards the charge port.
Optionally, the visual identifying system capturing panoramic view image includes：The mechanical arm horizontal circle so that acquired
The panoramic picture of image mobile charging device described in horizontal circle so that acquisition image is the mechanical arm horizontal loops
The panoramic picture being spliced every the multiple image of acquisition among process；Or the mechanical arm cardo ring around so that adopted
Collect image by ball collar is around the panoramic picture of the mobile charging device or so that acquisition image is that the mechanical arm is universal
The panoramic picture that the multiple image of interval acquisition is spliced during.
Optionally, it is described using the maximum quasi- charge port region of the ratio proportion in the panoramic picture as described in
Charge port region includes：When ratio proportion of two quasi- charge port regions in the panoramic picture is maximum and identical or
When ratio proportion of two quasi- charge port regions in the panoramic picture is maximum and proportional difference is less than predetermined threshold value,
Using this two quasi- charge port regions as the charge port region；The step S103 includes：According to around acquired image
The neighboring region in charge port region identifies that two charge port regions are located at electric vehicle or are located at charging pile；If two charge ports
Region is respectively positioned on electric vehicle, then the mobile charging device is communicated with two associated terminals of electric vehicle respectively, with determination
Electric vehicle to be charged；If in two charge port regions, a charge port region is located at electric vehicle, another charge port region
Positioned at charging pile, then the mobile charging device detects the first battery of the mobile charging device and the electricity of the second battery,
If the electricity of any battery is less than predetermined threshold value in first battery and the second battery, the step S105 is executed, wherein
First battery is used to power to drive the movement of the mobile charging device and the mechanical arm, institute to mobile charging device
The second battery is stated for (the second battery described herein to be used to only illustrate that the second battery is to electric vehicle power supply to electric vehicle power supply
The energy storage battery of mobile charging device not indicates to execute the second battery in step S105 to electric vehicle power supply).
Optionally, further include before the step S101：S106, an electric vehicle berth in a parking stall in parking lot, and one
Mobile terminal sends the charge request information of the position coordinates comprising the parking stall to a server；S107, the server
The charge request information is sent to an interior mobile charging device in the parking lot；S108, the mobile charging device
The parking stall is driven to according to the charge request information；S109, the mobile charging device and the electric vehicle are handed over
After mutually confirming, the charging lid of the electric vehicle is opened, and the charge port of the electric vehicle is exposed；
Optionally, further include after the step S104：After S110, charging, the mobile charging device is according to filling
The practical electricity of electricity obtains charging settlement amounts, and sends the charging settlement information comprising the charging settlement amounts to the shifting
Dynamic terminal is settled accounts.
Optionally, in the step S106, the charge request information includes at least the number on parking stall, the server
And number and each position for numbering corresponding parking stall on the parking stall to prestore in the mobile charging device in the parking lot
Coordinate is set, the mobile terminal sends the number comprising the parking stall to a server；In step S107, the server solution
The location coordinate information on destination parking stall is separated out, and the information is issued to mobile charging device；It is mobile in step S108
Charging unit voluntarily plans driving path according to the location information of itself and the location coordinate information on destination parking stall, described
Driving path is by the channel in parking lot and without parking stall.
Optionally, it in the step S109, after the mobile charging device arrives at parking stall, is sent to server
Designated location information is arrived, after server receives the information, passes through the communication control unit of communications protocol and vehicle to be charged
It interacts, the communication control unit of vehicle is opened the charging lid of the electric vehicle by In-vehicle networks, exposes charging
Mouthful；Alternatively, after mobile charging device interacts confirmation by near-field communication agreement and the electric vehicle, the electric vehicle fills
Electricity lid is opened, and charge port is exposed.
The embodiment of the present invention also provides a kind of system of mobile charging device charge and discharge, is moved for realizing as described above
The method of dynamic charging unit charge and discharge, including：Mobile charging device, electric vehicle and charging pile, wherein the mobile charging device
Execute following steps：Mobile charging device visual identifying system mounted acquires image；It is acquired according to visual identifying system
Image recognition charge port region；The charge port region is identified according to the neighboring region around the charge port region of acquired image
Positioned at electric vehicle or it is located at charging pile；If identifying, the charge port region is located at electric vehicle, according to the charging of acquired image
The space coordinate of the charge port of electric vehicle is identified in mouth region domain, and according to the space coordinate, is carried by mobile charging device
Mechanical arm, charging gun on the robotic arm will be carried be inserted into the charge port of electric vehicle, start to charge to the charge port of electric vehicle；
If identifying, the charge port region is located at charging pile, and the charging of charging pile is gone out according to the charge port region recognition of acquired image
The space coordinate of mouth, and will be carried on the robotic arm by mobile charging device mechanical arm mounted according to the space coordinate
Charging gun be inserted into charging pile charge port, start charged from charging pile to the mobile charging device by the charge port.
Optionally, the mobile charging device is a charging robot with wheel, and the charging robot includes
Navigation system, optical registration component, electro-motor, mechanical arm, charging gun, the first battery and the second battery, first battery
To the power electric motors, the electro-motor drives the wheel to advance, and second battery is electrically connected the charging gun,
The voltage of first battery is 24 volts or 48 volts, and the voltage range of second battery is 115 volts to 410 volts
It is special.
The embodiment of the present invention also provides a kind of equipment of mobile charging device charge and discharge, which is characterized in that including：Processing
Device；Memory, wherein being stored with the executable instruction of the processor；Wherein, the processor is configured to via described in execution
The step of method of the executable instruction to execute mobile charging device charge and discharge as described above.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is held
The step of method of mobile charging device charge and discharge as described above is realized when row.
The purpose of the present invention is to provide the method for mobile charging device charge and discharge, system, equipment and storage mediums can
Directly to the parking lot of the charging pile of electric vehicle charging, the solution party of electricity is not being supplemented conveniently for electric vehicle
Case, the present invention is using full-automatic intelligent charging robot technology, the visual identifying system that charging robot can be utilized to carry,
Charge port in the acquired image of identification is located at electric vehicle or is located at charging pile, and further configuration charging robot carries out as a result,
Charge or discharge realize full automatic electric vehicle charging in the place that can not arrange the charging pile to charge directly to electric vehicle,
The efficiency that charging will be greatly improved facilitates the energy supplement of electric vehicle, is conducive to the universal and development for electric vehicle,
Be conducive to the optimization operation of power grid.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is the flow chart of the method for the mobile charging device charge and discharge of the present invention.
Fig. 2 to 18 is a kind of schematic diagram of embodiment of the method for the mobile charging device charge and discharge of the present invention.
Figure 19 is the module diagram of the system of the mobile charging device charge and discharge of the present invention.
Figure 20 is the structural schematic diagram of the equipment of the mobile charging device charge and discharge of the present invention.And
Figure 21 is the structural schematic diagram of the computer readable storage medium of one embodiment of the invention.
Specific implementation mode
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein.On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure
Icon note indicates same or similar structure, thus will omit repetition thereof.
Fig. 1 is the flow chart of the method for the mobile charging device charge and discharge of the present invention.As shown in Figure 1, one kind of the present invention
Embodiment provides a kind of method of mobile charging device charge and discharge, includes the following steps：
S101, mobile charging device visual identifying system mounted acquire image；
S102, according to visual identifying system acquired image recognition charge port region；
S103, identify that the charge port region is located at electricity according to the neighboring region around the charge port region of acquired image
Motor-car is located at charging pile；
If S104, identifying that the charge port region is located at electric vehicle, according to the charge port region recognition of acquired image
Go out the space coordinate of the charge port of electric vehicle, and will by mobile charging device mechanical arm mounted according to the space coordinate
The charge port that charging gun on the robotic arm is inserted into electric vehicle is carried, starts to charge to the charge port of electric vehicle；
If S105, identifying that the charge port region is located at charging pile, according to the charge port region recognition of acquired image
Go out the space coordinate of the charge port of charging pile, and will by mobile charging device mechanical arm mounted according to the space coordinate
The charge port that charging gun on the robotic arm is inserted into charging pile is carried, is started from charging pile through the charge port to the movement
Charging unit charges.
The visual identifying system of the present invention carried by the robot that charges, identifies that the charge port in acquired image is located at
Electric vehicle is located at charging pile, and further configuration charging robot carries out charge or discharge as a result, as a result, can not arrange it is straight
Full automatic electric vehicle charging is realized in the place for connecing the charging pile to charge to electric vehicle.
Fig. 2 to 9 is the schematic diagram of several embodiments of the method for the mobile charging device charge and discharge of the present invention.Referring first to
Fig. 2 to Fig. 5, mobile charging device 2 equipped in rotatable machine arm 23, rotatable machine 23 equipped with visual identifying system
24, visual identifying system 24 changes it with the rotation of mechanical arm 23 and acquires the direction of image.The acquisition of visual identifying system 24
The direction of image is consistent with the direction of movable end direction of mechanical arm 23.Mobile charging device 2 includes to mobile charging device 2
Power supply is to carry out the first battery 21 that mobile and mechanical arm 23 rotates, and the second battery 22 for charging to electric vehicle 12.
Mobile charging device 2 is as shown in Figure 4 and Figure 5 by 24 acquired image of visual identifying system.Visual recognition line
System 24 can identify charge port region (such as charge port 123, charge port 31) in acquired image 17.Due on electric vehicle 12
Charge port 31 in charge port 123 and charging pile 3 generally can with specification having the same, the feature of the charge port that can prestore with
Identify that charge port region is come in image 17.Simultaneously as charge port specification generally having the same therefore can be by surrounding
The neighboring region in the charge port region of acquired image 17 identifies that the charge port region is located at electric vehicle 12 or is located at charging pile
3.In certain embodiments, can tire be set in visual identifying system 24 and identifies that even visual identifying system 24 is in ring
Neighboring region around charge port region recognizes tire, you can identifies that the corresponding charge port in charge port region is located at electric vehicle 12
On.In yet other embodiments, can be in charging pile 3 adjacent to the part setting flag 32 of charge port 31, the label 32 is for vision
Identifying system 24 identifies that the charge port 31 is located at charging pile 3.Above is only schematically to describe the embodiment of the present invention, this hair
It is bright not so limited.
Further, when mobile charging device 2 by 24 acquired image 17 of visual identifying system as shown in figure 4, then
Mobile charging device 2 identifies that the charge port region is located at electric vehicle 12, then according to the charge port region 123 of acquired image 17
Identify the space coordinate of the charge port 123 of electric vehicle, and according to the space coordinate, it is mounted by mobile charging device 2
The charging gun being mounted on mechanical arm 23 is inserted into the charge port 123 of electric vehicle 12, starts filling to electric vehicle 12 by mechanical arm 23
Power port 123 charges, as shown in Figure 2.
When mobile charging device 2 by 24 acquired image 17 of visual identifying system as shown in figure 5, then moving charging Denso
It sets the 2 identifications charge port region and is located at charging pile 3, then charging is identified according to the charge port region 123 of acquired image 17
The space coordinate of the charge port 31 of stake 3, and will by 2 mechanical arm 23 mounted of mobile charging device according to the space coordinate
Be mounted in the charge port 31 that charging gun on mechanical arm 23 is inserted into charging pile 3, start from charging pile 3 by the charge port 31 to
Second battery 22 of the mobile charging device 2 charges or charges together to the first battery 21 and the second battery 22, such as Fig. 3 institutes
Show.
Referring to Fig. 6 and Fig. 7, due to the position arrangement of the electric vehicle in parking lot, the different settings of charge position and
Not according to standard parking direction may, mobile charging device 2 after reaching and specifying charge and discharge electric position, mechanical arm 23 it is current
Towards possible simultaneously its electric vehicle 12 to be charged of misalignment.In this case, even if being adopted using visual identifying system 24
Collect image, the charge port region for including in the image is not the charge port of electric vehicle 12 (even if the electric vehicle that setting is only charged
Open charging port cap, it is also possible to the case where similar vehicle opens simultaneously charging port cap occur), it is thereby possible to will produce shifting
After dynamic charging unit 2 reaches specified charge position, the electric vehicle to be charged can not be judged, and then generate accidentally charging or two
2 conflicting situation of mobile charging device.
As shown in fig. 6, electric vehicle 11,12,14,15,18,19 by shown position stop, electric vehicle 11,14,18 with it is electronic
The headstock position of vehicle 12,15,19 is on the contrary, the charge port of each electric vehicle all can be towards mobile charging device 2 shown in i.e..Vision
Identifying system 24 can be with the mobile collection panoramic picture of mechanical arm 23.Specifically, the mechanical arm 23 of mobile charging device 2 can
With in above-mentioned steps S101 horizontal circles so that 24 acquired image of visual identifying system is moving charging Denso described in horizontal circle
Set 1 panoramic picture 20 (as shown in Figure 7).In some change case, it is also possible that acquired image is the mechanical arm 23
The panoramic picture that the multiple image of acquisition is spliced is spaced during horizontal circle.In other change case, mobile charging
The mechanical arm 23 of device 2 around so that 24 acquired image of visual identifying system can be spherical shape in above-mentioned steps S101 cardo rings
Around the panoramic picture of the mobile charging device 1.In some change case, it is also possible that acquired image is the machinery
The panoramic picture that 23 cardo ring of arm is spliced among process every the multiple image of acquisition.The present invention is not so limited.
Below by taking the panoramic picture of horizontal circle as an example：, can be in above-mentioned steps S102 after obtaining panoramic picture 20, root
At least one quasi- charge port region is identified according to the panoramic picture 20.When identifying multiple quasi- charge ports in the panoramic picture 20
Region (in the present embodiment, will recognise that 6 quasi- charge port regions 123,153,143,113,183,193) when, calculate it is each
Ratio of the quasi- charge port region in the panoramic picture 20.Then, by the ratio proportion in the panoramic picture 20
Maximum quasi- charge port region is as the charge port region.In the present embodiment, since electric vehicle 112 is apart from moving charging Denso
Set 2 recently, therefore, the charge port of electric vehicle 12 is maximum in 20 proportion of panoramic picture, therefore, by corresponding accurate mouth region of charging
Domain 123 is used as charge port region, and then the vehicle that electric vehicle 12 is identified as being charged.It is then possible to according to identified
The initial position of position and the mechanical arm 23 horizontal circle of the charge port region 123 in the panoramic picture 20, really
The relative position of fixed charging gun of the 123 corresponding charge port of the charge port region relative to the mechanical arm 23, according to described
Mechanical arm 23 described in relative position pre-adjustment of the charge port relative to the charging gun of the mechanical arm 23 so that the charging gun court
To the charge port.Mechanical arm 23 described in pre-adjustment turns to so that the charging gun can also pass through towards after the charge port
The vertical lift of mechanical arm 23 further carries out the alignment of charge port.Specifically, for example, can determine machine as follows
Angle A=(L of the tool arm 23 from the initial position desired level rotation of horizontal circle3-L2/2)*360/L1, wherein L3For panorama
20 initial position of image is to the distance at 123 center of charge port region, L2Image is acquired when not rotated by visual identifying system 24
Width (L2=B*L1/ 360, B are the visual angle of visual identifying system 24), L1For the overall width of panoramic picture 20, the unit of A and B
For degree.Above is only schematically to illustrate the embodiment of the present invention, and the present invention is not so limited.
In some change case of above-described embodiment, specified since the uncertain and mobile charging device 2 of parking position arrives
The deviation of charge and discharge electric position, it is possible that ratio of two quasi- charge port regions in the panoramic picture 20 in panoramic picture 20
Example proportion is maximum and identical or works as ratio proportion of two quasi- charge port regions in the panoramic picture 20 most
When big and proportional difference is less than predetermined threshold value (such as difference is less than 0.5%), this two quasi- charge port regions are filled as described in
The case where power port region.In this case, it accidentally charges, can further be executed such as in above-mentioned steps S103 in order to prevent
Lower step：Identify that two charge port regions (such as are charged according to the neighboring region around the charge port region of acquired image
Mouth region domain 121 and 111) be located at electric vehicle or be located at charging pile；If two charge port regions (such as charge port region 121 and
111) be respectively positioned on electric vehicle, then the mobile charging device 2 respectively with two electric vehicles 11,12 associated terminals (such as vehicle
Mounted terminal or mobile terminal) (such as by the short haul connections such as LAN, bluetooth mode) is communicated, with determination electricity to be charged
Motor-car.
If in two charge port regions (charge port region 121 and 31 as shown in Figure 8 and Figure 9), a charging mouth region
Domain 121 is located at electric vehicle 12, another charge port region 31 is located at charging pile 3, then the mobile charging device 2 detects the shifting
First battery 21 of dynamic charging unit 2 and the electricity of the second battery 22, if any in first battery, 21 and second battery 22
The electricity of battery is less than predetermined threshold value, and (i.e. the not enough power supply of first battery 21 enough provides moving charging Denso in mobile charging device 2
The second battery 22 in 2 movements or mechanical arm rotation or mobile charging device 2 is set to be insufficient to provide electric vehicle charging), it is determined that
Mobile charging device 2 needs to charge, and executes above-mentioned steps S105.
In above-mentioned each embodiment of the present invention, it may not be necessary to the standard parking mode of electric vehicle is limited, it also need not be by
The mode of sighting target standard limits the arrangement of parking stall and charging pile, can be real by the visual identifying system 24 of mobile charging device 2
The now identification of automatic charge port to realize the charge and discharge of mobile charging device 2, and then realizes that full automatic electric vehicle fills
Electricity.
In the other embodiment of the present invention, can also include before above-mentioned step S101：
S106, an electric vehicle berth in a parking stall in parking lot, and a mobile terminal sends the position for including the parking stall
The charge request information of coordinate is set to a server；
The charge request information is sent to an interior moving charging Denso in the parking lot by S107, the server
It sets；
S108, the mobile charging device drive to the parking stall according to the charge request information；
After S109, the mobile charging device interact confirmation with the electric vehicle, the charging lid of the electric vehicle is beaten
It opens, exposes the charge port of the electric vehicle；
The charging gun insertion charge port of S105, the mobile charging device, the charging gun is into the electric vehicle
Battery charge.
After above-mentioned step S104, can also include：
After S110, charging, the mobile charging device obtains charging settlement amounts according to the practical electricity of charging, and
The charging settlement information comprising the charging settlement amounts is sent to be settled accounts to the mobile terminal.
In a preferred embodiment, in step S106, charge request information include at least parking stall number, server and
The position coordinates on the number on the parking stall to prestore in mobile charging device in parking lot and the corresponding parking stall of each number, it is mobile
Terminal sends the number comprising parking stall to a server；In step S107, the server parses destination parking stall
Location coordinate information, and the information is issued to mobile charging device；In step S108, mobile charging device according to itself
Location information and the location coordinate information on destination parking stall voluntarily plan driving path, and the driving path is by parking lot
Channel and without parking stall.The present invention can just can know that the electricity for requiring to charge by simply obtaining the number on parking stall
The specific parking stall of motor-car, the operation of the user mitigated significantly also improve the accuracy of positioning.
In a preferred embodiment, in the step S109, after the mobile charging device arrives at parking stall, to
Server transmission arrived designated location information.After server receives the information, pass through the logical of communications protocol and vehicle to be charged
News control unit interacts, and the communication control unit of vehicle is beaten the charging lid of the electric vehicle by In-vehicle networks
It opens, exposes after charge port or mobile charging device interact confirmation by near-field communication means and the electric vehicle, it is described
The charging lid of electric vehicle is opened, and charge port is exposed.
Further include after the step S109, before step S110：After charging, the mobile charging device is described in
Charge port extracts the charging gun, and the charging lid of the electric vehicle is closed, and the charge port is closed.Meanwhile the mobile charging
Device obtains charging settlement amounts according to the practical electricity of charging, and is sent comprising the charging settlement amounts by server
Charging settlement information is settled accounts to the mobile terminal.
In a preferred embodiment, the charge port of the charging pile is within the period of electricity using at the peak time to the mobile charging
Battery in device charges, and to substantially reduce the cost of charging, also saves electricity consumption, realizes the optimization of power grid.Institute
The policy of electricity price between peak and valley can be utilized by stating charging pile, and the charge port of the charging pile can be interior to the shifting during the paddy electricity
Battery in dynamic charging unit charges, and charges to electric vehicle during peak electricity, to substantially reduce the cost of charging,
Electricity consumption is also saved, the optimization of power grid is realized.
Figure 10 to 18 is a kind of schematic diagram of embodiment of the method for the charge and discharge of the mobile charging device of the present invention.Such as figure
Shown in 10 to 18, under a kind of implementation process of the invention is such：Car owner has mobile phone 1 and electric vehicle 12, with hop server 4 and
Mobile charging device 2 carries out charging operations (such as 2).
As shown in FIG. 11 and 12, the parking lot for not having charging pile at certain as 12 car owner of electric vehicle is parked period, electric vehicle
12 stop the parking stall 120 into parking lot.There are multiple parking stall (other electric vehicles for parking electric vehicle in parking lot
11,13,14,15,16 other parking stalls around parking stall 120 are parked in), more mobile charging devices 2 and for moving charging
The charge port 3 that electric installation 2 charges.When car owner needs to charge to its vehicle, car owner will stop bit number so as to prompt side
Formula including but not limited to inputs the app that this case is specially developed in a manner of parking stall two-dimensional code scanning etc., proposes to charge to server 4
After solicited message (such as sending " Shanghai A123456 is parked in No. 120 parking stalls, and request is refueled ") is sent to server 4, you can leave away.
The path A for reaching each parking stall in parking lot is prestored in mobile charging device 2, in a preference, path A is only logical
The channel crossed between parking stall and the range for avoiding all parking stalls, ensure mobile charging device 2 in traveling will not with stop
The vehicle (other electric vehicles 11,13,14,15,16) of parking stall collides.
As shown in Figs. 13 and 14, which platform moving charging Denso in parking lot assessed according to charge request information for server 4
It is that electric vehicle 12 charges to set 2 to have enough electricity, and selected mobile charging device 2 will receive server 4 and transmit
The charge request information and parking stall number information, parse the specific location where vehicle.Mobile charging device 2 will
Optimal path is voluntarily calculated in conjunction with self poisoning, according to circumstances voluntarily avoidance, automatic running to destination parking stall.
As shown in figure 15, after mobile charging device 2 arrives at parking stall, it arrived designated position to server transmission
Information.After server receives the information, interacted by communications protocol and the communication control unit of vehicle to be charged, vehicle
Communication control unit is opened the charging lid of the electric vehicle by In-vehicle networks, exposes charge port or mobile charging
After device interacts confirmation by near-field communication means and the electric vehicle, the charging lid of the electric vehicle is opened, and exposing is filled
Power port.
Mobile charging device 2 as shown in figure 16 will identify the relevant information of charge port, and root by video identification technology
According to the information, charging gun is inserted into charge port.Energy-storage system will be communicated with the battery management system of electric vehicle 12 (BMS),
After establishing reliable contact, start to charge up.In a preferred embodiment, mobile charging device is a charger with wheel
Device people, charging robot includes navigation system, optical registration component 24, electro-motor, mechanical arm, charging gun 23, the first battery
21 and second battery 22, the first battery 21 advance to power electric motors, electro-motor band motor car wheel, the electrical connection of the second battery 22
The voltage of charging gun 23, the first battery 21 is 24 volts or 48 volts, the voltage range of the second battery 22 be 115 volts extremely
410 volts.Optical registration component 24 is identified by the profile information of the charge port of electric vehicle 12 in captured in real-time video image
Its space coordinate, to guide mechanical arm alignment and the charge port of close electric vehicle 12 of carrying charging gun, it is inserted into charging gun, is opened
Begin to charge.
As shown in figure 17, after charging, relevant information is passed through server feedback to mobile charging by electric vehicle BMS systems
Device 2, after realizing that charging gun resets, electric vehicle 12 will turn off charging port cap.Mobile charging device 2 complete charge after,
The automatic supplement mended electrician position and carry out electricity will voluntarily be driven to.Mobile charging device 2 will make full use of peak valley price difference, utilize paddy
It is at full charge during electricity, realize the optimization operation of power grid.
As shown in figure 18, mobile charging device 2 by information such as charge capacity and charges by server feedback to car owner
APP completes charging, and car owner can pay according to the charging settlement information comprising charging settlement amounts, complete whole flow process.
In this process, car owner need not wait for completely in parking lot, elsewhere, can substantially increase electricity far from parking lot
The hommization experience of motor-car charging.
Figure 19 is the module diagram of the system of the mobile charging device charge and discharge of the present invention.As shown in figure 19, of the invention
Embodiment a kind of system 5 of mobile charging device charge and discharge is also provided, for realizing above-mentioned mobile charging device charge and discharge
Method, the system of mobile charging device charge and discharge includes：Electric vehicle 51, charging pile 52 and mobile terminal apparatus 53.It is mobile
Charging unit 53 executes following steps：Mobile charging device visual identifying system mounted acquires image；According to visual identity
System acquired image recognition charge port region；According to the neighboring region identification around the charge port region of acquired image
Charge port region is located at electric vehicle or is located at charging pile；If identifying, the charge port region is located at electric vehicle, according to being acquired
The charge port region recognition of image goes out the space coordinate of the charge port of electric vehicle, and according to the space coordinate, passes through mobile charging
The charging gun of carrying on the robotic arm is inserted into the charge port of electric vehicle, started to electric vehicle by device mechanical arm mounted
Charge port charges；If identifying, the charge port region is located at charging pile, is gone out according to the charge port region recognition of acquired image
The space coordinate of the charge port of charging pile, and will be taken by mobile charging device mechanical arm mounted according to the space coordinate
The charge port that charging gun on the robotic arm is inserted into charging pile is carried, is started from charging pile through the charge port to the moving charging
Electric installation charges.
The system of the mobile charging device charge and discharge of the present invention can be directly to the charging pile of electric vehicle charging
Parking lot conveniently supplements the solution of electricity for electric vehicle, and the present invention is using full-automatic intelligent charging machine
It is electronic to identify that the charge port in acquired image is located at for people's technology, the visual identifying system that charging robot can be utilized to carry
Vehicle is located at charging pile, and further configuration charging robot carries out charge or discharge as a result, can not arrange directly to electric vehicle
The place of the charging pile of charging realizes full automatic electric vehicle charging, will greatly improve the efficiency of charging, facilitate electronic
The energy supplement of automobile is conducive to the universal and development for electric vehicle, is conducive to the optimization operation of power grid.
The embodiment of the present invention also provides a kind of equipment of mobile charging device charge and discharge, including processor.Memory, wherein
It is stored with the executable instruction of processor.Wherein, processor is configured to be performed mobile charging via execution executable instruction
The step of method of device charge and discharge.
As it appears from the above, the embodiment can be electronic vapour in the parking lot for the charging pile not charged directly to electric vehicle
Vehicle conveniently supplements the solution of electricity, and the present invention can be utilized using full-automatic intelligent charging robot technology
The visual identifying system that charging robot carries identifies that the charge port in acquired image is located at electric vehicle or is located at charging pile,
Further configuration charging robot carries out charge or discharge as a result, can not arrange the charging pile to charge directly to electric vehicle
Place realizes full automatic electric vehicle charging, will greatly improve the efficiency of charging, the energy of electric vehicle is facilitated to mend
It fills, is conducive to the universal and development for electric vehicle, be conducive to the optimization operation of power grid.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, i.e.,：It is complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
Figure 20 is the structural schematic diagram of the equipment of the mobile charging device charge and discharge of the present invention.It is described referring to Figure 20
The electronic equipment 600 of this embodiment according to the present invention.The electronic equipment 600 that Figure 20 is shown is only an example, no
The function and use scope for coping with the embodiment of the present invention bring any restrictions.
As shown in figure 20, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can be with
Including but not limited to：At least one processing unit 610, at least one storage unit 620, connection different platform component (including are deposited
Storage unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, storage unit has program stored therein code, and program code can be executed by processing unit 610 so that processing is single
Member 610 execute described in this specification above-mentioned electronic prescription circulation processing method part according to the various exemplary implementations of the present invention
The step of mode.For example, processing unit 610 can execute step as shown in fig. 1.
Storage unit 620 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 6201 and/or cache memory unit 6202, it can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205
6204, such program module 6205 includes but not limited to：Operating system, one or more application program, other program moulds
Block and program data may include the realization of network environment in each or certain combination in these examples.
Bus 630 can be to indicate one or more in a few class bus structures, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use the arbitrary bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment that the electronic equipment 600 can be communicated with one or more of the other computing device (such as router, modulation /demodulation
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as LAN (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but it is unlimited
In：Microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, program is performed reality
The step of method of existing mobile charging device charge and discharge.In some possible embodiments, various aspects of the invention are also
It can be implemented as a kind of form of program product comprising program code, when program product is run on the terminal device, program
Code be used to make terminal device execute described in this specification above-mentioned electronic prescription circulation processing method part according to the present invention
The step of various illustrative embodiments.
As it appears from the above, the embodiment can be electronic vapour in the parking lot for the charging pile not charged directly to electric vehicle
Vehicle conveniently supplements the solution of electricity, and the present invention can be utilized using full-automatic intelligent charging robot technology
The visual identifying system that charging robot carries identifies that the charge port in acquired image is located at electric vehicle or is located at charging pile,
Further configuration charging robot carries out charge or discharge as a result, can not arrange the charging pile to charge directly to electric vehicle
Place realizes full automatic electric vehicle charging, will greatly improve the efficiency of charging, the energy of electric vehicle is facilitated to mend
It fills, is conducive to the universal and development for electric vehicle, be conducive to the optimization operation of power grid.
Figure 21 is the structural schematic diagram of the computer readable storage medium of the present invention.With reference to shown in figure 21, basis is described
The program product 800 for realizing the above method of embodiments of the present invention, may be used that portable compact disc is read-only to be deposited
Reservoir (CD-ROM) and include program code, and can be run on terminal device, such as PC.However, the present invention
Program product is without being limited thereto, in this document, readable storage medium storing program for executing can be any include or storage program tangible medium, should
Program can be commanded the either device use or in connection of execution system, device.
The arbitrary combination of one or more readable mediums may be used in program product.Readable medium can be that readable signal is situated between
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or partly lead
System, device or the device of body, or the arbitrary above combination.More specific example (the non exhaustive row of readable storage medium storing program for executing
Table) include：Electrical connection, portable disc, hard disk, random access memory (RAM), read-only storage with one or more conducting wires
Device (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer readable storage medium may include in a base band or as the data-signal that a carrier wave part is propagated,
In carry readable program code.The data-signal of this propagation may be used diversified forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any readable Jie other than readable storage medium storing program for executing
Matter, which can send, propagate either transmission for used by instruction execution system, device or device or and its
The program of combined use.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, including but not
It is limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
It can be write with any combination of one or more programming languages for executing the program that operates of the present invention
Code, programming language include object oriented program language-Java, C++ etc., further include conventional process
Formula programming language-such as " C " language or similar programming language.Program code can be calculated fully in user
It executes in equipment, partly execute on a user device, being executed, partly in user calculating equipment as an independent software package
Upper part executes or is executed in remote computing device or server completely on a remote computing.It is being related to remotely counting
In the situation for calculating equipment, remote computing device can pass through the network of any kind, including LAN (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
To sum up, the purpose of the present invention is to provide the method for mobile charging device charge and discharge, system, equipment and storage mediums
Directly to the parking lot of the charging pile of electric vehicle charging, the solution of electricity can not supplemented conveniently for electric vehicle
Scheme, the present invention is using full-automatic intelligent charging robot technology, the visual recognition line that charging robot can be utilized to carry
System identifies that the charge port in acquire image is located at electric vehicle or is located at charging pile, as a result, it is further configure charge robot into
Row charge or discharge realize that full automatic electric vehicle fills in the place that can not arrange the charging pile to charge directly to electric vehicle
Electricity will greatly improve the efficiency of charging, facilitate the energy supplement of electric vehicle, be conducive to the universal and hair for electric vehicle
Exhibition is conducive to the optimization operation of power grid.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (13)
1. a kind of method of mobile charging device charge and discharge, which is characterized in that include the following steps：
S101, mobile charging device visual identifying system mounted acquire image；
S102, according to visual identifying system acquired image recognition charge port region；
S103, identify that the charge port region is located at electric vehicle according to the neighboring region around the charge port region of acquired image
Or it is located at charging pile；
If S104, identifying that the charge port region is located at electric vehicle, electricity is gone out according to the charge port region recognition of acquired image
The space coordinate of the charge port of motor-car, and will be carried by mobile charging device mechanical arm mounted according to the space coordinate
Charging gun on the robotic arm is inserted into the charge port of electric vehicle, starts to charge to the charge port of electric vehicle；
If S105, identifying that the charge port region is located at charging pile, go out to fill according to the charge port region recognition of acquired image
The space coordinate of the charge port of electric stake, and will be carried by mobile charging device mechanical arm mounted according to the space coordinate
Charging gun on the robotic arm is inserted into the charge port of charging pile, starts from charging pile through the charge port to the mobile charging
Device charges.
2. the method for mobile charging device charge and discharge as described in claim 1, which is characterized in that the visual identifying system is taken
It is loaded on the mechanical arm, visual identifying system Image Acquisition direction corresponds to the charging gun of the mechanical arm.
3. the method for mobile charging device charge and discharge as claimed in claim 2, which is characterized in that the step S101 includes：
The visual identifying system capturing panoramic view image；The step S102 includes：
At least one quasi- charge port region is identified according to the panoramic picture；
When identifying multiple quasi- charge port regions in the panoramic picture, each quasi- charge port region is calculated in the panorama sketch
Ratio as in；
Using the maximum quasi- charge port region of the ratio proportion in the panoramic picture as the charge port region；
According to the initial position of position and the mechanical arm horizontal circle of the charge port region in the panoramic picture, really
Determine the relative position of charging gun of the corresponding charge port in the charge port region relative to the mechanical arm；
Mechanical arm described in relative position pre-adjustment according to the charge port relative to the charging gun of the mechanical arm so that described
Charging gun is towards the charge port.
4. the method for mobile charging device charge and discharge as claimed in claim 2, which is characterized in that the visual identifying system is adopted
Collecting panoramic picture includes：
The mechanical arm horizontal circle so that acquired image be horizontal circle described in mobile charging device panoramic picture or
So that acquired image is the panoramic picture that the mechanical arm horizontal circle is spaced that the multiple image of acquisition is spliced in the process；
Or
The mechanical arm cardo ring around so that acquired image be ball collar around the panoramic picture of the mobile charging device or
So that acquired image is the panoramic picture that the mechanical arm cardo ring is spliced among process every the multiple image of acquisition.
5. the method for mobile charging device charge and discharge as claimed in claim 3, which is characterized in that it is described will be in the panorama sketch
The maximum quasi- charge port region of ratio proportion as in includes as the charge port region：
It is filled when ratio proportion of two quasi- charge port regions in the panoramic picture is maximum and identical or works as two standards
When ratio proportion of the power port region in the panoramic picture is maximum and proportional difference is less than predetermined threshold value, by two standards
Charge port region is as the charge port region；
The step S103 includes：
According to around acquired image charge port region neighboring region identify two charge port regions be located at electric vehicle or
Positioned at charging pile；
If two charge port regions are respectively positioned on electric vehicle, the mobile charging device is associated with two electric vehicles respectively
Terminal communicates, with determination electric vehicle to be charged；
If in two charge port regions, a charge port region is located at electric vehicle, another charge port region is located at charging pile,
Then the mobile charging device detects the first battery of the mobile charging device and the electricity of the second battery, if first electricity
The electricity of any battery is less than predetermined threshold value in pond and the second battery, then executes the step S105, wherein first battery
For being powered to mobile charging device to drive the movement of the mobile charging device and the mechanical arm, second battery to use
It powers in electric vehicle.
6. the method for mobile charging device charge and discharge as described in claim 1, which is characterized in that before the step S101 also
Including：
S106, an electric vehicle berth in a parking stall in parking lot, and a mobile terminal sends the position comprising the parking stall and sits
Target charge request information is to a server；
The charge request information is sent to an interior mobile charging device in the parking lot by S107, the server；
S108, the mobile charging device drive to the parking stall according to the charge request information；
After S109, the mobile charging device interact confirmation with the electric vehicle, the charging lid of the electric vehicle is opened, dew
Go out the charge port of the electric vehicle.
7. the method for mobile charging device charge and discharge as claimed in claim 6, which is characterized in that after the step S104 also
Including：
After S110, charging, the mobile charging device obtains charging settlement amounts according to the practical electricity of charging, and sends
Including the charging settlement information of the charging settlement amounts is settled accounts to the mobile terminal.
8. the method for mobile charging device charge and discharge according to claim 6, which is characterized in that in the step S106,
The charge request information includes at least the number on parking stall, and prestore described stop in the server and the mobile charging device
The position coordinates on the number on the parking stall in parking lot and the corresponding parking stall of each number, the mobile terminal are sent comprising described
The number on parking stall is to a server；
In step S107, the server parses the location coordinate information on destination parking stall, and the information is issued to
Mobile charging device；
In step S108, mobile charging device is according to the location information of itself and the location coordinate information on destination parking stall, certainly
Professional etiquette draws driving path, and the driving path is by the channel in parking lot and without parking stall.
9. the method for mobile charging device charge and discharge according to claim 8, which is characterized in that
In the step S109, after the mobile charging device arrives at parking stall, it arrived to server transmission specified
Location information after server receives the information, is interacted, vehicle by communications protocol and the communication control unit of vehicle to be charged
Communication control unit the charging lid of the electric vehicle is opened by In-vehicle networks, expose charge port；Alternatively, mobile
After charging unit interacts confirmation by near-field communication agreement and the electric vehicle, the charging lid of the electric vehicle is opened, dew
Go out charge port.
10. a kind of system of mobile charging device charge and discharge, for realizing the moving charging described in any one of claim 1 to 9
The method of electric installation charge and discharge, which is characterized in that including：Mobile charging device, electric vehicle and charging pile, wherein the movement
Charging unit executes following steps：
Mobile charging device visual identifying system mounted acquires image；
According to visual identifying system acquired image recognition charge port region；
Identify that the charge port region is located at electric vehicle or position according to the neighboring region around the charge port region of acquired image
In charging pile；
If identifying, the charge port region is located at electric vehicle, goes out electric vehicle according to the charge port region recognition of acquired image
The space coordinate of charge port, and machinery will be mounted in by mobile charging device mechanical arm mounted according to the space coordinate
Charging gun on arm is inserted into the charge port of electric vehicle, starts to charge to the charge port of electric vehicle；
If identifying, the charge port region is located at charging pile, goes out charging pile according to the charge port region recognition of acquired image
The space coordinate of charge port, and machinery will be mounted in by mobile charging device mechanical arm mounted according to the space coordinate
Charging gun on arm is inserted into the charge port of charging pile, starts to be filled to the mobile charging device by the charge port from charging pile
Electricity.
11. the system of mobile charging device charge and discharge according to claim 10, it is characterised in that：The moving charging Denso
It is a charging robot with wheel to set, and the charging robot includes navigation system, optical registration component, electronic horse
Reach, mechanical arm, charging gun, the first battery and the second battery, first battery is to the power electric motors, the electronic horse
Up to driving the wheel to advance, second battery is electrically connected the charging gun, the voltage of first battery be 24 volts or
The voltage range of 48 volts of person, second battery are 115 volts to 410 volts.
12. a kind of equipment of mobile charging device charge and discharge, which is characterized in that including：
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 1 to 9 institute via the execution executable instruction
The step of stating the method for mobile charging device charge and discharge.
13. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Profit requires the step of method of any one of 1 to the 9 mobile charging device charge and discharge.
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| CN201810509058.7A CN108656995B (en) | 2018-05-24 | 2018-05-24 | Method, system, equipment and storage medium for charging and discharging mobile charging device |
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| CN109435755A (en) * | 2019-01-09 | 2019-03-08 | 福晟生活服务有限公司 | Electric bicycle intelligent charging method, system and computer readable storage medium |
| CN110040031A (en) * | 2019-05-21 | 2019-07-23 | 和瑞众联科技(北京)有限公司 | One kind can dispense electric car charging method and system |
| CN110264020A (en) * | 2019-07-22 | 2019-09-20 | 山东莱宝智能技术有限公司 | A kind of charging control system of electric automobile and method |
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| CN113263929A (en) * | 2021-06-25 | 2021-08-17 | 北京图什科技有限公司 | Mobile charging system and mobile charging positioning method |
| CN113276701A (en) * | 2021-06-30 | 2021-08-20 | 东风汽车集团股份有限公司 | Extended charging connection robot, charging pile and charging method |
| CN115871493A (en) * | 2021-08-13 | 2023-03-31 | 博泰车联网(南京)有限公司 | Charging method, storage medium, equipment and charging system based on charging pile |
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| CN114670690B (en) * | 2022-03-11 | 2023-04-18 | 常州信息职业技术学院 | Vehicle automatic charging method and system based on OpenMV |
| CN114312418A (en) * | 2022-03-16 | 2022-04-12 | 始途科技(杭州)有限公司 | Mobile charging system and method |
| CN114932825A (en) * | 2022-06-22 | 2022-08-23 | 阿维塔科技(重庆)有限公司 | Charging device and electric vehicle charging method |
| CN114932825B (en) * | 2022-06-22 | 2023-11-07 | 阿维塔科技(重庆)有限公司 | Charging device and electric vehicle charging method |
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