CN109159709A - The automatic localization charging method and system of electric car - Google Patents

The automatic localization charging method and system of electric car Download PDF

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Publication number
CN109159709A
CN109159709A CN201811347453.6A CN201811347453A CN109159709A CN 109159709 A CN109159709 A CN 109159709A CN 201811347453 A CN201811347453 A CN 201811347453A CN 109159709 A CN109159709 A CN 109159709A
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China
Prior art keywords
charging pile
electric car
charging
free time
target free
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CN201811347453.6A
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Chinese (zh)
Inventor
于豪
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Priority to CN201811347453.6A priority Critical patent/CN109159709A/en
Publication of CN109159709A publication Critical patent/CN109159709A/en
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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
    • 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

Abstract

The present embodiments relate to electric car charging technique fields, disclose the automatic localization charging method and system of electric car, this method comprises: electric car is when the current electric quantity for detecting this vehicle is lower than preset power threshold, from cloud big data systematic search to idle charging pile location information in obtain and location information of the current vehicle location apart from nearest target free time charging pile；According to the location information of target free time charging pile, electric automobile during traveling is to the charging parking stall of target free time charging pile, open charge port, so that target free time charging pile establishes the charging connection of automatic charging machine arm and charge port, and it charges to electric car, and the charging connection of automatic charging machine arm and charge port is released when detecting to electric car charging complete；Electric car charge closing mouth, and it is driven out to the charging parking stall of target free time charging pile, the manual operation to charge to electric car can be reduced, charge efficiency is improved.

Description

The automatic localization charging method and system of electric car
Technical field
The present invention relates to electric car charging technique fields, and in particular to the automatic localization charging method of electric car and is System.
Background technique
As the healthy living consciousness of " energy-saving and emission-reduction, Green Travel " is increasingly rooted in the hearts of the people, electric car becomes increasingly The vehicles that more people select when going on a journey.Since the battery performance of electric car directly influences the overall performance of automobile, charging Mode is to most important the needs of meeting people's electronic trip.
Existing charging modes, which mainly pass through, manually searches out available idle charging pile, by driver by electric car It is driven near idle charging pile, connects idle charging pile and electric car manually, and carry out barcode scanning or plug-in card payment.It can See, in practical applications, this charging modes need complicated manual operation, reduce charge efficiency.
Summary of the invention
The embodiment of the invention discloses the automatic localization charging methods and system of electric car, can reduce to electric car The manual operation to charge, improves charge efficiency.
First aspect of the embodiment of the present invention discloses a kind of automatic localization charging method of electric car, which comprises
The electric car is when the current electric quantity for detecting this vehicle is lower than preset power threshold, from cloud big data system It is obtained in the location information for the idle charging pile that system searches and current vehicle location is apart from nearest target free time charging pile Location information；
The electric car controls the electric automobile during traveling to institute according to the location information of the target free time charging pile State the charging parking stall of target free time charging pile；
The electric car opens charge port so that the target free time charging pile establish automatic charging machine arm with The charging connection of the charge port, and charge to the electric car, and detected by the target free time charging pile The charging connection of the automatic charging machine arm and the charge port is released when to the electric car charging complete；
The electric car detect the target free time charging pile release the automatic charging machine arm with it is described After the charging connection of charge port, the charge port is closed, and is driven out to the charging parking stall of the target free time charging pile.
As an alternative embodiment, the electric car is according in first aspect of the embodiment of the present invention The location information of target free time charging pile controls the electric automobile during traveling to the charging parking stall of the target free time charging pile, packet It includes:
The electric car controls the electric automobile during traveling to institute according to the location information of the target free time charging pile State the neighboring area of target free time charging pile position；
The camera that the Control of Electric Vehicles is set to the electric car shoots the image of the neighboring area, and leads to It crosses described image and identifies the target free time charging pile；
The electric car acquires the target free time charging pile using the laser radar for being set to the electric car Point cloud data, and construct according to the point cloud data three-dimensional point cloud atlas of the target free time charging pile；
The electric car controls the electric car according to the three-dimensional point cloud atlas of the target free time charging pile and is moved to The charging parking stall of the target free time charging pile, so that between the charge port of the electric car and the target free time charging pile Distance be located in pre-determined distance.
As an alternative embodiment, the electric car is according in first aspect of the embodiment of the present invention The location information of target free time charging pile controls the week of the electric automobile during traveling to the target free time charging pile position Border region, comprising:
If the electric car detects that satellite positioning signal, the electric car are obtained according to by the satellite positioning signal The real time position of the electric car obtained and the location information of the target free time charging pile, generate travel route, control institute Electric car is stated to travel according to the travel route to the neighboring area of the target free time charging pile position；
If the electric car can not detect the satellite positioning signal, the electric car sends the of predeterminated frequency One radio signal, so that the target free time charging pile after detecting first radio signal, returns described pre- If the second radio signal of frequency；Second radio signal includes the number information of the target free time charging pile；
The electric car receives second radio signal；
The electric car determines the electronic vapour according to first radio signal and second radio signal The distance between vehicle and the target free time charging pile and path direction, and according to the distance and the path direction travel to The neighboring area of the target free time charging pile position.
As an alternative embodiment, in first aspect of the embodiment of the present invention, in the electric car according to institute The location information for stating target free time charging pile controls the electric automobile during traveling to the charging parking stall of the target free time charging pile Later, and before the electric car opens charge port, the method also includes:
The electric car and the target free time charging pile carry out identity information verifying；If being verified, described in execution The step of opening charge port；
After the charging connection that the target free time charging pile establishes automatic charging machine arm and the charge port, with And before the target free time charging pile charges to the electric car, the method also includes:
The electric car and the target free time charging pile carry out safety inspection；If inspection passes through, the electric car Charging start signal is sent to the target free time charging pile, so that the target free time charging pile controls the automatic charging Robotic arm charges to the electric car.
As an alternative embodiment, in first aspect of the embodiment of the present invention, in the electric car from cloud Big data systematic search to idle charging pile location information in obtain and current vehicle location is idle apart from nearest target After the location information of charging pile, the method also includes:
The electric car is sent to the cloud big data system believes the predetermined request of the target free time charging pile Breath so that the cloud big data system receives the predetermined request information, and the target free time charging pile is labeled as Predetermined state.
Second aspect of the embodiment of the present invention discloses a kind of automatic localization charging method, which comprises
Charging pile is detecting that electric car stops the charging parking stall into the charging pile and open filling for the electric car When power port, the charging connection of automatic charging machine arm Yu the charge port is established, and charge to the electric car；
The charging pile when detecting to the electric car charging complete, release the automatic charging machine arm with The charging connection of the charge port.
As an alternative embodiment, the charging pile is detecting electricity in second aspect of the embodiment of the present invention When electrical automobile stops the charging parking stall into the charging pile and opens the charge port of the electric car, automatic charging machine hand is established The charging connection of arm and the charge port, and charge to the electric car, comprising:
The charging pile is detecting that electric car stops the charging parking stall into the charging pile and open the electric car Charge port when, detected and the range information of the charge port and detection institute using the laser radar for being set to the charging pile Setting position of the charge port on the vehicle body of the electric car is stated, and will be certainly according to the range information and the setting position Dynamic charging robotic arm is inserted into the charge port, is connected with establishing the charging of the automatic charging machine arm and the charge port It connects；
The charging pile detects whether to receive the charging start signal that the electric car is sent, if detecting described fill Electric commencing signal, the charging pile control the automatic charging machine arm and charge to the electric car；Wherein, described Charging start signal is the electric car and the target free time charging pile carries out safety inspection and after inspection passes through The charging start signal sent by the electric car.
The third aspect of the embodiment of the present invention discloses a kind of electric car, and the electric car includes:
Information acquisition unit, for the current electric quantity for detecting this vehicle be lower than preset power threshold when, it is big from cloud It is obtained in the location information for the idle charging pile that data system searches and current vehicle location is filled apart from the nearest target free time The location information of electric stake；
Control unit, for controlling the electric automobile during traveling to institute according to the location information of the target free time charging pile State the charging parking stall of target free time charging pile；And charge port is opened, so that target free time charging pile foundation is filled automatically The charging connection of electric machine arm and the charge port, and charge to the electric car, and idle by the target Charging pile releases the automatic charging machine arm and the charge port when detecting to the electric car charging complete Charging connection；And detecting the target free time charging pile releasing automatic charging machine arm and the charge port Charging connection after, close the charge port, and be driven out to the charging parking stall of the target free time charging pile.
As an alternative embodiment, described control unit is used for basis in the third aspect of the embodiment of the present invention The location information of the target free time charging pile controls the charging vehicle of the electric automobile during traveling to the target free time charging pile The mode of position specifically:
Described control unit, for controlling the electric automobile during traveling according to the location information of the target free time charging pile To the neighboring area of the target free time charging pile position；And control is set to the camera bat of the electric car The image of the neighboring area is taken the photograph, and the target free time charging pile is identified by described image；And using being set to The laser radar for stating electric car acquires the point cloud data of the target free time charging pile, and is constructed according to the point cloud data The three-dimensional point cloud atlas of the target free time charging pile；And institute is controlled according to the three-dimensional point cloud atlas of the target free time charging pile The charging parking stall that electric car is moved to the target free time charging pile is stated, so that the charge port of the electric car and the mesh The distance between idle charging pile is marked to be located in pre-determined distance.
As an alternative embodiment, described control unit is used for basis in the third aspect of the embodiment of the present invention The location information of the target free time charging pile controls the electric automobile during traveling to the target free time charging pile position Neighboring area mode specifically:
Described control unit, for when detecting satellite positioning signal, according to what is obtained by the satellite positioning signal The location information of the real time position of the electric car and the target free time charging pile generates travel route, controls the electricity Electrical automobile is travelled according to the travel route to the neighboring area of the target free time charging pile position；And can not When detecting the satellite positioning signal, the first radio signal of predeterminated frequency is sent, so that the target free time charging pile After detecting first radio signal, the second radio signal of the predeterminated frequency is returned；Described second is wireless Electric signal includes the number information of the target free time charging pile；And receive second radio signal；And root The electric car and the target free time charging pile are determined according to first radio signal and second radio signal The distance between and path direction, and travelled according to the distance and the path direction to where the target free time charging pile The neighboring area of position.
As an alternative embodiment, in the third aspect of the embodiment of the present invention, the electric car further include:
Authentication unit, for controlling the electricity according to the location information of the target free time charging pile in described control unit Electrical automobile is travelled to the charging parking stall of the target free time charging pile, and described control unit open charge port it Before, identity information verifying is carried out with the target free time charging pile；
Described control unit is used to open the mode of charge port specifically:
Described control unit, for opening charge port when the authentication unit determines that identity information is verified；
Inspection unit, for establishing filling for automatic charging machine arm and the charge port in the target free time charging pile It is idle with the target after electrical connection, and before the target free time charging pile charges to the electric car Charging pile carries out safety inspection；
Transmission unit, for being sent out to the target free time charging pile when the inspection unit determines that safety inspection passes through Charging start signal is sent, so that the target free time charging pile controls the automatic charging machine arm to the electric car It charges.
As an alternative embodiment, in the third aspect of the embodiment of the present invention, the transmission unit is also used to The information acquisition unit from cloud big data systematic search to idle charging pile location information in obtain and current vehicle After the location information of the nearest target free time charging pile of positional distance, send to the cloud big data system to the target The predetermined request information of idle charging pile, so that the cloud big data system receives the predetermined request information, and by institute Target free time charging pile is stated labeled as predetermined state.
Fourth aspect of the embodiment of the present invention discloses a kind of charging pile, and the charging pile includes:
Connection establishment unit, for detecting that electric car stops the charging parking stall into the charging pile and open the electricity When the charge port of electrical automobile, the charging connection of automatic charging machine arm Yu the charge port is established, and to the electric car It charges；
Lifting unit is connected, for releasing the automatic charger when detecting to the electric car charging complete The charging connection of device arm and the charge port.
As an alternative embodiment, in fourth aspect of the embodiment of the present invention, the connection establishment unit, packet It includes:
Subelement is connected, for detecting that electric car stops the charging parking stall into the charging pile and open described electronic When the charge port of automobile, detected and the range information of the charge port and inspection using the laser radar for being set to the charging pile Setting position of the charge port on the vehicle body of the electric car is surveyed, and according to the range information and the setting position Automatic charging machine arm is inserted into the charge port, to establish the charging of the automatic charging machine arm and the charge port Connection；
Charge subelement, for detecting whether receiving the charging start signal that the electric car is sent；And it is examining When measuring the charging start signal, controls the automatic charging machine arm and charge to the electric car；Wherein, institute Stating charging start signal is that the electric car and the target free time charging pile carry out safety inspection and pass through it in inspection The charging start signal sent afterwards by the electric car.
The 5th aspect of the embodiment of the present invention discloses a kind of automatic localization charging system of electric car, and the system comprises this Charging pile disclosed in electric car disclosed in the inventive embodiments third aspect and fourth aspect.
The 6th aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein The computer program makes computer execute the charging of automatic localization disclosed in first aspect of the embodiment of the present invention and second aspect Method.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, electric car is lower than preset power threshold in the current electric quantity for detecting this vehicle first When, from cloud big data systematic search to idle charging pile location information in obtain it is nearest with current vehicle location distance The location information of target free time charging pile；According to the location information of target free time charging pile, electric automobile during traveling to target free time The charging parking stall of charging pile；Later, electric car opens charge port, so that target free time charging pile establishes automatic charging machine The charging connection of arm and charge port, and charge to electric car, and, it is being detected by target free time charging pile to electricity The charging connection of automatic charging machine arm and charge port is released when electrical automobile charging complete；Finally, electric car charge closing Mouthful, and it is driven out to the charging parking stall of target free time charging pile, it can realize the process of automatic localization charging.As it can be seen that implementing this hair Bright embodiment is believed by obtaining the available target free time charging pile near current vehicle location from the big data system of cloud Breath can reduce the time for finding idle charging pile, improve the utilization rate to idle charging pile；In addition, by including the free time The selection of charging pile, the driving of electric car, the connection of charging robotic arm and charge port and deduct the entire of charging expense Process realizes automation, can greatly mitigate the driving burden of driver, improve the efficiency and convenience degree of charging, thus Improve the riding experience of driver.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.
Fig. 1 is a kind of flow diagram of the automatic localization charging method of electric car disclosed by the embodiments of the present invention；
Fig. 2 is the flow diagram of the automatic localization charging method of another electric car disclosed by the embodiments of the present invention；
Fig. 3 is a kind of structural schematic diagram of electric car disclosed by the embodiments of the present invention；
Fig. 4 is the structural schematic diagram of another electric car disclosed by the embodiments of the present invention；
Fig. 5 is a kind of structural schematic diagram of charging pile disclosed by the embodiments of the present invention；
Fig. 6 is a kind of structural schematic diagram of the automatic localization charging system of electric car disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.
It should be noted that the term " includes " of the embodiment of the present invention and " having " and their any deformation, it is intended that Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side The intrinsic other step or units of method, product or equipment.
The embodiment of the invention discloses a kind of automatic localization charging method of electric car, can reduce to electric car into The manual operation of row charging, improves charge efficiency.It is described in detail below in conjunction with attached drawing.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of process of the automatic localization charging method of electric car disclosed by the embodiments of the present invention Schematic diagram.As shown in Figure 1, the automatic localization charging method of the electric car may comprise steps of.
101, electric car is when the current electric quantity for detecting this vehicle is lower than preset power threshold, from cloud big data system It is obtained in the location information for the idle charging pile that system searches and current vehicle location is apart from nearest target free time charging pile Location information.
In the embodiment of the present invention, electric car can by electronic control unit (Electronic Control Unit, ECU) control electric car executes method disclosed by the embodiments of the present invention, may include multiple specific ECU in electric car, Each ECU usually only supports specific application, and such as traveling control, charge port control or safety inspection, the embodiment of the present invention are not done It limits；Charging pile is used to be charged according to the electric car that different voltage class is various models, is provided on charging pile The automatic charging machine arm to match with electric car charging interface, wherein automatic charging machine arm can pass through charging cable Cable is connect with charging pile body；Charging pile is generally positioned at public building (public building, market, Public Parking etc.), resident It may include the fixed charging pile for being fixed on ground or wall in community parking field or charging station, can also include removable Formula charging pile, the embodiment of the present invention is without limitation.
As an alternative embodiment, cloud big data system is asked in response to the charging pile search that electric car is sent It asks, according to the current vehicle location of electric car, determines apart from current vehicle location pre-determined distance range (such as 500 meters, 1000 Rice) in the available free charging pile of institute, and the location information of above-mentioned idle charging pile is returned into electric car, wherein each Charging pile is designed with corresponding state tag, and idle charging pile is the charging pile labeled as idle state.Electric car can be from Cloud big data system obtain idle charging pile in choose and current vehicle location apart from nearest charging pile as target empty Not busy charging pile can also carry out artificial selection by driver.Therefore, further, electric car can also pass through car-mounted display Equipment (controls large-size screen monitors) in such as, the idle charging pile position obtained in conjunction with map denotation from cloud big data system.It is electronic Automotive check can will click on the selected charging pile of instruction as target free time charging pile to the click commands of driver.
As an alternative embodiment, after step 101, this method further include:
Electric car sends the predetermined request information to target free time charging pile to cloud big data system, so that cloud Big data system receives predetermined request information, and by target free time charging pile labeled as predetermined state.
As it can be seen that cloud big data system is enabled to exclude to be marked as when providing available idle charging pile in this way The charging pile of predetermined state avoids more vehicles and repeats the case where making a reservation for same charging pile, and improve charging pile utilizes effect Rate.
102, electric car is filled according to the location information of target free time charging pile control electric automobile during traveling to the target free time The charging parking stall of electric stake.
In the embodiment of the present invention, electric car can be according to the real time position of the electric car obtained by satellite positioning signal Travel route is generated with the location information of target free time charging pile, control electric car is travelled according to travel route to the target free time The neighboring area of charging pile position, can also be when that can not detect satellite positioning signal, in drawing for high frequency radio wave Lead the neighboring area of downward driving to target free time charging pile position；And then by combining image recognition and laser radar Mode, obtain target free time charging pile specific location, finally drive into the charging parking stall of target free time charging pile.
103, electric car opens charge port.
In the embodiment of the present invention, the charge port of electric car is coupled for the automatic charging machine arm with charging pile Car body component usually protects its jack by the charge port protection cap being closed.According to different vehicles, charge port be can be set in vehicle The right lateral side of body, the front left side of vehicle body, the surface of front bumper and preceding face grid or right corner of rear bumper etc., the present invention Embodiment is without limitation.
104, target free time charging pile establishes the charging connection of automatic charging machine arm and charge port, and to electric car It charges.
In the embodiment of the present invention, the automatic charging machine arm of charging pile be for connecting charging pile and electric car, and The charging unit to charge to electric car.The charge port with electric car is usually additionally provided on automatic charging machine arm The plug being coupled, automatic charging machine arm can find the charging with electric automobile under the control of charging pile main body Mouthful, and plug portion is inserted into charge port.
105, target free time charging pile is when detecting to electric car charging complete, release automatic charging machine arm with The charging connection of charge port.
During the present invention is implemented, the charging connection of automatic charging machine arm and charge port is released specifically: releasing is filled automatically The plug of electric machine arm and the couple state of charge port, and automatic charging machine arm is made to exit charge port.
106, electric car is in the charging for detecting target free time charging pile releasing automatic charging machine arm and charge port After connection, charge closing mouth, and it is driven out to the charging parking stall of target free time charging pile.
As an alternative embodiment, electric car can carry out charging association with target free time charging pile before charging View communication confirmation, later, after electric car charging complete, electric car is based on charging policy specified in charge protocol, root Calculate charging expense and service charge etc. according to charge volume, can by advance bound with license plate number account (such as Alipay, Wechat account) charging expense is deducted, it can also be arranged on electric car by target free time charging pile automatic sensing and be bound in advance IC card deduct fees.
As it can be seen that implementing method described in Fig. 1, by obtaining near current vehicle location from the big data system of cloud Available target free time information of charging pile can reduce the time for finding idle charging pile, improve the utilization to idle charging pile Rate；In addition, passing through the connection of driving, charge robotic arm and charge port to selection, electric car including idle charging pile And the whole flow process realization automation of charging expense is deducted, it can greatly mitigate the driving burden of driver, improve and fill The efficiency and convenience degree of electricity, so as to improve the riding experience of driver.
Embodiment two
Referring to Fig. 2, Fig. 2 is the stream of the automatic localization charging method of another electric car disclosed by the embodiments of the present invention Journey schematic diagram.As shown in Fig. 2, the automatic localization charging method of the electric car may comprise steps of.
201, electric car is when the current electric quantity for detecting this vehicle is lower than preset power threshold, from cloud big data system It is obtained in the location information for the idle charging pile that system searches and current vehicle location is apart from nearest target free time charging pile Location information.
202, electric car is filled according to the location information of target free time charging pile control electric automobile during traveling to the target free time The neighboring area of electric stake position.
As an alternative embodiment, electric car is according to by defending if electric car detects satellite positioning signal The real time position for the electric car that star positioning signal obtains and the location information of target free time charging pile generate travel route, control Electric car processed is travelled according to travel route to the neighboring area of target free time charging pile position.
As another optional embodiment, if electric car can not detect satellite positioning signal, electric car hair Send the first radio signal of predeterminated frequency；
Target free time charging pile returns the second radio signal of predeterminated frequency after detecting the first radio signal Back to electric car；Second radio signal includes the number information of target free time charging pile；
Electric car receives the second radio signal；
Electric car determines that electric car and target free time charge according to the first radio signal and the second radio signal The distance between stake and path direction, and travelled to target free time charging pile institute in place according to above-mentioned distance and above-mentioned path direction The neighboring area set.
Wherein, the first radio signal and the second radio signal can be high frequency radio wave；Electric car transmitting is pre- If frequency and the radio wave with directive property, radio wave are returned encountering target free time charging pile back reflection, therefore, are passed through The time that formula radio wave on the way flies × light velocity ÷ 2, it is opposite with target free time charging pile that electric car can be obtained Distance；By the phase difference of the reflected radio wave of target free time charging pile, it is opposite that target free time charging pile can be obtained In the phase angle of electric car, and then determine the path direction between electric car and target free time charging pile.
As it can be seen that implement optional embodiment, can in the case where that can not be positioned in real time by satellite positioning signal, according to By the highly directive of high frequency radio wave, guide electric automobile during traveling to the neighboring area of target free time charging pile position. In addition, passing through reception predeterminated frequency and carrying the radio wave of the number information of charging pile, other interference signals can be excluded, are mentioned Height finds the accuracy of target free time charging pile.
203, Control of Electric Vehicles is set to the image of the camera shooting neighboring area of electric car, and passes through the image Identify target free time charging pile.
204, electric car acquires the point cloud data of target free time charging pile using the laser radar for being set to electric car, And the three-dimensional point cloud atlas of target free time charging pile is constructed according to point cloud data.
205, electric car controls electric car according to the three-dimensional point cloud atlas of target free time charging pile and is moved to the target free time The charging parking stall of charging pile, so that the distance between the charge port of electric car and target free time charging pile are located at pre-determined distance It is interior.
As it can be seen that implementing 202~step 205 of above-mentioned steps, electric car row can be controlled using precise distance measurement location technology It sails to target free time charging pile position, intelligence degree is high, alleviates the driving burden of driver.
In the embodiment of the present invention, the technology that laser radar uses is time-of-flight method (Time of Flight) according to laser The reciprocal time for encountering obstacle calculates distance.Need to carry out angle scanning, the certain angle of taking turn to cover certain angle range Degree can generate the complete data of a frame to emit laser.According to actual needs, the laser of different laser beams will can be selected Radar, such as 16/32/64 line laser radar also can choose laser radar different location are arranged with electric automobile.
It is appreciated that electric car positions the specific location of target free time charging pile, and automatic Pilot is to the free time The charging parking stall of charging pile be unable to do without the fusion work of multisensor.It wherein, optionally, can be by laser radar and camera Front-end convergence export R, G, B color+X, Y, Z coordinate+cloud fuse information to together, also, realize number in sensor internal The computational throughput of rear end can be greatly lowered according to fusion.For example, camera can identify the target free time by shooting image Charging pile, and laser radar is responsible for the approximate location of the target free time charging pile identified according to camera, continuous collection point cloud Data simultaneously construct threedimensional model.By controlling the scanning of every beam laser pulse, the three-dimensional coordinate of each point can be inquired, is realized more smart Quasi- positioning.Further, when identifying to target free time charging pile, the characteristic information of acquisition can be put into training set In, then target free time charging pile is identified with SVM (Support Vector Machine, support vector machines) classifier Come, wherein characteristic information may include reflected intensity, horizontal and vertical width and the shape of charging pile.
206, electric car and target free time charging pile carry out identity information verifying；If being verified, electric car is opened Charge port.
In the embodiment of the present invention, it will be understood that high-voltage charging stake is merely able to meet corresponding high-voltage electric automobile, for low For piezoelectricity electrical automobile, can not achieve its charge function, therefore, it is necessary to ensured by authentication electric car specification with The matching of charging pile function.Authentication between electric car and target free time charging pile mainly include to charging pile model, Charging pile general information and electric car model, the compatibility verification of batteries of electric automobile information, and, it can also be according to charging The number information of stake confirms whether the charging pile is the target free time charging pile obtained from cloud big data system search.As one The optional embodiment of kind, electric car are established by wireless encryption mechanics of communication and target free time charging pile and are wirelessly connected, and Exchange identity information, to carry out identity information verifying, wherein wireless communication technique can include but is not limited to GPRS, Bluetooth, Wi-Fi and Zig-Bee, wireless cryptographic techniques can include but is not limited to wired equivalent privacy (WEP) technology (being mainly used in Wi-Fi), WPA encryption technology (can be applied to Wi-Fi, Bluetooth, Zig-Bee) and WPA2JJH encryption Technology (is mainly used in 4G communication).
207, target free time charging pile is detecting that electric car stops the charging parking stall into charging pile and open electric car Charge port when, detected with the range information of charge port and detection charge port using the laser radar for being set to charging pile in electricity Setting position on the vehicle body of electrical automobile, and automatic charging machine arm is inserted into according to range information and setting position and is charged Mouthful, to establish the charging connection of automatic charging machine arm and charge port.
208, electric car and target free time charging pile carry out safety inspection；Pass through if checking, electric car is to target empty Not busy charging pile sends charging start signal.
In the embodiment of the present invention, the safety inspection between electric car and target free time charging pile mainly includes checking charging Whether the current operating conditions of stake and electric car meet the safety condition of charging, for example, checking a series of ginsengs such as insulation resistance Number, and, confirm the charge protocol consulted.As an alternative embodiment, if the safety inspection of target free time charging pile It looks into and does not pass through, target free time charging pile can match anomalous performance data and fault data type preset in database, For the anomalous performance data of corresponding preset failure data type can be matched to, failure preliminary treatment scheme is obtained, with reality Existing failure is removed certainly, such as is restarted automatically charging pile；If can not match, the anomalous performance data checked can also be uploaded to far Monitoring center is held, notifies related operation maintenance personnel to repair to form work order.Further, charging pile can be with time opening routine Change self-test；And for the charging pile that failure not yet excludes, de-activation request information can also be sent to cloud big data system, So that corresponding charging pile is labeled as dead status by cloud big data system.
As it can be seen that implementing the embodiment of the present invention, it can guarantee the peace that automatic charging is carried out to electric car by safety inspection Quan Xing.
209, target free time charging pile detects whether to receive the charging start signal of electric car transmission, fills if detecting Electric commencing signal, target free time charging pile control automatic charging machine arm charge to electric car.
210, target free time charging pile is when detecting to electric car charging complete, release automatic charging machine arm with The charging connection of charge port.
As an alternative embodiment, after step 210, this method can also include:
Target free time charging pile sends predetermined releasing information to cloud big data system, so that cloud big data system will Target free time charging pile is labeled as idle state.
As it can be seen that implementing optional embodiment, cloud big data system is enabled to fill the target free time of charging complete Electric stake is labeled as idle state in time, is made a reservation for convenient for other vehicles according to self-demand, and the utilization of charging pile is maximized Rate.
211, electric car is in the charging for detecting target free time charging pile releasing automatic charging machine arm and charge port After connection, charge closing mouth, and it is driven out to the charging parking stall of target free time charging pile.
As it can be seen that implementing method described in Fig. 2, by obtaining near current vehicle location from the big data system of cloud Available target free time information of charging pile can reduce the time for finding idle charging pile, improve the utilization to idle charging pile Rate；In addition, passing through the connection of driving, charge robotic arm and charge port to selection, electric car including idle charging pile And the whole flow process realization automation of charging expense is deducted, it can greatly mitigate the driving burden of driver, improve and fill The efficiency and convenience degree of electricity, so as to improve the riding experience of driver；Furthermore it is possible to satellite positioning signal can not be passed through In real time in the case where positioning, by the highly directive of high frequency radio wave, guide electric automobile during traveling to target free time charging pile The neighboring area of position, also, by receive predeterminated frequency and carry charging pile number information radio wave, can be with Other interference signals are excluded, the accuracy for finding target free time charging pile is improved；Further, can be guaranteed by safety inspection The safety of automatic charging is carried out to electric car；Still further, enabling to cloud big data system by charging complete Target free time charging pile is labeled as idle state in time, is made a reservation for convenient for other vehicles according to self-demand, maximization is filled The utilization rate of electric stake.
Embodiment three
Referring to Fig. 3, Fig. 3 is a kind of structural schematic diagram of electric car disclosed by the embodiments of the present invention.As shown in figure 3, The electric car includes:
Information acquisition unit 301, for the current electric quantity for detecting this vehicle be lower than preset power threshold when, from cloud Big data systematic search to idle charging pile location information in obtain and current vehicle location is idle apart from nearest target The location information of charging pile.
Control unit 302, for controlling electric automobile during traveling to target empty according to the location information of target free time charging pile The charging parking stall of not busy charging pile；And open charge port so that target free time charging pile establish automatic charging machine arm with The charging connection of charge port, and charge to electric car, and detected by target free time charging pile to electric car The charging connection of automatic charging machine arm and charge port is released when charging complete；And detecting target free time charging pile After the charging connection for releasing automatic charging machine arm and charge port, charge closing mouth, and it is driven out to target free time charging pile Charging parking stall.
As an alternative embodiment, cloud big data system is asked in response to the charging pile search that electric car is sent It asks, according to the current vehicle location of electric car, determines apart from current vehicle location pre-determined distance range (such as 500 meters, 1000 Rice) in the available free charging pile of institute, and the location information of above-mentioned idle charging pile is returned into electric car, wherein each Charging pile is designed with corresponding state tag, and idle charging pile is the charging pile labeled as idle state.Electric car can be from Cloud big data system obtain idle charging pile in choose and current vehicle location apart from nearest charging pile as target empty Not busy charging pile can also carry out artificial selection by driver.Therefore, further, electric car can also pass through car-mounted display Equipment (controls large-size screen monitors) in such as, the idle charging pile position obtained in conjunction with map denotation from cloud big data system.It is electronic Automotive check can will click on the selected charging pile of instruction as target free time charging pile to the click commands of driver.
As an alternative embodiment, electric car can carry out charging association with target free time charging pile before charging View communication confirmation, later, after electric car charging complete, electric car is based on charging policy specified in charge protocol, root Calculate charging expense and service charge etc. according to charge volume, can by advance bound with license plate number account (such as Alipay, Wechat account) charging expense is deducted, it can also be arranged on electric car by target free time charging pile automatic sensing and be bound in advance IC card deduct fees.
As it can be seen that electric car described in implementing Fig. 3, by obtaining from the big data system of cloud in current vehicle location Neighbouring available target free time information of charging pile, can reduce the time for finding idle charging pile, improve to idle charging pile Utilization rate；In addition, by the driving of selection, electric car including idle charging pile, charging robotic arm and charge port Connection and the whole flow process for deducting charging expense realize automation, can greatly mitigate the driving burden of driver, improve The efficiency and convenience degree of charging, so as to improve the riding experience of driver.
Example IV
Referring to Fig. 4, Fig. 4 is the structural schematic diagram of another electric car disclosed by the embodiments of the present invention.Wherein, Fig. 4 Shown in electric car be that electric car as shown in Figure 3 optimizes.Compared with electric car shown in Fig. 3, Electric car shown in Fig. 4 further includes authentication unit 303, inspection unit 304 and transmission unit 305, in which:
Control unit 302 is used to control electric automobile during traveling according to the location information of target free time charging pile to the target free time The mode of the charging parking stall of charging pile specifically:
Control unit 302, for controlling electric automobile during traveling to target empty according to the location information of target free time charging pile The neighboring area of not busy charging pile position；And control is set to the image of the camera shooting neighboring area of electric car, And target free time charging pile is gone out by the image recognition；And target empty is acquired using the laser radar for being set to electric car The point cloud data of not busy charging pile, and construct according to point cloud data the three-dimensional point cloud atlas of target free time charging pile；And according to mesh The three-dimensional point cloud atlas control electric car for marking idle charging pile is moved to the charging parking stall of target free time charging pile, so that electronic vapour The distance between the charge port of vehicle and target free time charging pile are located in pre-determined distance.
As an alternative embodiment, control unit 302 is used for the location information control according to target free time charging pile Electric automobile during traveling processed to target free time charging pile position neighboring area mode specifically:
Control unit 302, for when detecting satellite positioning signal, according to the electronic vapour obtained by satellite positioning signal The real time position of vehicle and the location information of target free time charging pile generate travel route, control electric car according to travel route It travels to the neighboring area of target free time charging pile position；And when that can not detect satellite positioning signal, send pre- If the first radio signal of frequency, so that target free time charging pile after detecting the first radio signal, is returned and is preset Second radio signal of frequency；Second radio signal includes the number information of target free time charging pile；And receive the Two radio signals；And determine that electric car is filled with the target free time according to the first radio signal and the second radio signal The distance between electric stake and path direction, and travelled according to above-mentioned distance and above-mentioned path direction to where target free time charging pile The neighboring area of position.
In the embodiment of the present invention, the technology that laser radar uses is time-of-flight method (Time of Flight) according to laser The reciprocal time for encountering obstacle calculates distance.Need to carry out angle scanning, the certain angle of taking turn to cover certain angle range Degree can generate the complete data of a frame to emit laser.According to actual needs, the laser of different laser beams will can be selected Radar, such as 16/32/64 line laser radar also can choose laser radar different location are arranged with electric automobile.
It is appreciated that electric car positions the specific location of target free time charging pile, and automatic Pilot is to the free time The charging parking stall of charging pile be unable to do without the fusion work of multisensor.Wherein, optionally, control unit 302 can be by laser thunder Up to the front-end convergence with camera to together, R, G, B color+X, Y, Z coordinate+cloud fuse information are exported, also, in sensor Realize that the computational throughput of rear end can be greatly lowered in data fusion in inside.For example, camera can be by shooting image recognition Target free time charging pile out, and laser radar is responsible for the approximate location of the target free time charging pile identified according to camera, no Disconnected acquisition point cloud data simultaneously constructs threedimensional model.By controlling the scanning of every beam laser pulse, the three-dimensional of each point can be inquired and sat Mark, realization more accurately position.Further, when identifying to target free time charging pile, control unit 303 can will be adopted The characteristic information of collection is put into training set, then uses SVM (Support Vector Machine, support vector machines) classifier handle Target free time charging pile identifies, wherein characteristic information may include the reflected intensity of charging pile, horizontal and vertical width And shape.
Authentication unit 303, for controlling electric car according to the location information of target free time charging pile in control unit 302 After traveling to the charging parking stall of target free time charging pile, and before control unit 303 opens charge port, with the target free time Charging pile carries out identity information verifying.
Control unit 302 is used to open the mode of charge port specifically:
Control unit 302, for opening charge port when authentication unit 303 determines that identity information is verified.
In the embodiment of the present invention, it will be understood that high-voltage charging stake is merely able to meet corresponding high-voltage electric automobile, for low For piezoelectricity electrical automobile, can not achieve its charge function, therefore, it is necessary to ensured by authentication electric car specification with The matching of charging pile function.Authentication between electric car and target free time charging pile mainly include to charging pile model, Charging pile general information and electric car model, the compatibility verification of batteries of electric automobile information, and, it can also be according to charging The number information of stake confirms whether the charging pile is the target free time charging pile obtained from cloud big data system search.As one The optional embodiment of kind, electric car are established by wireless encryption mechanics of communication and target free time charging pile and are wirelessly connected, and Exchange identity information, to carry out identity information verifying, wherein wireless communication technique can include but is not limited to GPRS, Bluetooth, Wi-Fi and Zig-Bee, wireless cryptographic techniques can include but is not limited to wired equivalent privacy (WEP) technology (being mainly used in Wi-Fi), WPA encryption technology (can be applied to Wi-Fi, Bluetooth, Zig-Bee) and WPA2JJH encryption Technology (is mainly used in 4G communication).
Inspection unit 304, the charging for establishing automatic charging machine arm and charge port in target free time charging pile connect After connecing, and before the target free time, charging pile charged to electric car, safe inspection is carried out with target free time charging pile It looks into.
Transmission unit 305, for being sent to target free time charging pile when inspection unit 304 determines that safety inspection passes through Charging start signal, so that target free time charging pile control automatic charging machine arm charges to electric car.
As an alternative embodiment, transmission unit 305 is also used in information acquisition unit 301 from cloud big data Systematic search to idle charging pile location information in obtain and current vehicle location apart from nearest target free time charging pile Location information after, send to cloud big data system to the predetermined request information of target free time charging pile, so that cloud Big data system receives predetermined request information, and by target free time charging pile labeled as predetermined state.
As it can be seen that implementing electric car described in Fig. 4, by obtaining from the big data system of cloud in current vehicle location Neighbouring available target free time information of charging pile, can reduce the time for finding idle charging pile, improve to idle charging pile Utilization rate；In addition, by the driving of selection, electric car including idle charging pile, charging robotic arm and charge port Connection and the whole flow process for deducting charging expense realize automation, can greatly mitigate the driving burden of driver, improve The efficiency and convenience degree of charging, so as to improve the riding experience of driver；Furthermore it is possible to satellite positioning can not be passed through In the case that signal positions in real time, by the highly directive of high frequency radio wave, electric automobile during traveling to the target free time is guided to fill The neighboring area of electric stake position, also, pass through reception predeterminated frequency and carry the radio wave of the number information of charging pile, Other interference signals can be excluded, the accuracy for finding target free time charging pile is improved；Further, safety inspection can be passed through Guarantee the safety that automatic charging is carried out to electric car.
Embodiment five
Referring to Fig. 5, Fig. 5 is a kind of structural schematic diagram of charging pile disclosed by the embodiments of the present invention.As shown in figure 5, should Charging pile includes:
Connection establishment unit 501, for detecting that electric car stops the charging parking stall into charging pile and opens electric car Charge port when, establish the charging connection of automatic charging machine arm and charge port, and charge to electric car.
Lifting unit 502 is connected, for releasing automatic charging machine arm when detecting to electric car charging complete With the charging connection of charge port.
As an alternative embodiment, connection establishment unit 501, comprising:
Subelement is connected, for detecting that electric car stops the charging parking stall into charging pile and open filling for electric car When power port, detected with the range information of charge port and detection charge port using the laser radar for being set to charging pile in electronic vapour Setting position on the vehicle body of vehicle, and automatic charging machine arm is inserted by charge port according to range information and setting position, with Establish the charging connection of automatic charging machine arm and charge port；
Charge subelement, for detecting whether receiving the charging start signal of electric car transmission；And it is detecting When charging start signal, control automatic charging machine arm charges to electric car；Wherein, charging start signal is electronic Automobile and target free time charging pile carry out safety inspection and the letter checking the charging sent after by electric car Number.
As an alternative embodiment, charging pile can also include transmission unit, transmission unit is used to solve in connection After the charging connection for releasing automatic charging machine arm and charge port except unit 502, sent to cloud big data system predetermined Information is released, so that target free time charging pile is labeled as idle state by cloud big data system.
In the embodiment of the present invention, the safety inspection between electric car and target free time charging pile mainly includes checking charging Whether the current operating conditions of stake and electric car meet the safety condition of charging, for example, checking a series of ginsengs such as insulation resistance Number, and, confirm the charge protocol consulted.As an alternative embodiment, if the safety inspection of target free time charging pile It looks into and does not pass through, target free time charging pile can match anomalous performance data and fault data type preset in database, For the anomalous performance data of corresponding preset failure data type can be matched to, failure preliminary treatment scheme is obtained, with reality Existing failure is removed certainly, such as is restarted automatically charging pile；If can not match, the anomalous performance data checked can also be uploaded to far Monitoring center is held, notifies related operation maintenance personnel to repair to form work order.Further, charging pile can be with time opening routine Change self-test；And for the charging pile that failure not yet excludes, de-activation request information can also be sent to cloud big data system, So that corresponding charging pile is labeled as dead status by cloud big data system.
As it can be seen that implement charging pile described in Fig. 5, it is attached in current vehicle location by being obtained from the big data system of cloud Nearly available target free time information of charging pile, can reduce the time for finding idle charging pile, improve the benefit to idle charging pile With rate；In addition, passing through the company of driving, charge robotic arm and charge port to selection, electric car including idle charging pile The whole flow process for connecing and deducting charging expense realizes automation, can greatly mitigate the driving burden of driver, improve The efficiency and convenience degree of charging, so as to improve the riding experience of driver；Furthermore it is possible to make cloud big data system will The target free time charging pile of charging complete is labeled as idle state in time, is carried out in advance convenient for other vehicles according to self-demand It is fixed, maximize the utilization rate of charging pile.
Embodiment six
Referring to Fig. 6, Fig. 6 is a kind of structure of the automatic localization charging system of electric car disclosed by the embodiments of the present invention Schematic diagram, the automatic localization charging system of the electric car include any one electric car described in Fig. 3~Fig. 4 and figure Charging pile described in 5.As shown in fig. 6, the automatic localization charging system of the electric car may include:
Electric car 601, for the current electric quantity for detecting this vehicle be lower than preset power threshold when, from the big number in cloud According to systematic search to idle charging pile location information in obtain and position of the current vehicle location apart from nearest charging pile 602 Confidence breath；And electric automobile during traveling is controlled to the charging parking stall of charging pile 602 according to the location information of charging pile 602；With And charge port is opened, so that charging pile 602 establishes the charging connection of automatic charging machine arm and charge port, and to electronic Automobile 601 charges, and releases automatic charger when detecting to 601 charging complete of electric car by charging pile 602 The charging connection of device arm and charge port；And detecting that charging pile 602 releases automatic charging machine arm and charge port After charging connection, charge closing mouth, and it is driven out to the charging parking stall of charging pile 602.
As an alternative embodiment, cloud big data system is asked in response to the charging pile search that electric car is sent Ask, according to the current vehicle location of electric car 601, determine apart from current vehicle location pre-determined distance range (such as 500 meters, 1000 meters) in the available free charging pile of institute, and the location information of above-mentioned idle charging pile is returned into electric car 601, wherein Each charging pile is designed with corresponding state tag, and idle charging pile is the charging pile labeled as idle state.Electric car 601 selection and current vehicle location can make from the idle charging pile that cloud big data system obtains apart from nearest charging pile For target free time charging pile, artificial selection can also be carried out by driver.Therefore, further, electric car 601 can also lead to It crosses car-mounted display equipment (large-size screen monitors are controlled in such as), where the idle charging pile obtained in conjunction with map denotation from cloud big data system Position.Electric car 601 detects the click commands of driver, can will click on the selected charging pile of instruction as target empty Not busy charging pile.
As an alternative embodiment, electric car 601 can carry out charge protocol with charging pile 602 before charging Communication confirmation, later, after electric car charging complete, electric car 601 is based on charging policy specified in charge protocol, root Calculate charging expense and service charge etc. according to charge volume, can by advance bound with license plate number account (such as Alipay, Wechat account) charging expense is deducted, the IC card bound in advance on electric car can also be arranged in by 602 automatic sensing of charging pile It deducts fees, without limitation.
As an alternative embodiment, electric car 601 is electronic for being controlled according to the location information of charging pile 602 Automobile 601 is travelled to the mode of the charging parking stall of charging pile 602 specifically:
Electric car 601, for controlling the traveling of electric car 601 to charging pile 602 according to the location information of charging pile 602 The neighboring area of position；And control is set to the image of the camera shooting neighboring area of electric car 601, and leads to It crosses the image recognition and goes out charging pile 602；And the point of charging pile 602 is acquired using the laser radar for being set to electric car 601 Cloud data, and construct according to point cloud data the three-dimensional point cloud atlas of charging pile 602；And the three-dimensional point cloud according to charging pile 602 Figure control electric car 601 is moved to the charging parking stall of charging pile 602, so that the charge port of electric car 601 and charging pile 602 The distance between be located at pre-determined distance in.
In the embodiment of the present invention, the technology that laser radar uses is time-of-flight method (Time of Flight) according to laser The reciprocal time for encountering obstacle calculates distance.Need to carry out angle scanning, the certain angle of taking turn to cover certain angle range Degree can generate the complete data of a frame to emit laser.According to actual needs, the laser of different laser beams will can be selected Radar, such as 16/32/64 line laser radar also can choose laser radar different location are arranged with electric automobile.
It is appreciated that electric car 601 positions the specific location of target free time charging pile, and automatic Pilot is to filling The charging parking stall of electric stake 602 be unable to do without the fusion work of multisensor.It wherein, optionally, can be by laser radar and camera Front-end convergence export R, G, B color+X, Y, Z coordinate+cloud fuse information to together, also, realize number in sensor internal The computational throughput of rear end can be greatly lowered according to fusion.For example, camera can identify the target free time by shooting image Charging pile, and laser radar is responsible for the approximate location of the target free time charging pile identified according to camera, continuous collection point cloud Data simultaneously construct threedimensional model.By controlling the scanning of every beam laser pulse, the three-dimensional coordinate of each point can be inquired, is realized more smart Quasi- positioning.Further, when identifying to target free time charging pile, the characteristic information of acquisition can be put into training set In, then target free time charging pile is identified with SVM (Support Vector Machine, support vector machines) classifier Come, wherein characteristic information may include reflected intensity, horizontal and vertical width and the shape of charging pile.
As another optional embodiment, electric car 601 is used to control electricity according to the location information of charging pile 602 Electrical automobile 601 is travelled to the mode of the charging parking stall of charging pile 602 specifically:
Electric car 601, for when detecting satellite positioning signal, according to the electronic vapour obtained by satellite positioning signal The real time position of vehicle 601 and the location information of charging pile 602 generate travel route, control electric car 601 according to travel route It travels to the neighboring area of 602 position of charging pile；And when that can not detect satellite positioning signal, default frequency is sent First radio signal of rate, so that charging pile 602 after detecting the first radio signal, returns to the second of predeterminated frequency Radio signal；Second radio signal includes the number information of charging pile 602；And receive the second radio signal；With And the distance between electric car 601 and charging pile 602 and road are determined according to the first radio signal and the second radio signal Diameter direction, and travelled according to above-mentioned distance and above-mentioned path direction to the neighboring area of 602 position of charging pile.
As an alternative embodiment, electric car 601 is also used to control according to the location information of charging pile 602 After the traveling to the charging parking stall of charging pile 602 of electric car 601, and before opening charge port, carried out with charging pile 602 Identity information verifying；
Correspondingly, electric car 601 is used to open the mode of charge port specifically:
Electric car 601, for opening charge port when determining that identity information is verified.
In the embodiment of the present invention, it will be understood that high-voltage charging stake is merely able to meet corresponding high-voltage electric automobile, for low For piezoelectricity electrical automobile, can not achieve its charge function, therefore, it is necessary to ensured by authentication electric car specification with The matching of charging pile function.Authentication between electric car 601 and charging pile 602 mainly includes to charging pile model, fills Electric stake general information and electric car model, the compatibility verification of batteries of electric automobile information, and, it can also be according to charging pile 602 number information confirms whether the charging pile 602 is the target free time charging pile obtained from cloud big data system search.Make For a kind of optional embodiment, electric car 601 is established by wireless encryption mechanics of communication and charging pile 602 and is wirelessly connected, And exchange identity information, to carry out identity information verifying, wherein wireless communication technique can include but is not limited to GPRS, Bluetooth, Wi-Fi and Zig-Bee, wireless cryptographic techniques can include but is not limited to wired equivalent privacy (WEP) technology (being mainly used in Wi-Fi), WPA encryption technology (can be applied to Wi-Fi, Bluetooth, Zig-Bee) and WPA2JJH encryption Technology (is mainly used in 4G communication).
Electric car 601, be also used to charging pile 602 establish automatic charging machine arm and charge port charging connection it Afterwards, and before charging pile 602 charges to electric car 601, safety inspection is carried out with charging pile 602；And pacifying When total inspection passes through, charging start signal is sent to charging pile 602, so that charging pile 602 controls automatic charging machine arm It charges to electric car 601.
As an alternative embodiment, electric car 601, be also used to from cloud big data systematic search to sky In the location information of not busy charging pile after the location information of acquisition and current vehicle location apart from nearest charging pile 602, Xiang Yun Big data system is held to send the predetermined request information to charging pile 602, so that cloud big data system receives predetermined request letter Breath, and by charging pile 602 labeled as predetermined state.
In the embodiment of the present invention, the safety inspection between electric car and target free time charging pile mainly includes checking charging Whether the current operating conditions of stake and electric car meet the safety condition of charging, for example, checking a series of ginsengs such as insulation resistance Number, and, confirm the charge protocol consulted.As an alternative embodiment, if the safety inspection of target free time charging pile It looks into and does not pass through, target free time charging pile can match anomalous performance data and fault data type preset in database, For the anomalous performance data of corresponding preset failure data type can be matched to, failure preliminary treatment scheme is obtained, with reality Existing failure is removed certainly, such as is restarted automatically charging pile；If can not match, the anomalous performance data checked can also be uploaded to far Monitoring center is held, notifies related operation maintenance personnel to repair to form work order.Further, charging pile can be with time opening routine Change self-test；And for the charging pile that failure not yet excludes, de-activation request information can also be sent to cloud big data system, So that corresponding charging pile is labeled as dead status by cloud big data system.
Charging pile 602, for detecting that electric car 601 stops the charging parking stall into charging pile 602 and open electronic vapour When the charge port of vehicle 601, the charging connection of automatic charging machine arm and charge port is established, and fill to electric car 601 Electricity；And when detecting to 601 charging complete of electric car, the charging for releasing automatic charging machine arm and charge port connects It connects.
As an alternative embodiment, charging pile 602 is used to detect that electric car 601 stops into charging pile 602 Charging parking stall and when opening the charge port of electric car 601, establish the charging connection of automatic charging machine arm and charge port, And to the mode that electric car 601 charges specifically:
Charging pile 602, for detecting that electric car 601 stops the charging parking stall into charging pile 602 and open electronic vapour When the charge port of vehicle 601, is detected using the laser radar for being set to charging pile 602 and filled with the range information of charge port and detection Setting position of the power port on the vehicle body of electric car 601, and according to range information and position is set by automatic charging machine hand Arm is inserted into charge port, to establish the charging connection of automatic charging machine arm and charge port；And it detects whether to receive electronic The charging start signal that automobile 601 is sent controls automatic charging machine arm to electronic vapour when detecting charging start signal Vehicle 601 charges；Wherein, charging start signal is that electric car 601 carries out safety inspection with charging pile 602 and checking Pass through the charging start signal sent later by electric car 601.
As an alternative embodiment, charging pile 602 is also used to releasing automatic charging machine arm and charge port Charging connection after, to cloud big data system send it is predetermined release information so that cloud big data system is by target empty Not busy charging pile is labeled as idle state.
As it can be seen that implementing system described in Fig. 6, by obtaining near current vehicle location from the big data system of cloud Available target free time information of charging pile can reduce the time for finding idle charging pile, improve the utilization to idle charging pile Rate；In addition, passing through the connection of driving, charge robotic arm and charge port to selection, electric car including idle charging pile And the whole flow process realization automation of charging expense is deducted, it can greatly mitigate the driving burden of driver, improve and fill The efficiency and convenience degree of electricity, so as to improve the riding experience of driver；Furthermore it is possible to satellite positioning signal can not be passed through In real time in the case where positioning, by the highly directive of high frequency radio wave, guide electric automobile during traveling to target free time charging pile The neighboring area of position, also, by receive predeterminated frequency and carry charging pile number information radio wave, can be with Other interference signals are excluded, the accuracy for finding target free time charging pile is improved；Further, can be guaranteed by safety inspection The safety of automatic charging is carried out to electric car；Still further, enabling to cloud big data system by charging complete Target free time charging pile is labeled as idle state in time, is made a reservation for convenient for other vehicles according to self-demand, maximization is filled The utilization rate of electric stake.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer Program makes the automatic localization charging method of computer execution any one electric car of FIG. 1 to FIG. 2.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One- Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can For carrying or any other computer-readable medium of storing data.
The automatic localization charging method and system of a kind of electric car disclosed by the embodiments of the present invention have been carried out in detail above Thin to introduce, used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation Thought of the invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not It is interpreted as limitation of the present invention.

Claims (15)

1. a kind of automatic localization charging method of electric car, which is characterized in that the described method includes:
The electric car when the current electric quantity for detecting this vehicle is lower than preset power threshold, from cloud, search by big data system Rope to idle charging pile location information in obtain and position of the current vehicle location apart from nearest target free time charging pile Information；
The electric car controls the electric automobile during traveling to the mesh according to the location information of the target free time charging pile Mark the charging parking stall of idle charging pile；
The electric car opens charge port so that the target free time charging pile establish automatic charging machine arm with it is described The charging connection of charge port, and charging to the electric car, and detected pair by the target free time charging pile The charging connection of the automatic charging machine arm and the charge port is released when the electric car charging complete；
The electric car is detecting the target free time charging pile releasing automatic charging machine arm and the charging After the charging connection of mouth, the charge port is closed, and be driven out to the charging parking stall of the target free time charging pile.
2. the method according to claim 1, wherein the electric car is according to the target free time charging pile Location information controls the electric automobile during traveling to the charging parking stall of the target free time charging pile, comprising:
The electric car controls the electric automobile during traveling to the mesh according to the location information of the target free time charging pile Mark the neighboring area of idle charging pile position；
The camera that the Control of Electric Vehicles is set to the electric car shoots the image of the neighboring area, and passes through institute It states image recognition and goes out the target free time charging pile；
The electric car acquires the point cloud of the target free time charging pile using the laser radar for being set to the electric car Data, and construct according to the point cloud data three-dimensional point cloud atlas of the target free time charging pile；
The electric car is moved to described according to the three-dimensional point cloud atlas of the target free time charging pile control electric car The charging parking stall of target free time charging pile so that between the charge port of the electric car and the target free time charging pile away from It offs normal in pre-determined distance.
3. according to the method described in claim 2, it is characterized in that, the electric car is according to the target free time charging pile Location information controls the neighboring area of the electric automobile during traveling to the target free time charging pile position, comprising:
If the electric car detects satellite positioning signal, the electric car by the satellite positioning signal according to being obtained The location information of the real time position of the electric car and the target free time charging pile generates travel route, controls the electricity Electrical automobile is travelled according to the travel route to the neighboring area of the target free time charging pile position；
If the electric car can not detect that the satellite positioning signal, the electric car send the first nothing of predeterminated frequency Line electric signal, so that the target free time charging pile after detecting first radio signal, returns to the default frequency Second radio signal of rate；Second radio signal includes the number information of the target free time charging pile；
The electric car receives second radio signal；
The electric car according to first radio signal and second radio signal determine the electric car with The distance between described target free time charging pile and path direction, and travelled according to the distance and the path direction to described The neighboring area of target free time charging pile position.
4. described in any item methods according to claim 1~3, which is characterized in that in the electric car according to the target After the location information of idle charging pile controls the electric automobile during traveling to the charging parking stall of the target free time charging pile, with And before the electric car opens charge port, the method also includes:
The electric car and the target free time charging pile carry out identity information verifying；If being verified, the opening is executed The step of charge port；
After the charging connection that the target free time charging pile establishes automatic charging machine arm and the charge port, Yi Ji Before the target free time charging pile charges to the electric car, the method also includes:
The electric car and the target free time charging pile carry out safety inspection；Pass through if checking, the electric car is to institute It states target free time charging pile and sends charging start signal, so that the target free time charging pile controls the automatic charging machine Arm charges to the electric car.
5. described in any item methods according to claim 1~3, which is characterized in that in the electric car from cloud big data Systematic search to idle charging pile location information in obtain and current vehicle location apart from nearest target free time charging pile Location information after, the method also includes:
The electric car sends the predetermined request information to the target free time charging pile to the cloud big data system, with So that the cloud big data system receives the predetermined request information, and the target free time charging pile is labeled as having made a reservation for State.
6. a kind of automatic localization charging method, which is characterized in that the described method includes:
Charging pile is detecting that electric car stops the charging parking stall into the charging pile and open the charge port of the electric car When, the charging connection of automatic charging machine arm Yu the charge port is established, and charge to the electric car；
The charging pile when detecting to the electric car charging complete, release the automatic charging machine arm with it is described The charging connection of charge port.
7. according to the method described in claim 6, it is characterized in that, the charging pile is detecting that electric car stops filling into described in Automatic charging machine arm and the charge port are established in the charging parking stall of electric stake and when opening the charge port of the electric car Charging connection, and charge to the electric car, comprising:
The charging pile is detecting that electric car stops the charging parking stall into the charging pile and open filling for the electric car When power port, is detected using the laser radar for being set to the charging pile and filled with described in the range information of the charge port and detection Setting position of the power port on the vehicle body of the electric car, and will be filled automatically according to the range information and the setting position Electric machine arm is inserted into the charge port, to establish the charging connection of the automatic charging machine arm and the charge port；
The charging pile detects whether to receive the charging start signal that the electric car is sent, if detecting, the charging is opened Beginning signal, the charging pile control the automatic charging machine arm and charge to the electric car；Wherein, the charging Commencing signal is the electric car and the target free time charging pile carries out safety inspection and checking after by institute State the charging start signal of electric car transmission.
8. a kind of electric car, which is characterized in that the electric car includes:
Information acquisition unit, for the current electric quantity for detecting this vehicle be lower than preset power threshold when, from cloud big data Systematic search to idle charging pile location information in obtain and current vehicle location apart from nearest target free time charging pile Location information；
Control unit, for controlling the electric automobile during traveling to the mesh according to the location information of the target free time charging pile Mark the charging parking stall of idle charging pile；And charge port is opened, so that the target free time charging pile establishes automatic charger The charging connection of device arm and the charge port, and charge to the electric car, and charged by the target free time Stake releases the charging of the automatic charging machine arm and the charge port when detecting to the electric car charging complete Connection；And detecting that the target free time charging pile releases filling for the automatic charging machine arm and the charge port After electrical connection, the charge port is closed, and is driven out to the charging parking stall of the target free time charging pile.
9. electric car according to claim 8, which is characterized in that described control unit is used for idle according to the target The mode that the location information of charging pile controls the electric automobile during traveling to the charging parking stall of the target free time charging pile is specific Are as follows:
Described control unit, for controlling the electric automobile during traveling to institute according to the location information of the target free time charging pile State the neighboring area of target free time charging pile position；And control is set to the camera shooting institute of the electric car The image of neighboring area is stated, and the target free time charging pile is identified by described image；And using being set to the electricity The laser radar of electrical automobile acquires the point cloud data of the target free time charging pile, and is constructed according to the point cloud data described The three-dimensional point cloud atlas of target free time charging pile；And the electricity is controlled according to the three-dimensional point cloud atlas of the target free time charging pile Electrical automobile is moved to the charging parking stall of the target free time charging pile, so that the charge port of the electric car and the target empty The distance between not busy charging pile is located in pre-determined distance.
10. electric car according to claim 9, which is characterized in that described control unit is used for according to the target empty The location information of not busy charging pile controls the neighboring area of the electric automobile during traveling to the target free time charging pile position Mode specifically:
Described control unit, for when detecting satellite positioning signal, according to being obtained as the satellite positioning signal The location information of the real time position of electric car and the target free time charging pile generates travel route, controls the electronic vapour Vehicle is travelled according to the travel route to the neighboring area of the target free time charging pile position；And it can not detect When to the satellite positioning signal, the first radio signal of predeterminated frequency is sent, so that the target free time charging pile is being examined After measuring first radio signal, the second radio signal of the predeterminated frequency is returned；Second aerogram It number include the number information of the target free time charging pile；And receive second radio signal；And according to institute It states the first radio signal and second radio signal determines between the electric car and the target free time charging pile Distance and path direction, and travelled according to the distance and the path direction to the target free time charging pile position Neighboring area.
11. according to the described in any item electric cars of claim 8~10, which is characterized in that the electric car further include:
Authentication unit, for controlling the electronic vapour according to the location information of the target free time charging pile in described control unit Vehicle is travelled to the charging parking stall of the target free time charging pile, and before described control unit opens charge port, with The target free time charging pile carries out identity information verifying；
Described control unit is used to open the mode of charge port specifically:
Described control unit, for opening charge port when the authentication unit determines that identity information is verified；
Inspection unit, the charging for establishing automatic charging machine arm and the charge port in the target free time charging pile connect After connecing, and before the target free time charging pile charges to the electric car, charge with the target free time Stake carries out safety inspection；
Transmission unit, for being filled to target free time charging pile transmission when the inspection unit determines that safety inspection passes through Electric commencing signal carries out the electric car so that the target free time charging pile controls the automatic charging machine arm Charging.
12. according to the described in any item electric cars of claim 8~10, which is characterized in that the transmission unit is also used to The information acquisition unit from cloud big data systematic search to idle charging pile location information in obtain and current vehicle After the location information of the nearest target free time charging pile of positional distance, send to the cloud big data system to the target The predetermined request information of idle charging pile, so that the cloud big data system receives the predetermined request information, and by institute Target free time charging pile is stated labeled as predetermined state.
13. a kind of charging pile, which is characterized in that the charging pile includes:
Connection establishment unit, for detecting that electric car stops the charging parking stall into the charging pile and open the electronic vapour When the charge port of vehicle, the charging connection of automatic charging machine arm Yu the charge port is established, and carry out to the electric car Charging；
Lifting unit is connected, for releasing the automatic charging machine hand when detecting to the electric car charging complete The charging connection of arm and the charge port.
14. charging pile according to claim 13, which is characterized in that the connection establishment unit, comprising:
Subelement is connected, for detecting that electric car stops the charging parking stall into the charging pile and open the electric car Charge port when, detected and the range information of the charge port and detection institute using the laser radar for being set to the charging pile Setting position of the charge port on the vehicle body of the electric car is stated, and will be certainly according to the range information and the setting position Dynamic charging robotic arm is inserted into the charge port, is connected with establishing the charging of the automatic charging machine arm and the charge port It connects；
Charge subelement, for detecting whether receiving the charging start signal that the electric car is sent；And it is detecting When the charging start signal, controls the automatic charging machine arm and charge to the electric car；Wherein, described to fill Electric commencing signal be the electric car and the target free time charging pile carry out safety inspection and check after by The charging start signal that the electric car is sent.
15. a kind of automatic localization charging system of electric car, which is characterized in that the system comprises such as claims 8~12 The electric car and the charging pile as described in claim 13~14.
CN201811347453.6A 2018-11-13 2018-11-13 The automatic localization charging method and system of electric car Pending CN109159709A (en)

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CN112977146A (en) * 2021-02-24 2021-06-18 中原动力智能机器人有限公司 Charging method and system for automatic driving vehicle and charging pile
CN113401229A (en) * 2021-07-16 2021-09-17 云度新能源汽车有限公司 Electric automobile flap opening control system that charges
CN116910494A (en) * 2023-09-13 2023-10-20 南京安充智能科技有限公司 Intelligent charging pile service method, system and storage medium for intelligent communities
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