CN109760547B

CN109760547B - Automatic charging method and charging system for electric automobile

Info

Publication number: CN109760547B
Application number: CN201910173464.5A
Authority: CN
Inventors: 柳燕飞; 和卫民; 吴贤
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2019-03-07
Filing date: 2019-03-07
Publication date: 2021-06-04
Anticipated expiration: 2039-03-07
Also published as: CN109760547A

Abstract

An automatic charging method and a charging system for an electric vehicle are provided, the method comprises the following steps: the server inquires an idle charging parking space capable of being parked in the charging field and sends the idle charging parking space to the vehicle; the vehicle is automatically parked in the charging parking place; when detecting that the vehicle is parked in an idle charging parking space, the charging equipment charges the vehicle; the charging equipment comprises a charging pile of a charging parking place, a charging gun connected with the charging pile and a charging robot, wherein the charging robot is used for plugging and unplugging the charging gun so as to establish and release charging connection between the charging pile and the vehicle through the charging gun; when the charging of the vehicle is finished, the vehicle automatically drives away from the idle charging parking space. By implementing the embodiment of the invention, the electric automobile can be automatically charged without manual operation, so that the charging efficiency can be improved, and the user experience can be improved.

Description

Automatic charging method and charging system for electric automobile

Technical Field

The invention relates to the technical field of electric automobiles, in particular to an automatic charging method and a charging system for an electric automobile.

Background

With the rapid development of electric vehicles, the demand for charging vehicles is increasing. At present, the charging process of the electric automobile has the following problems: 1. the start-up charging process is cumbersome: the method comprises the following steps that a user needs to drive the vehicle to a specified charging potential, then a series of operations of unlocking the vehicle, opening a charging opening cover, taking a charging gun out of a charging pile, plugging the charging gun, manually starting charging and the like are executed; 2. the charging process is complicated to finish: a series of operations such as power failure, pulling out the charging gun, hanging the charging gun back to the charging pile, closing the charging port and the like are required; 3. the charging wire has thick caliber and heavy weight, the plugging force of the charging port is large (up to 14kg), and the use load of many drivers (especially female drivers) is too large.

Therefore, due to the above problems, the current charging process is very cumbersome for the user, and a large use burden is brought to the user.

Disclosure of Invention

The embodiment of the invention discloses an automatic charging method and a charging system for an electric automobile, which can automatically charge the electric automobile, improve the charging efficiency and improve the user experience.

The embodiment of the invention discloses an automatic charging method for an electric automobile in a first aspect, which comprises the following steps:

inquiring an idle charging parking space and issuing navigation information to a vehicle to guide the vehicle to automatically park in the idle charging parking space;

when the fact that the vehicle is parked in the idle charging parking space is detected, issuing a gun inserting instruction to charging equipment so that the charging equipment executes gun inserting operation to automatically charge the vehicle;

and receiving a charging completion notification sent by a vehicle, and issuing an automatic parking instruction to the vehicle so as to enable the vehicle to automatically drive away from the idle charging parking space.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, before querying the free charging slot and issuing to the vehicle, the method further includes:

acquiring a license plate photo shot when the vehicle drives into the charging field;

when the vehicle supports automatic charging according to the license plate photo, receiving a vehicle state reported by the vehicle;

and judging whether the vehicle state meets the conditions required by automatic driving, if so, executing the step of inquiring the idle charging parking space and issuing the idle charging parking space to the vehicle.

As an optional implementation manner, in a first aspect of the embodiment of the present invention, the querying an idle charging slot and issuing the idle charging slot to a vehicle, so that the vehicle automatically parks in the idle charging slot includes:

when an automatic parking instruction is detected, detecting whether the vehicle is stopped in a starting area or not; the starting area is a preset area in the charging field;

and if the vehicle is stopped in the starting area, inquiring the parking space which is in a normal state and can be parked in the charging equipment in the charging field as an idle charging parking space and issuing the parking space to the vehicle. As an optional implementation manner, in the first aspect of the embodiment of the present invention, after detecting that the vehicle has been parked in the vacant charging slot and before issuing a gun insertion command to the charging device, the method further includes:

issuing a charging port cover opening instruction to the vehicle to trigger the vehicle to open the charging port cover; executing the step of issuing a gun inserting instruction to the charging equipment when a charging opening cover opening success notification sent by the vehicle is received;

and after issuing a gun-pull instruction to the charging device and before issuing an automatic park-out instruction to the vehicle, the method further comprises:

when receiving a gun drawing success notification sent by the charging equipment, sending a charging port cover closing instruction to the vehicle to trigger the vehicle to close the charging port cover;

and when receiving a charging port cover closing success notice sent by the vehicle, executing the step of issuing an automatic parking instruction to the vehicle.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, a device state fed back by a charging device in the idle charging slot in a process of charging the vehicle is received;

if the charging equipment fault of the idle charging parking space is detected according to the equipment state, inquiring a parking space which is in a normal charging equipment state and can be parked in the charging field as a new idle charging parking space;

and issuing the new idle charging parking space to the vehicle to guide the vehicle to automatically park in the new idle charging parking space, and charging the vehicle by the charging equipment in the new idle charging parking space.

A second aspect of the embodiments of the present invention discloses a charging system, including: a vehicle, a server, and a charging device;

the server is used for inquiring the idle charging parking spaces and issuing navigation information to the vehicles;

the vehicle is used for automatically parking into the idle charging parking space;

the server is further used for issuing a gun inserting instruction to the charging equipment when the vehicle is detected to be parked in the idle charging parking space;

the charging equipment is used for executing gun inserting operation according to the gun inserting instruction so as to automatically charge the vehicle;

the server is also used for sending an automatic parking instruction to the vehicle after receiving a charging completion notification sent by the vehicle;

and the vehicle is also used for automatically driving away from the idle charging parking space according to the automatic parking instruction.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the server is further configured to receive a license plate photo taken when the vehicle enters the charging site before querying an idle charging parking space and issuing the idle charging parking space to the vehicle; when the vehicle is identified to support automatic charging according to the license plate photo, receiving the vehicle state reported by the vehicle; and when the vehicle is judged to meet the conditions required by automatic driving according to the vehicle state, executing the operation of inquiring the free parking space and issuing the free parking space to the vehicle.

As an optional implementation manner, in a second aspect of the embodiment of the present invention, a manner that the server is configured to query an idle charging slot and issue the idle charging slot to the vehicle specifically includes:

the server is used for detecting whether the vehicle is stopped in a starting area or not when the automatic parking instruction is detected; and when detecting that the vehicle is stopped in the starting area, inquiring a parking space which is in a normal state and can be parked in the charging equipment in the charging field as an idle charging parking space and issuing the parking space to the vehicle.

As an alternative implementation, in the second aspect of the embodiment of the present invention:

the server is further used for issuing a charging opening cover opening instruction to the vehicle when the fact that the vehicle is parked in an idle charging parking space is detected and before the gun inserting instruction is issued to the charging equipment; when a charging cover opening success notification sent by the vehicle is received, executing the operation of issuing a gun inserting instruction to the charging equipment;

the vehicle is further used for opening a charging opening cover of the vehicle according to the opening instruction of the charging opening cover; and when the charging port cover is successfully opened, sending a charging port cover opening success notification to the server;

the server is further used for detecting whether a gun pulling success notification sent by the charging equipment is received or not after the gun pulling is sent to the charging equipment and before an automatic parking instruction is sent to the vehicle; if so, issuing a charging port cover closing instruction to the vehicle; when receiving a charging port cover closing success notification sent by the vehicle, executing the operation of issuing an automatic parking instruction to the vehicle;

the vehicle is further used for closing a charging port cover of the vehicle according to the charging port cover closing instruction; and when the charging port cover is successfully closed, sending a notification that the charging port cover is successfully closed to the server.

the charging equipment is also used for feeding back the equipment state of the charging equipment of the idle charging parking space in the process of charging the vehicle;

the server is further used for inquiring a parking space which is in a normal charging equipment state and can be parked in the charging field as a new idle charging parking space when the charging equipment fault is detected according to the equipment state; and issuing the new charging parking space to the vehicle;

the vehicle is further used for automatically parking in the new idle charging parking space, so that the charging equipment in the new idle charging parking space charges the vehicle.

In a third aspect of the present invention, a computer-readable storage medium is disclosed, which stores a computer program, wherein the computer program enables a computer to execute any one of the methods disclosed in the first aspect of the embodiments of the present invention.

A fourth aspect of the embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform any one of the methods disclosed in the first aspect of the embodiments of the present invention.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

after the vehicle obtains the charging parking space inquired by the server, the vehicle can automatically park in the charging parking space in an automatic parking mode without manual operation of a driver; after the vehicle is parked in the charging parking place, the vehicle automatically opens the charging opening cover, and the charger robot automatically inserts the charging gun into the charging opening of the vehicle so that the charging pile charges the vehicle; after charging is finished, the charger robot automatically pulls the charging gun out of the charging port of the vehicle, and the vehicle automatically closes the charging port cover and automatically drives away from the charging parking space. It is thus clear that in whole charging process, the pull out of berthing of charging parking stall and the pulling out of rifle of charging all need not user manually operation, can charge electric automobile automatically to can improve charge efficiency, improve user experience.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a charging system according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating an automatic charging method for an electric vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart illustrating another automatic charging method for an electric vehicle according to an embodiment of the disclosure;

FIG. 4 is an exemplary diagram of an interactive interface for outputting a display guidance message according to an embodiment of the present disclosure;

FIG. 5 is a schematic flow chart illustrating a further method for automatically charging an electric vehicle according to an embodiment of the present disclosure;

fig. 6 is a schematic flow chart illustrating a method for scheduling and allocating a charging parking space according to an embodiment of the present invention;

FIG. 7 is a schematic flow chart illustrating a method for charging a vehicle according to an embodiment of the present disclosure;

fig. 8 is a schematic flow chart of a charging gun inserting sub-process according to an embodiment of the present invention;

fig. 9 is a schematic flow chart of a sub-process of pulling a charging gun according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of another charging system disclosed in the embodiment of the invention;

fig. 11 is a schematic flowchart of another automatic charging method for an electric vehicle according to an embodiment of the disclosure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The embodiment of the invention discloses an automatic charging method and a charging system for an electric automobile, which can automatically charge the electric automobile, improve the charging efficiency and improve the user experience. The following are detailed below.

In order to better understand the automatic charging method and the charging system for the electric vehicle disclosed in the embodiment of the present invention, a system architecture used in the embodiment of the present invention is first described below. As shown in fig. 1, fig. 1 is a schematic structural diagram of a charging system. As shown in fig. 1, the charging system may include a server, a vehicle, and a charging device. The server, the vehicle and the charging device can perform data transmission through Wireless communication connections such as a 5G Network, a 4G Network, a Wireless Local Area Network (WLAN), a Wide Area Network (WAN) or Bluetooth.

Specifically, the charging equipment can include a charging pile, a charging gun connected with the charging pile, and a charging robot. The charger robot is used for plugging and unplugging the charging gun so as to establish and remove charging connection between the charging pile and the vehicle through the charging gun. The charging robot can be a mechanical arm connected with a charging pile and a charging gun, and the charging gun can be automatically plugged and unplugged by controlling the movement of the mechanical arm; or, the machine ware people that charges also can be with fill electric pile and the movable robot that charges the rifle separation, movable robot can use its arm to snatch and remove the rifle that charges to the pulling out of rifle that charges is inserted. Further, the charging apparatus can be positioned out of a specific position of the charging port by scanning the body of the vehicle, so that the charging gun can be accurately inserted into the charging port. In addition, foretell battery charging outfit can set up in a charging field, in order to provide the service of charging better, can prescribe the parking stall in this charging field, and every parking stall is supporting to be set up foretell fill electric pile and rifle that charges. The charging pile may be a pile-gun charging device, or may be a charging pile, and the embodiment of the present invention is not limited.

Further, the server may include a vehicle management platform server for centrally managing and controlling vehicles, a background server for managing a field parking system for parking spaces in a charging field, a scheduling system cloud for uniformly scheduling movement of vehicles in the charging field, an automatic charging system cloud for managing charging related operations such as start and stop of charging, and the like, which is not limited in the embodiment of the present invention.

Example one

Referring to fig. 2, fig. 2 is a schematic flow chart illustrating an automatic charging method for an electric vehicle according to an embodiment of the present invention. Wherein the method described in fig. 2 is applied to the charging system as shown in fig. 1. As shown in fig. 2, the automatic charging method for an electric vehicle may include the steps of:

201. and the server inquires the idle charging parking spaces and sends the idle charging parking spaces to the vehicles.

In the embodiment of the invention, the vacant charging parking spaces can be parking spaces which are not occupied in the charging field and are provided with charging equipment. The server monitors the parking space condition in the charging field in real time and provides current idle parking space information for the vehicle.

202. The vehicle is automatically parked in an idle charging parking space.

In the embodiment of the invention, the vehicle has a certain automatic driving function, and after the charging parking space information sent by the server is acquired, the parking path can be generated according to the current position of the vehicle and the position of the charging parking space, and the vehicle is controlled to park in the idle charging parking space according to the generated parking path. It will be appreciated that the parking position of the vehicle may affect how easily the charging gun is inserted into the vehicle charging port. In the embodiment of the invention, the vehicle can be automatically parked into the idle charging parking space, and further, the vehicle can be limited to be parked into the idle charging parking space in a mode that the charging port is opposite to the placement position of the charging gun. Compared with the manual parking operation of parking in the parking space, the embodiment of the invention can accurately park the vehicle in the idle charging parking space through automatic parking, and the charging port is opposite to the placement position of the charging gun, so that the difficulty of inserting the charging gun into the charging port can be reduced.

203. And when the server detects that the vehicle is parked in the idle charging parking space, the server triggers the charging equipment to charge the vehicle.

In the embodiment of the invention, the server specifically triggers the charging equipment to charge the vehicle in a manner of issuing the gun inserting instruction to the charging equipment. The process of charging the vehicle by the charging device may specifically be: 1. the charging equipment executes gun inserting operation: controlling a charging robot to insert a charging gun into a charging port of a vehicle, so as to establish charging connection between a charging pile and the vehicle; 2. based on the charging connection, the charging pile charges the vehicle; 3. when the vehicle is fully charged, executing a gun drawing operation: and controlling the charging robot to pull the charging gun out of the charging port. In the charging process, the vehicle can feed back the charging progress of the vehicle to the server in real time, and specifically, a charging completion notification can be sent to the server when the vehicle is fully charged, so that the server sends a gun drawing instruction to the charging equipment, and the charging equipment executes the gun drawing operation.

204. And when the server detects that the charging of the vehicle is finished, the server triggers the vehicle to automatically drive away from the idle charging parking space.

In the embodiment of the present invention, the server may specifically issue the automatic parking instruction to the vehicle when the charging completion notification sent by the vehicle is received in the execution step 203, so that the vehicle may be triggered to automatically drive away when the charging is completed, the charging parking space may be vacated in time, a situation that the charged vehicle occupies the charging parking space for a long time is avoided, the circulation of the vehicle in the charging field may be accelerated, and the utilization rate of the charging parking space in the charging field may be improved.

It can be seen that, in the method described in fig. 2, after the vehicle acquires the charging parking space, the vehicle can be automatically parked in the charging parking space in an automatic parking manner, and then the charging device automatically plugs and unplugs the charging gun and charges the vehicle; after the charging is finished, the vehicle automatically drives away from the charging parking space. The whole charging process does not need manual operation of a user, and the difficulty of inserting the charging gun into the charging port can be reduced, so that the charging efficiency can be improved, and the user experience is improved. Furthermore, the circulation of vehicles in the charging field can be accelerated, so that the utilization rate of charging parking spaces in the charging field is improved. Furthermore, the method described in fig. 2 may also provide automatic charging services for unmanned vehicles (e.g., unmanned trucks) since manual operations are not required.

Example two

Referring to fig. 3, fig. 3 is a schematic flow chart illustrating another automatic charging method for an electric vehicle according to an embodiment of the present invention. As shown in fig. 3, the automatic charging method for an electric vehicle may include the steps of:

301. the server acquires a license plate photo shot when the vehicle enters the charging field.

In the embodiment of the invention, a barrier gate device can be arranged at the entrance of the charging field, and the barrier gate device can comprise a camera. When the vehicle enters the charging field, the barrier gate can shoot the license plate picture of the vehicle and transmit the license plate picture to the server.

After the server obtains the license plate photo, the information of the vehicle can be retrieved by identifying the license plate, so that the vehicle type of the vehicle is determined. According to the vehicle type, the server can judge whether the vehicle supports automatic charging. The vehicle type supporting automatic charging should have certain automatic driving capability, and the charging port cover of the vehicle type can be electronically controlled and can be automatically opened and closed.

302. And when recognizing that the license plate indicates that the vehicle supports automatic charging, the server receives the vehicle state reported by the vehicle and judges whether the vehicle state of the vehicle meets the conditions required by automatic driving, if so, the server executes a step 303, and if not, the process is ended.

In the embodiment of the invention, the vehicle state can be transmitted to the server by the vehicle through 4G, 5G, WLAN and the like. Among other things, the vehicle state may include, but is not limited to, the following parameters:

1. whether the charging port cover can be normally opened/closed;

2. the status of the vehicle-related controller;

wherein the automatic driving required conditions include: 1) the tire pressure of all tires is normal; 2) two covers of the four doors (namely the four doors, the front cover of the vehicle head and the box cover of the vehicle tail) are all in a closed state; 3) no fault exists in environment sensing sensors such as a camera and a radar sensor; 4) the automatic driving controller has no fault; 5) the motor/battery/electric control system has no fault; 6) the charging port cover can be normally opened/closed.

In the embodiment of the invention, if the vehicle state meets the automatic driving requirement, the following steps can be continuously executed to automatically charge the vehicle; if the vehicle state does not meet the conditions required for automatic driving, the current charging server for the vehicle can be ended, and the user is prompted to check the vehicle condition by issuing the vehicle condition check message until the vehicle state meets the conditions required for automatic driving.

By performing the above steps 301 and 302, the vehicle may be verified before providing the automatic charging service to the vehicle. For the vehicles which do not support automatic charging or do not meet the required conditions of automatic driving, the vehicles can be guided to leave the charging field, and further, the entrance of the charging field can be directly closed (for example, a barrier gate is kept closed), so that the vehicles cannot enter the charging field, the artificial factors influencing automatic charging can be reduced, and the efficiency of the whole charging field is improved.

303. And the server sends a guiding message to the mobile terminal so as to guide the vehicle to run to a starting area of the charging field.

In the embodiment of the invention, the mobile terminal can be a central control device of a vehicle, and the central control device can be provided with a touch screen for human-computer interaction; the mobile terminal may also be an electronic device such as a smart phone and a smart tablet of an in-vehicle person, and the embodiment of the present invention is not limited. Referring to fig. 4, fig. 4 is a diagram illustrating an example of an interactive interface for outputting and displaying a guidance message according to an embodiment of the present invention. The mobile terminal can guide the vehicle to enter the starting area by outputting and displaying prompt characters or outputting prompt voice and the like. The starting area can be for the region of predetermineeing in the place that charges, and the vehicle is gone to the process that starts the region from the entry in place that charges and can pass through user manual control, and after the vehicle arrived starting area, the user can get off here, need not to follow the vehicle and gets into the parking stall that charges.

In addition, as another alternative embodiment, after the server determines that the vehicle meets the automatic driving requirement in step 302, the server may also control an LED display screen disposed in the charging site to output display prompt text or output prompt voice, so as to guide the user to drive the vehicle into the starting area.

It is understood that in other possible embodiments, the server may directly perform step 304 described below after performing step 302 to determine that the vehicle state satisfies the automatic driving requirement.

304. When detecting the automatic parking instruction, the server detects whether the vehicle is parked in the starting area, if so, the server executes the step 305, and if not, the server returns to execute the step 303.

In the embodiment of the invention, the automatic parking instruction can be input by a user through a smart phone or an electronic key of the user after the user gets off the vehicle in the starting area. After receiving the automatic parking instruction, the vehicle enters an automatic parking mode, and the movement of the vehicle is controlled by electronic equipment such as a central control computer of the vehicle. In addition, if the user does not get off the vehicle in the starting area, the automatic parking instruction can be input by the user through the touch screen of the central control device.

305. And the server inquires parking spaces which are in normal states and can be parked in the charging equipment in the charging field as idle charging parking spaces and sends the idle charging parking spaces to the vehicles.

306. The vehicle is automatically parked in an idle charging parking space.

In the embodiment of the present invention, the server may monitor and control the parking process of the vehicle into the idle charging parking space in real time, and specifically may include the following steps:

after the server issues the idle charging parking space to the vehicle, an automobile starting instruction is issued to the vehicle so that the vehicle is powered on and started;

the vehicle feeds back a power-on starting result to the server, and if the power-on starting result received by the server is a power-on starting success notice, a parking starting instruction is issued to the vehicle so that the vehicle automatically runs to an idle charging parking space from a starting area; the vehicle or the server can generate a driving track of the vehicle according to the position of the starting area and the position of the idle charging parking space, and the vehicle can drive to the idle charging parking space according to the generated driving track;

in the process that the vehicle runs to the idle charging parking space, the parking progress can be synchronized to the server; specifically, the parking progress may include the remaining time required to park in the idle charging parking space, and the state of the current parking process;

when the vehicle stops powering down, the parking completion state is fed back to the server, so that the server determines that the vehicle is parked in an idle charging parking space according to the parking completion state; the vehicle power-off stop may include a stop after the vehicle stops completely, or a stop of the vehicle in the middle of the stop due to a failure, or the like. The server can judge whether the power-off stop of the vehicle is the stop after the parking is finished according to the parking completion state, so that whether the vehicle is parked in the free charging parking space is determined.

307. And when the server detects that the vehicle is parked in the idle charging parking space, the server triggers the charging equipment to charge the vehicle.

In the embodiment of the invention, the server can trigger the vehicle to open the charging port cover of the vehicle at first, and the vehicle feeds back the state of the charging port cover to the server so that the server can judge whether the charging port cover is opened or not;

if the charging port cover is judged to be opened according to the charging port cover opening success notice sent by the vehicle, the server can feed back the vehicle type information of the vehicle to the charging equipment and issue a gun inserting instruction;

the charging equipment can start a gun inserting sub-process to control the charging robot to insert the charging gun into a charging port of the vehicle;

the charging pile can charge the vehicle, and can synchronize the charging progress to the server in real time in the charging process;

the server can judge whether the vehicle is fully charged according to the charging progress, and if so, a gun pulling instruction can be issued to the charging equipment;

when receiving a gun pulling instruction, the charging equipment can start a gun pulling sub-process to control the charging robot to pull the charging gun out of a charging port of the vehicle;

after judging that the charging gun is pulled out of the charging port according to the gun pulling success notification sent by the charging equipment, the server can send a charging port cover closing instruction to the vehicle to trigger the vehicle to close the charging port cover;

the vehicle feeds back the closing condition of the charging port cover to the server, and if the closing of the charging port cover is judged to be successful according to the charging port cover closing success notification sent by the vehicle, the server determines that the charging of the vehicle is finished, and executes step 308 described below or directly executes step 310 described below.

308. The server detects whether the charging equipment of the idle charging parking space has a fault in the process of charging the vehicle, if so, step 309 is executed, and if not, step 310 is directly executed.

309. The server executes the vehicle scheduling sub-process.

In the embodiment of the present invention, the vehicle scheduling sub-process executed by the server may specifically be:

and inquiring the parking space in which the charging equipment in the charging field is in a normal state and can be parked as a new idle charging parking space, and issuing the new idle charging parking space to the vehicle so that the vehicle can be automatically parked in the new idle charging parking space, and charging the vehicle by the charging equipment in the new idle charging parking space.

By executing the steps 308 and 309, the condition of the charging device can be monitored in real time during the charging process, so that when the charging device fails, the charging device can be replaced for the vehicle in time, and the loss caused by the failure of the charging device can be reduced.

310. And the server sends an automatic parking instruction to the vehicle to trigger the vehicle to automatically drive to the waiting area from the idle charging parking space.

In the embodiment of the invention, the waiting area can be a preset area of a charging field, so that a user can return to a vehicle in the waiting area. Specifically, the starting area and the waiting area can be two different areas or the same area, so that a user can get off from the starting area, and the vehicle automatically runs to the charging area to complete charging; after the charging is finished, the vehicle automatically travels to a waiting area, and a user can take the vehicle from the waiting area and leave the charging field.

That is, in the embodiment of the present invention, the user can get off in the start area; the vehicle automatically enters a charging parking space for charging, and automatically drives into a waiting area after charging is finished; and the user gets the bus in the bus waiting area and leaves the charging field. Furthermore, the area in the charging field, which is provided with the charging equipment, can be physically isolated from the starting area and the waiting area, so that a user does not enter the area provided with the charging equipment, and the occurrence of electric shock accidents can be reduced. In addition, because the charging equipment does not need manual operation, and automatic parking can accurately park the vehicle into the charging parking space, the charging parking space in the charging field can be divided into more compact spaces, so that the number of vehicles which can be served by the charging field can be increased, and the charging efficiency is further improved.

It can be seen that in the method described in fig. 3, the vehicle can be automatically charged. Furthermore, before the automatic charging service is provided for the vehicle, the vehicle can be verified, so that the human factors influencing automatic charging can be reduced, and the efficiency of the whole charging field is improved. In addition, the method described in fig. 3 can also replace the charging device for the vehicle in time when the charging device fails, so as to reduce the loss caused by the failure of the charging device. The user can get off in the start area, gets the car in the area of waiting, need not to get into the area that is provided with battery charging outfit, can reduce the emergence of electric shock accident, can also make the parking stall that charges in the place of charging can divide compacter, increases the vehicle quantity that the place of charging can serve.

EXAMPLE III

Referring to fig. 11, fig. 11 is a schematic flowchart illustrating another automatic charging method for an electric vehicle according to an embodiment of the present invention. As shown in fig. 11, the automatic charging method for an electric vehicle may include the steps of:

1101. when a user drives the vehicle to a starting area, the vehicle receives an automatic charging starting instruction sent by the user and sends the automatic charging starting instruction to the server.

As an optional implementation manner, before step 1101, the server may further perform the following steps:

the method comprises the steps that a server obtains a license plate photo shot when a vehicle drives into a charging field;

when recognizing that the license plate indicates that the vehicle supports automatic charging, the server receives the vehicle state reported by the vehicle and judges whether the vehicle state of the vehicle meets the conditions required by automatic driving, if so, the server executes a step 1101, and if not, the process is ended.

Further, after driving the vehicle into the starting area, the user may get off the vehicle in the starting area.

1102. The server detects whether the vehicle is stopped in the starting area or not according to the automatic parking instruction, if so, step 1103 is executed, and if not, a guidance message is sent to the vehicle.

In the embodiment of the invention, the guiding message is used for prompting the user to stop the vehicle again so as to accurately stop the vehicle in the starting area.

1103. The server inquires parking spaces in the charging field, which are normal in state and can be parked in, of the charging equipment, serves as idle charging parking spaces and issues the parking spaces to the vehicle, and meanwhile, automobile starting instructions are issued to the vehicle.

1104. The vehicle is powered on and started according to the automobile starting instruction, and a power-on starting result is fed back to the server.

In the embodiment of the present invention, the specific operation manner of the vehicle performing step 1104 to power on and start up is the same as that described in the second embodiment, and the following description is omitted.

1105. And the server issues a parking starting instruction to the vehicle when the vehicle is started successfully.

In the embodiment of the invention, when the power-on starting result fed back by the vehicle comprises the power-on starting success notification, the vehicle can be considered to be started successfully.

1106. The vehicle starts automatic driving, automatically travels from a starting area to an idle charging parking space, and synchronizes a parking schedule to the server.

1107. And when the parking of the vehicle is finished, the parking completion state is fed back to the server.

1108. And the server sends a charging port cover opening instruction to the vehicle according to the parking completion state.

1109. The vehicle opens the charging port cover and feeds back the state of the charging port cover to the server.

1110. The server judges whether the charging port cover is opened, if so, step 1111 is executed, and if not, the abnormal state of the charging port cover is reported.

In the embodiment of the invention, the abnormal state of the charging port cover can be reported to a superior platform (such as a vehicle maintenance platform) connected with the server.

1111. And the server feeds back the vehicle type information of the vehicle to the charging equipment and issues a gun inserting instruction.

1112. And the charging equipment starts an automatic gun plugging sub-process according to the gun plugging instruction.

In the embodiment of the present invention, the automatic gun inserting sub-process may be as shown in fig. 8.

1113. The charging device charges the vehicle and synchronizes the charging progress to the server.

1114. The server judges whether charging is finished according to the charging progress, if so, a gun pulling instruction is issued to the charging equipment, and if not, the step 1114 is continuously executed.

1115. And the charging equipment starts an automatic gun pulling sub-process according to the gun pulling instruction and synchronizes a gun pulling state to the server.

In the embodiment of the present invention, the automatic gun pulling sub-process may be as shown in fig. 9.

1116. And when the server judges that the charging gun is successfully pulled out of the charging port according to the gun pulling state, the server sends a charging port cover closing instruction to the vehicle.

1117. And the vehicle closes the charging port cover according to the charging port cover closing instruction and feeds back the closing condition of the charging port cover to the server.

1118. And the server judges whether the charging port cover is successfully closed according to the closing condition of the charging port cover, if so, the step 1119 is executed, and if not, an exception handling sub-process is triggered.

In the embodiment of the present invention, the exception handling sub-process may specifically be notifying a worker to perform manual intervention.

1119. The server detects whether there is a fault in the charging process, if yes, step 1119 is executed, and if not, step 1121 is executed.

1120. The server judges whether the fault is a vehicle fault or not, and if so, reports the fault; if not, the vehicle scheduling sub-process is executed.

In the embodiment of the invention, the vehicle fault can be reported to a superior platform (such as a vehicle maintenance platform) connected with the server. The vehicle scheduling sub-process is the same as the method described in step 309 in the second embodiment, and the following description is omitted.

1121. The server issues an automatic parking instruction to the vehicle.

1122. And the vehicle starts automatic driving according to the automatic parking instruction, automatically drives to a waiting area from the idle charging parking space, and synchronizes a driving state to the server.

1123. And when the vehicle is parked in the waiting area, the server sends a vehicle taking prompt message to the mobile terminal of the user so as to prompt the user to take the vehicle.

In the method depicted in fig. 11, through three-terminal interaction of the vehicle, the server and the charging device, after the user drives the vehicle into the starting area, automatic charging of the vehicle can be started in a one-key triggering manner, the server allocates an idle charging parking space for the vehicle, the vehicle automatically drives to the charging parking space, and the charging device automatically inserts a gun; when charging is finished, the charging equipment automatically pulls out the gun, the vehicle automatically drives away from an idle charging parking space and stops in a waiting area, and a user gets the vehicle in the waiting area. Therefore, the full-automatic charging service can be provided for the user, and the charging system is convenient and quick.

Example four

Referring to fig. 5, fig. 5 is a schematic flow chart illustrating another automatic charging method for an electric vehicle according to an embodiment of the present invention. As shown in fig. 5, the automatic charging method for an electric vehicle may include the steps of:

501. when the vehicle drives into the charging field, the field-end parking system shoots the license plate picture of the vehicle through the barrier gate device and transmits the license plate picture to the cloud end of the automatic charging system.

502. The cloud end of the automatic charging system retrieves the vehicle type corresponding to the vehicle according to the license plate photo, and judges whether the vehicle type is the vehicle type supporting automatic charging, if so, step 503 is executed, and if not, the process is ended.

503. The cloud end of the automatic charging system acquires the vehicle state uploaded by the vehicle, judges whether the vehicle state meets the conditions required by automatic driving, if so, executes step 504, and if not, ends the process.

504. The cloud end of the automatic charging system issues a guiding message to the vehicle so as to guide the vehicle to run to a starting area of a charging field.

In the embodiment of the invention, the user can get off the vehicle in the starting area and leave the vehicle.

505. The vehicle receives an automatic parking instruction input by a user, sends the automatic parking instruction to the dispatching system cloud end, and dispatches and distributes the charging parking spaces by the dispatching system cloud end so as to enable the vehicle to automatically park in the idle charging parking spaces.

In the embodiment of the present invention, the vehicle may specifically receive the automatic parking instruction input by the user for a central control device of the vehicle to receive the automatic parking instruction input by the user, and the user may specifically input the automatic parking instruction through a smart phone or an electronic key of the vehicle.

506. And when the vehicle is parked in the idle charging parking place, the cloud end of the dispatching system triggers the charging equipment to charge the vehicle.

507. The automatic charging system cloud triggers the vehicle to automatically run to a waiting area from an idle charging parking space when detecting that the charging of the vehicle is finished.

In the embodiment of the present invention, reference may be made to fig. 6 in combination for the specific implementation of step 505, and fig. 6 is a schematic flowchart of a method for scheduling and allocating a charging parking space according to the embodiment of the present invention. As shown in fig. 6, the following steps may be included:

601. the method comprises the steps that a mobile terminal receives an automatic parking instruction input by a user, a dispatching system cloud enters an automatic parking preparation state according to the automatic parking instruction, and a field terminal parking system is called to carry out starting position detection so as to detect whether a vehicle is parked in a starting area or not;

602. the dispatching system cloud receives a detection result of the field terminal parking system, judges whether the vehicle is parked in the starting area or not, and sends a vehicle parking state prompting message to the mobile terminal if the vehicle is not parked in the starting area; if so, the dispatching system cloud calls a field end parking system to inquire the parking available state of the parking places in the charging field.

603. And the field parking system feeds back the parking space state, and the dispatching system cloud allocates the idle charging parking spaces according to the parking space state.

In the embodiment of the present invention, the parking space status at least may include the following parameters: the parking space charging method comprises the steps of charging vacant parking spaces in a field, parking spaces capable of being parked in the field and charging equipment states of all parking spaces.

The idle charging parking space can be a parking space which can be parked and in which the state of the charging equipment is normal. In addition, if the parking space state indicates that no parking space can be parked in the charging field or all charging devices are failed, the cloud end of the dispatching system cannot distribute the charging parking space for the vehicle, and then the cloud end of the dispatching system can send a fault prompt message to the mobile terminal so that a user can check the fault prompt message.

604. The dispatching system cloud sends an automobile starting instruction to the vehicle so that the vehicle is powered on and started, and meanwhile, the vehicle feeds back a power-on result to the dispatching system cloud.

605. And when the cloud end of the dispatching system judges that the vehicle is started successfully according to the power-on result, a parking starting instruction is issued to the vehicle through the field end parking system.

In the embodiment of the invention, when the power-on result is the power-on starting success notification, the vehicle starting success can be judged. In addition, the parking start instruction may include a parking start message and a specific location of an empty charging slot. In addition, the scheduling system cloud end can send a parking starting state message to the mobile terminal, wherein the parking starting state can include successful parking starting or failed parking starting, and the parking starting state message can also include the reason of successful parking starting or failed parking starting, so that the user can view the reason.

606. The vehicle automatically runs to an idle charging parking space from the starting area according to the parking starting instruction, the parking progress is fed back to the field terminal parking system in real time, and the field terminal parking system synchronizes the parking progress to the server.

In an embodiment of the present invention, the synchronous parking progress of the field parking system to the server may include: including the remaining time required to park the vacant charging slot, and the status of the current parking process. In addition, based on the remaining time required for parking the idle charging parking space, the scheduling system cloud can send the predicted completion time of the idle parking charging parking space to the mobile terminal so as to be checked by the user.

607. When the vehicle is powered off and stops, the parking completion state is fed back to the field parking system, the field parking system records the parking completion and forwards the parking completion state to the cloud end of the dispatching system.

In the embodiment of the invention, the parking completion state may include successful parking or failed parking, and if the parking fails, the parking completion state fed back to the cloud of the scheduling system may further include a reason for the failure parking.

In addition, after the synchronous parking completion state, the scheduling system cloud can send a prompt message of successful or failed parking to the mobile terminal for the user to check.

608. When the vehicle is parked in the idle charging parking place, the cloud end of the dispatching system triggers the cloud end of the automatic charging system to start a charging process of the charging equipment so as to charge the vehicle.

In an embodiment of the present invention, a specific implementation manner of the charging process of the charging device started by the cloud end of the automatic charging system in step 608 may also refer to fig. 7, and fig. 7 is a schematic flow chart of charging a vehicle disclosed in the embodiment of the present invention. As shown in fig. 7, the method may specifically include the following steps:

701. the cloud end of the automatic charging system issues a charging port cover opening notice to the vehicle so that the vehicle can open the charging port cover.

702. And the vehicle feeds back the state of the charging port cover to the cloud end of the automatic charging system.

703. The automatic charging cloud end judges whether the charging opening cover is opened or not according to the state of the charging opening cover, if yes, vehicle type information and a gun inserting instruction of the vehicle are sent to the charger robot cloud end, and if not, the abnormal state of the vehicle is reported.

In the embodiment of the invention, if the received charging port cover state is the charging port cover opening success notice, the charging port cover can be judged to be opened.

The charger robot can be composed of a charger robot cloud end and a charger robot terminal, the charger robot cloud end is used for processing control information and sending an operation instruction to the charger robot terminal, and the charger robot terminal is used for executing the operation instruction sent by the charger robot cloud end. Specifically, the charger robot terminal may include a charging gun and a mechanical arm connected to the charging gun. In addition, fill electric pile also can fill electric pile system high in the clouds and fill electric pile terminal and constitute, fill electric pile system high in the clouds and be used for handling charge time, charge relevant calculation such as charging, fill electric pile terminal and be used for carrying out the operating instruction who fills electric pile system high in the clouds, charge or cut off the power supply to the vehicle, above-mentioned ground charge machine robot terminal can with fill electric pile terminal connection. In addition, charge machine people high in the clouds can all charge the robot in the unified management charging field, and it can all charge the electric pile terminal in the unified management charging field to fill electric pile system high in the clouds. That is to say, foretell battery charging outfit can include the charging robot high in the clouds, charge robot terminal, fill electric pile system high in the clouds, fill electric pile terminal and with fill the rifle that charges that electric pile terminal connection. Further, the actual physical form at machine robot terminal and the electric pile terminal that fills can be same equipment, and machine robot high in the clouds and fill electric pile high in the clouds and can integrate in same server.

704. The charging robot cloud controls the charging robot terminal to start a gun plugging sub-process according to the gun plugging instruction so as to plug a charging gun into a charging port of a vehicle, and meanwhile, the charging robot terminal synchronizes the working state of the charging robot terminal to the automatic charging system cloud through the charging robot cloud.

705. When the charging gun is inserted into a charging port of a vehicle at the robot terminal of the charger, a charging flow is started by the charging pile terminal to charge the vehicle.

706. And the charging pile terminal sends a charging progress to the cloud end of the automatic charging system.

707. The automatic charging system cloud end judges whether the vehicle is fully charged according to the charging progress, if yes, a gun pulling instruction is sent to the charger robot cloud end, the charger robot cloud end controls the charging robot terminal to start a gun pulling sub-process so as to pull the charging gun out of a charging port of the vehicle, and meanwhile, the charging robot terminal synchronizes the working state of the charging robot terminal to the automatic charging system cloud end through the charger robot cloud end; if not, execution continues with step 707.

708. The cloud end of the automatic charging system issues a charging port cover closing notice to the vehicle after the charging gun pulls out the charging port of the vehicle, so that the vehicle closes the charging port cover.

709. And the vehicle feeds back the state of the charging port cover to the cloud end of the automatic charging system.

710. The cloud end of the automatic charging system judges whether the charging port cover is closed or not according to the state of the charging port cover, if so, step 711 is executed, and if not, an exception handling sub-process is triggered to perform manual intervention.

In the embodiment of the invention, if the state of the charging port cover is the notification of successful closing of the charging port cover, the charging port cover can be judged to be closed.

711. The automatic charging system cloud detects whether a charging device of an idle charging parking space has a fault in the process of charging the vehicle, if so, the fault type is identified, and if not, the process is ended.

712. If the fault type is a vehicle fault, the cloud end of the automatic charging system reports the abnormal state of the vehicle; and if the fault type is the charging equipment fault of the idle charging parking space, triggering a dispatching system cloud end to start a vehicle dispatching sub-process, and replacing the charging parking space for the vehicle.

In the embodiment of the present invention, the vehicle scheduling sub-process executed by the scheduling system cloud may specifically include the following steps:

the dispatching system cloud end inquires parking spaces in the charging field, in which the charging equipment is normal in state and can be parked, as new idle charging parking spaces, the new idle charging parking spaces are issued to the vehicles, so that the vehicles can be parked in the new idle charging parking spaces automatically, and the vehicles are charged by the charging equipment in the new idle charging parking spaces.

Through carrying out the flow that charges that fig. 7 shows, can be through realizing that the automation of vehicle charging flap is opened and is closed, the automation of the rifle that charges is pulled out and is inserted and fill electric pile and carry out the automation of the flow that charges and open and stop, whole process need not manual operation, can provide the service of charging for unmanned vehicle.

In addition, in step 704, the process of inserting a gun started by the charger robot terminal may specifically be as shown in fig. 8, and includes the following steps:

801. and starting the gun inserting operation by the charging robot terminal, and inserting the charging gun into a charging port of the vehicle.

802. The charging robot terminal detects whether the charging gun is successfully inserted, and if the charging gun is successfully inserted, the step 803 is continuously executed; if the insertion fails and the number of times of repeated execution of step 801 does not exceed the first threshold (e.g., M times, where M is a positive integer), return to execute step 801; if the insertion fails and the number of iterations of step 801 exceeds a first threshold, an exception handling routine is triggered for manual intervention.

803. The cloud end of the charging pile system detects whether charging connection is established between the charging pile and the vehicle, and if the charging connection is established successfully, the step 804 is executed; if the establishment fails and the number of times of repeated execution of step 805 described below does not exceed a third threshold (e.g., N times, N being a positive integer), step 805 is executed; if the setup fails and the number of iterations of step 805 described below exceeds a third threshold, an exception handling routine is triggered for manual intervention.

804. And starting a charging process by the charging pile terminal to charge the vehicle.

805. And the charging robot terminal executes the gun pulling sub-process and then returns to the step 801 to pull the charging gun out of the charging port of the vehicle and then insert the charging gun into the charging port again.

In the gun insertion sub-process shown in fig. 8, repeated gun insertion may be performed first for situations where gun insertion fails and charging connection establishment fails, and if repeated gun insertion is still unsuccessful for a plurality of times, manual intervention is triggered to avoid a dead cycle of repeated gun insertion.

Correspondingly, in step 707 above, the gun-pulling sub-process started by the charger robot terminal may specifically be as shown in fig. 9, and includes the following steps:

901. and starting a gun pulling operation by the charging robot terminal, and pulling the charging gun out of a charging port of the vehicle.

902. The charging robot terminal detects whether the charging gun is successfully pulled out, and if the charging gun is successfully pulled out, the step 708 is executed; if the pulling-out fails and the number of times of repeated execution of step 901 does not exceed the second threshold (for example, K times, where K is a positive integer), returning to execute step 901; if the unplugging fails and the number of repeated executions of step 901 exceeds the second threshold, an exception handling procedure is triggered for manual intervention.

In the embodiment of the present invention, through the automatic charging method for an electric vehicle described in fig. 5, the charging stall scheduling and allocating method described in fig. 6, the method for charging a vehicle described in fig. 7, the charging gun inserting sub-process described in fig. 8, and the charging gun pulling sub-process described in fig. 9, it can be seen that a series of services such as vehicle verification, automatic parking, automatic charging, automatic departure, and the like can be provided for a vehicle through interaction between a field-side parking system, a scheduling system cloud, an automatic charging system cloud, a charger robot, a charging pile, and a vehicle, so that charging efficiency can be greatly improved, and user experience can be improved.

EXAMPLE five

Referring to fig. 10, fig. 10 is a schematic structural diagram of another charging system according to an embodiment of the disclosure. As shown in fig. 10, the charging system includes:

vehicle 1001, server 1002, and charging apparatus 1003; the charging device 1003 may specifically include: the system comprises a charging pile of a charging parking place, a charging gun connected with the charging pile and a charging robot, wherein the charging robot is used for plugging and unplugging the charging gun so as to establish and release charging connection between the charging pile and a vehicle 1001 through the charging gun; specifically, the charger robot and the charging gun may be the same device in actual physical form, and the embodiment of the present invention is not limited.

Specifically, the server 1002 may query an idle charging parking space and issue the idle charging parking space to the vehicle; (ii) a

When detecting that the vehicle 1001 is parked in the idle charging parking space, issuing a gun inserting instruction to the charging equipment 1003 to trigger the charging equipment 1003 to charge the vehicle 1001; and issuing a gun drawing instruction to the charging equipment 1003 when receiving a charging completion notification sent when the vehicle 1001 is fully charged; and, issue an automatic parking out instruction to the vehicle 1001; a vehicle 1001 for automatically parking in an idle charging parking space; and automatically driving away from the idle charging parking space according to the automatic parking instruction; .

A charging device 1003 for performing a gun plugging operation according to a gun plugging instruction to automatically charge the vehicle 1001; executing the gun drawing operation according to the gun drawing instruction;

further, the server 1002 is further configured to obtain a license plate photo taken when the vehicle 1001 enters the charging site before inquiring the idle charging parking space and issuing to the vehicle 1001; when recognizing that the vehicle 1001 supports automatic charging according to the license plate photo, acquiring the vehicle state uploaded by the vehicle 1001; and judging whether the vehicle state of the vehicle 1001 meets the conditions required by automatic driving, if so, executing the operation of inquiring the chargeable parking space in the charging field and issuing the chargeable parking space to the vehicle 1001.

Specifically, the specific implementation manner in which the server 1002 queries an idle charging slot and issues the idle charging slot to the vehicle 1001, and the vehicle 1001 automatically parks in the charging slot may include:

a server 1002 configured to detect whether the vehicle 1001 has stopped in the start area when detecting the automatic parking instruction; the starting area is a preset area in the charging field, so that a user can leave the vehicle 1001 in the starting area; when the vehicle 1001 is stopped in the starting area, inquiring a parking space which is in a normal state and can be parked in the charging equipment in the charging field as an idle charging parking space, and issuing the parking space to the vehicle 1001; and, issue the car start command to the vehicle 1001; and when receiving a successful power-on start notification sent by the vehicle 1001, issuing a parking start instruction; when the power-off stop of the vehicle 1001 is detected, the parking completion state fed back by the vehicle 1001 is obtained, and the fact that the vehicle 1001 is parked in the idle charging parking space is determined according to the parking completion state;

a vehicle 1001 for powering on and starting when receiving a vehicle start instruction; and, when the power-on start is successful, a power-on start success notification is sent to the server 1002; when a parking starting instruction is received, automatically driving to a charging parking space from the starting area; and when the power-off of the vehicle is stopped, the parking completion state is fed back to the server 1002.

Further, the specific implementation manner of the vehicle 1001 automatically driving away from the charging parking space according to the automatic parking-out instruction may be:

and the vehicle 1001 is used for automatically driving from the idle charging parking space to a waiting area according to the automatic parking instruction.

Further, when the vehicle 1001 is parked in an idle charging parking space, the server 1002 issues a gun insertion instruction to the charging device 1003, and triggers the charging device 1003 to charge the vehicle 1001; and, the specific implementation of the charging device 1003 performing the gun plugging operation according to the gun plugging instruction to automatically charge the vehicle 1001 may include:

the server 1002 is configured to issue a charging port cover opening instruction to the vehicle 1001 to trigger the vehicle 1001 to open the charging port cover when it is detected that the vehicle 1001 has parked in an idle charging parking space; when receiving a charging port cover opening success notification sent by the vehicle, issuing a gun inserting instruction to the charging equipment 1003; acquiring the synchronous charging progress of the charging pile;

further, the server 1002 may also detect whether a notification of successful gun-pulling transmitted by the charging apparatus 1003 is received after issuing a gun-pulling instruction to the charging apparatus 1003 and before issuing an automatic parking instruction to the vehicle 1001; if yes, issuing a charging port cover closing instruction to the vehicle 1001 to trigger the vehicle 1001 to close the charging port cover;

a vehicle 1001 for opening a charging port cover of the vehicle 1001 according to a charging port cover opening instruction; and when the charging port cover is successfully opened, sending a charging port cover opening success notification to the server 1002; closing a charging port cover of the vehicle 1001 according to a charging port cover closing instruction; and, when the charging port lid is successfully closed, send a charging port lid closing success notification to the server 1002.

The charging equipment 1003 is used for controlling the charging robot to insert a charging gun into a charging port of the vehicle 1001 according to the gun inserting instruction so as to establish charging connection between the charging pile and the vehicle 1001; and controlling a charging pile to charge the vehicle 1001; and controlling the charging robot to pull the charging gun out of the charging port of the vehicle 1001 according to the gun pulling instruction so as to release the charging connection between the charging pile and the vehicle 1001.

Alternatively, after controlling the charging robot to insert the charging gun into the charging port of the vehicle 1001 and before controlling the charging pile to charge the vehicle 1001, the charging apparatus 1003 may further perform the following operations:

the charging device 1003 may further be configured to detect whether the charging gun is successfully inserted; if the insertion is successful, the operation of controlling the charging pile to charge the vehicle 1001 is executed; if the insertion fails and the number of times of repeatedly inserting the gun does not exceed the first threshold value, the charging robot is controlled again to insert the charging gun into the charging port, and the operation of detecting whether the charging gun is successfully inserted is executed; and if the insertion fails and the number of times of repeatedly inserting the gun exceeds a first threshold value, triggering an exception handling process to perform manual intervention.

Further, after detecting that the charging gun is successfully inserted and before performing an operation of controlling the charging pile to charge the vehicle 1001, the charging apparatus 1003 may further perform the following operations:

the charging device 1003 may also be configured to detect whether a charging connection is established between the charging pile and the vehicle 1001; if the establishment is successful, the operation of controlling the charging pile to charge the vehicle 1001 is executed; if the establishment fails and the number of times of repeatedly pulling out the gun and then inserting the gun again does not exceed a third threshold value, controlling the charging robot to pull out the charging gun from the charging port of the vehicle 1001, then inserting the charging gun into the charging port again, and executing the step of detecting whether the charging gun is successfully inserted; and if the establishment fails and the number of times of repeatedly pulling and re-inserting the gun exceeds a third threshold value, triggering an exception handling process to perform manual intervention.

Further, after controlling the charging robot to pull the charging gun out of the charging port of the vehicle 1001 according to the gun pulling instruction, the charging apparatus 1003 may further perform the following operations:

the charging device 1003 may further be configured to detect whether the charging gun is successfully pulled out; if the unplugging is successful, triggering the vehicle 1001 to close the charging port cover through the server 1002; if the gun is not pulled out successfully and the number of times of repeatedly pulling out the gun does not exceed a second threshold value, the charging robot is controlled again to pull out the charging gun from the charging port, and the operation of detecting whether the charging gun is pulled out successfully is executed; and if the pulling-out fails and the number of times of repeatedly pulling out the gun exceeds a second threshold value, triggering an exception handling process to perform manual intervention.

The embodiment of the invention discloses a computer-readable storage medium which stores a computer program, wherein the computer program enables a computer to execute any one of the automatic charging methods for electric vehicles shown in fig. 1-3, 5-9 and 11.

An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute any one of the automatic charging methods for an electric vehicle shown in fig. 1 to 3, 5 to 9, and 11.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.

In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

The above embodiments of the present invention disclose an automatic charging method and a charging system for an electric vehicle, and a specific example is applied to illustrate the principle and the implementation of the present invention. Meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. An automatic charging method for an electric vehicle, comprising:

acquiring a license plate photo shot when a vehicle drives into a charging field;

when the vehicle state meets the conditions required by automatic driving, issuing a guiding message to a mobile terminal to guide the vehicle to run to a starting area of a charging field;

when an automatic parking instruction is detected and a vehicle is detected to be parked in the starting area, inquiring an idle charging parking space and issuing navigation information to the vehicle so as to guide the vehicle to automatically drive from the starting area to the idle charging parking space and automatically park in the idle charging parking space;

and receiving a charging completion notice sent by a vehicle, and issuing an automatic parking instruction to the vehicle so as to enable the vehicle to automatically drive away from the idle charging parking space and automatically drive from the idle charging parking space to a waiting area.

2. The method of claim 1, wherein the querying for an idle charging slot and issuing to a vehicle to cause the vehicle to automatically park in the idle charging slot comprises:

and if the vehicle is stopped in the starting area, inquiring the parking space which is in a normal state and can be parked in the charging equipment in the charging field as an idle charging parking space and issuing the parking space to the vehicle.

3. The method of claim 1, wherein after detecting that the vehicle has been parked in the vacant charging slot and before issuing a gun insertion command to the charging device, the method further comprises:

4. The method of claim 1, further comprising:

receiving the equipment state fed back by the charging equipment of the idle charging parking space in the process of charging the vehicle;

5. An electrical charging system, comprising: a vehicle, a server, and a charging device;

the server is used for receiving license plate pictures shot when the vehicle enters a charging field; when the vehicle is identified to support automatic charging according to the license plate photo, receiving the vehicle state reported by the vehicle; when the vehicle is judged to meet the conditions required by automatic driving according to the vehicle state, issuing a guiding message to a mobile terminal, wherein the guiding message is used for guiding the vehicle to run to a starting area of a charging field; when the automatic parking instruction is detected and the vehicle is detected to be parked in the starting area, inquiring the idle charging parking space and issuing navigation information to the vehicle;

the vehicle is used for automatically driving to the idle charging parking space from the starting area and automatically parking to the idle charging parking space;

and the vehicle is also used for automatically driving away from the idle charging parking space according to the automatic parking instruction and automatically driving to a waiting area from the idle charging parking space.

6. The system of claim 5, wherein the means for querying the vacant charging slots and issuing the vacant charging slots to the vehicle by the server specifically comprises:

7. The system of claim 5, wherein:

8. The system of claim 5, wherein: