CN110264020A - A kind of charging control system of electric automobile and method - Google Patents
A kind of charging control system of electric automobile and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- 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
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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
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- Y02T10/00—Road transport of goods or passengers
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- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
A kind of charging control system of electric automobile and method, comprising: identification module, extraction module, planning module, comparison module, the comparison module determine the least mobile charging mechanism of traveling time for comparing traveling time；Charging operation is completed in mobile module, the position that the mobile module is used to for mobile charging mechanism being sent to Rechargeable vehicle to be charged.Present application addresses the times for obtaining charging mechanism under a moveable premise of charging mechanism and being capable of providing charging service, so that electric car to be charged obtains the predetermined time of its available charging service, and when carrying out charging service, mobile charging mechanism is sent to the predetermined position of automobile to be charged to provide charging service.
Description
Technical field
This application involves a kind of charging control system of electric automobile and methods.
Background technique
Due to for many years China's economic structure and development speed.The pressure of the energy and environment, China more
Prominent, PM2.5 has become the appraisal standards of Chinese Government.APEC 5 Beijing Meeting in 2014, has more shown Chinese government's ring
The resolution and ability that border is administered.It is counted according to Ministry of Industry and Information, the accumulative production 8.39 ten thousand of China's new-energy automobile in 2014.Increase by a year-on-year basis
3 times.Wherein China's in December, 2014 produces new-energy automobile 2.72 ten thousand, increases by 3 times on a year-on-year basis.
But Development of Electric Vehicles still remains following problem at present: first is that restricting new-energy automobile large-scale promotion, still
So there are many technological side problem letters to be solved, the upgrading of battery durable mileage, the charging time is too long, charging pile capital construction is perfect etc. restricts
The factor of development.Second is that the construction of electric car charging infrastructure and operation bring organizational structure and mechanism problem, the rule of electric car
The perfect complete sets of basic equipment facility of modelling development need provides the supplement of electric energy, and electrically-charging equipment construction and operation link are for electronic vapour
Vehicle industry development is most important, and charging infrastructure construction and operation are related to the various aspects such as electrical supplier, operator and user
Interest relations.Third is that environmental problem, environmental restrictions can not build that more charging pile, battery pack production, transport, installation, processing,
Charge, replace, scrapping safe handling, more stringent requirements are proposed to environment, there are security risks.Fourth is that since electric car is sent out
Exhibition rapidly, needs to install a large amount of charging piles, but fuel vehicle ownership is big now, there are problems that occupying charging pile position, can not
A large amount of charging piles can be built.
Since urban land resource anxiety problem mouth benefit highlights in recent years, the parking problem that city faces is also more serious,
Therefore stereo garage starts in recent years, some stereo garages applied to electric car charging also occurs.But these
The foundation in garage can not solve existing fuel vehicle and not need charging money brought by the electric car occupancy charging parking stall of charging
Source wastes problem.In conclusion how stopping at release and charging problem under the premise of reasonable distribution charge resource, be this field
The problem of technical staff's urgent need to resolve.
Summary of the invention
To solve the above-mentioned problems, present applicant proposes a kind of charging control system of electric automobile and methods, on the one hand, this
Application discloses a kind of charging control system of electric automobile, comprising: identification module, the identification module is for obtaining electricity to be charged
The information of electrical automobile；Extraction module, the extraction module is for being determined to according to the information of electric car to be charged as wait fill
The mobile charging mechanism that electric automobile charges；Planning module, the planning module is for determining that extraction module obtains
Mobile charging mechanism reach arrival time of electric car to be charged；Comparison module, the comparison module is for comparing shifting
The dynamic time, and determine the least mobile charging mechanism of traveling time；Mobile module, the mobile module are filled for that will move
Complete charging operation in the position that motor structure is sent to Rechargeable vehicle to be charged.Present application addresses moveable in a charging mechanism
The time that charging mechanism is capable of providing charging service is obtained under premise, for electric car to be charged obtain one its can obtain
To the predetermined time of charging service, and when carrying out charging service, mobile charging mechanism is sent to the pre- of automobile to be charged
Positioning sets to provide charging service.
Preferably, the arrival time includes path time and working time；The planning module for plan it is each can
Mobile charging mechanism is moved to the path of Rechargeable vehicle to be charged, and obtains path time；The working time is by obtaining work
The information of charging electric automobile in work obtains.Since path time depends critically upon path planning, the application is using rule
Draw the movement routine that module comes independent determining mobile charging mechanism, and traveling time obtained based on movement routine, then according to
It is screened according to traveling time and working time as parameter.
Preferably, the control system is used for stereo garage, and the mobile charging mechanism that the extraction module determines is in
The same side；Each parking stall of the stereo garage is divided into n*m grid towards mobile charging mechanism side, and will wherein
One grid is set as zero point grid, is assigned according to mobile charging mechanism by the height of each grid or the time of width
Value obtains grid map, and the path time cooks up mobile charging mechanism from former net by two-dimensional movement optimal path algorithm
Lattice reach the time used in the zero point grid on parking stall locating for electric car to be charged and obtain.By the structure of fenceization entirety,
Allow each block more easily to distinguish and be laid out, and more easily carry out the design of sequencing and algorithm,
To obtain more optimal motion path.
Preferably, the grid includes the free grid for allowing two-dimensional movement optimal path algorithm to use and does not allow two dimension
The obstacle grid that mobile optimal path algorithm uses, the obstacle grid refer to having parked electronic vapour when the parking stall of stereo garage
Vehicle and when electric car is charging, all grids on the parking stall that n is 1.
Preferably, the two-dimensional movement optimal path algorithm is carried out as follows: being based on fence map, is first confirmd that
Initial point, then up, under, left and right, upper left, lower-left, upper right, eight directions in bottom right search strategy, for find minimum cost
Node n, f (n)=g (n)+h (n) is expressed as the heuristic function of node n；Wherein f (n) is each node n searched
Corresponding heuristic function；G (n) is actual cost of the starting point S to present node n；H (n) is present node n to target endpoint T
Estimate cost；
In conjunction with manhatton distance hM(n) and Euclidean distance hE(n) h (n) is improved, obtains and is able to suppress bending number and drop
The estimation cost h (n) of the two-dimensional movement optimal path algorithm optimal path of low search node number, expression formula are as follows: h (n)=max
(abs(xn-xt), abs (yn-yt))；
Wherein abs is to take its absolute value, and max is to take maximum value between the two, wherein present node xn, ynFor present node n's
Coordinate, xt, ytFor the coordinate of pinpoint T；
Preferably, the g (n) improves as follows:
In formula, c (n) is to calculate current point n starting point n-1 Euclidean distance adjacent with its, and g (n) is to calculate current point n and rise
The Euclidean distance of point S；
The two-dimensional movement optimal path algorithm carries out in accordance with the following steps:
(1) it is loaded into grating map, and orthogonal two-dimensional mobile platform starting point S is set, task object point T；
(2) Open List, Close List, Field Pointer Isoparametric function are initialized；
(3) Open List is added in start position S where robot, repeats following process；
(4) check whether Open List is empty；If it is sky, step (9) are jumped to, otherwise carry out step (5)；
(5) check whether Open List includes target point T, if jumping to step (9) comprising target point T, otherwise carrying out
Step (6)；
(6) node in Open List is traversed, selects the smallest node of heuristic function f (n) value as current to be processed
Then this node is inserted into Close List by node, and update Open List deletion of node；
(7) adjacent node of present node is successively inquired；Specific manifestation are as follows: closed in grid point at eight, such as
The node actual cost of fruit inquiry is infinite or can not arrive at, then does not deal with；If the node of inquiry is neither in Open List
Also not in Close List, Open List is added in this node, and its father node is directed toward current point；If the section of inquiry
Point is own through in Open List, being then compared the cost f (n) of evaluation function with the original value in Open table, if it is less than
Equal to original value, then record is new is worth and the pointer of his father's point is directed toward current point；If the node of inquiry is own through in Close
In List, then skips it and continue to extend other nodes, jump to step (4)；Until after target point T is put into Close List,
It carries out step (8)；
(8) in Close List, according to node source along target point T backtracking until starting point, obtains the smallest cost
Path.
By using the table of fence as object of research, after fence, movement routine be it is limited, pass through
Algorithm improvement is carried out to limited path so that the improvement that algorithm is carried out in Path selection obtain that optimal path becomes can
Can, so as to coordinate the contradiction between time and optimal path, so as to obtain cost most within the time that can be restrained oneself
Small path, i.e., shortest path time.
Preferably, the mobile charging mechanism is mobile charging robot；The mobile charging robot includes
Robot body, wheel type traveling mechanism, visual sensing unit, control unit；The robot body further includes plug in rifle, draw guns behaviour
The executing agency of work；The visual sensing unit includes that cmos sensor, image capture module, PORT COM and image procossing are soft
Part, image are converted into transducing signal, and completion charges to the Image Acquisition of charging socket then by the processing to image
Mouth position data, and real-time position information data are reached into control unit；Control unit and mobile module carry out two-way communication, and
Control the plug operation that wheel type traveling mechanism drives the position of robot body Rechargeable vehicle to be charged to carry out electric car charging；
The mobile charging mechanism is carried out as follows charging after entering the position of Rechargeable vehicle to be charged: S1,
The zero point grid on the visual sensing unit parking stall locating for electric car to be charged first of the mobile charging robot is adopted
Collect the image information on vehicle left side side, then by the processing to image, carries out charge port identification and its position data calculates；
S2, the visual sensing unit recognize charge port in the picture, calculate charge port position data, carry out optimal road
Diameter planning, and the control unit of the mobile charging robot is transferred data to, described control unit control is described wheeled
Walking mechanism drives the mobile charging robot to reach in the scope of activities of the robot body mechanical arm；
S3, the wheel type traveling mechanism stop movement, and described control unit controls the robot body mechanical arm foundation
The charge port position data that visual sensing unit provides is completed to plug in rifle operation, and electric car starts to charge；It is described after charging
Control unit controls the robot body mechanical arm and completes operation of drawing guns, mechanical arm return to primitive age position；
S4, the visual sensing unit are unidentified in the picture to arrive charge port, then transmits "None" information to the movable type
The control unit of charging robot, described control unit then control the wheel type traveling mechanism and drive the mobile charging machine
People reaches middle position on rear side of parking stall along expansion plate, and visual sensing unit acquisition vehicle direct picture is simultaneously handled；
S5, the visual sensing unit recognize charge port in the picture, then are operated according to process S2, S3；
S6, the visual sensing unit be not unidentified in the picture to arrive charge port, then transmits "None" information to the movement
The control unit of formula charging robot, described control unit then control the wheel type traveling mechanism and drive the mobile charger
Device people continues to reach on the right side of the parking stall and symmetrical position of fixed position along expansion plate, and visual sensing unit acquires vehicle right side
Image is simultaneously handled；
S7, the visual sensing unit recognize charge port in the picture, then are operated according to process S2, S3；
S8, the visual sensing unit be not unidentified in the picture to arrive charge port, then transmits "None" information to the movement
The control unit of formula charging robot, described control unit then control the wheel type traveling mechanism and drive the mobile charger
Device people directly enters parking stall along right side, reaches parking stall front, center, and visual sensing unit acquisition vehicle direct picture is simultaneously located
Reason, is then operated according to process S2, S3.
It preferably, further include optimization module, the optimization module is used to optimize the quantity of mobile charging mechanism；The control
System processed is used for stereo garage, the quantity of the mobile charging mechanism less than the parking stall in stereo garage quantity, it is described can
The quantity of mobile charging mechanism obtains as follows:
MinZ (s)=Csμ+CwLs；
In formula: Z (s) --- indicate that automatic charging system provides the totle drilling cost (unit: member) of charging service；Cs--- work as μ
When one unit of every increase, the increased charging service expense of system institute (unit: member)；μ --- indicate average charge service rate, it is single
The mobile charging mechanism quantity (unit: platform) completed can be serviced in the time of position；Cw--- the average travel time valence of customer
It is worth (unit: member/h)；Ls--- system charges average queue length (unit: h)；The unit price of P --- mobile charging mechanism is (single
Position: member)；r0--- discount rate；M --- mobile charging mechanism runs the time limit (unit: year)；E --- represent control system
Proportionate relationship between operation expense and fixed assets；
Due to s be it is discrete, to acquire optimal s, technique of marginal analysis is used, if optimal inside stereo garage removable fill
It is s* that motor structure, which configures number, then must make required s* while meet:
Optimal s* can be acquired by above formula, after rounding, the as minimum quantity of mobile charging mechanism.The application is logical
It crosses this kind of mode and obtains the minimum number of a mobile charging mechanism, and the acquisition of the parameter is to rely under reality and does
The compromise of speed and investment out can satisfy optimal removable under a rough time cost under this number
The number of dynamic charging mechanism.
On the other hand, disclosed herein as well is a kind of electric car charge control method, include the following steps: to obtain wait fill
The information of electric automobile；According to the information of electric car to be charged be determined to charge for electric car to be charged can
Mobile charging mechanism；It is determined to the mobile charging mechanism to charge for electric car to be charged and reaches electronic vapour to be charged
The arrival time of vehicle；Compare traveling time, and determines the least mobile charging mechanism of traveling time；By mobile charging mechanism
Complete charging operation in the position for being sent to Rechargeable vehicle to be charged.
Preferably, the information of the charging electric automobile includes the id information of automobile itself and the information about power of automobile.
The application can be brought the following benefits:
1, the corresponding scene problem of the application is how to determine to be filled under a moveable premise of charging mechanism
Motor structure is capable of providing the time of charging service, so that electric car to be charged obtains the pre- of its available charging service
It fixes time, and when carrying out charging service, mobile charging mechanism is sent to the predetermined position of automobile to be charged to provide
Charging service；
2, the application is by the way that using the table of fence as object of research, after fence, movement routine is that have
Limit, by carrying out algorithm improvement to limited path, so that the improvement for carrying out algorithm in Path selection obtains optimal road
Diameter is possibly realized, so as to coordinate the contradiction between time and optimal path, so as to obtain within the time that can be restrained oneself
To the path of cost minimization, i.e., shortest path time.
3, for the application by considering to real parameter, obtaining one can satisfy the mobile charging mechanism of requirement most
Low number, and the acquisition of the parameter is to rely on the response speed made under reality and invests the compromise of amount, is based on
This, can obtain the number of mobile charging mechanism under the time cost arranged at one, and can improve movement whereby
The predictability of time.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the principle schematic diagram of the application.
Fig. 2 is the schematic diagram of the grid fence of the application.
Fig. 3 is the schematic diagram of mobile charging robot.
Fig. 4 is that mobile charging machine manually makees schematic diagram.
Specific embodiment
In order to clarify the technical characteristics of the invention, below by specific embodiment, and its attached drawing is combined, to this Shen
It please be described in detail.
As shown in the figure, for the clearer general idea for illustrating the application, with reference to the accompanying drawings of the specification with example
Mode be described in detail.
In addition, in the description of the present application, it is to be understood that term " center ", "upper", "lower", "front", "rear",
The orientation of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " axial direction ", " radial direction ", " circumferential direction "
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the application and simplifies description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It should not be understood as the limitation to the application.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present application, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In this application unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected, can also be communication；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in this application as the case may be.
In this application unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.In retouching for this specification
In stating, the description of reference term " one embodiment ", " some embodiments ", " example ", " specific example " or " some examples " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one of the application
In embodiment or example.In the present specification, schematic expression of the above terms are necessarily directed to identical embodiment
Or example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples
It can be combined in any suitable manner.
In one embodiment, as shown in Figure 1, needing the signal to charge to charge control system when a vehicle issues
When, identification module receives relevant information, and after receiving relevant information, extraction module is true according to the information of electric car to be charged
It surely can be the mobile charging mechanism that electric car to be charged charges；Then for above-mentioned mobile charging mechanism, rule
Draw the arrival time that the mobile charging mechanism that module determines that extraction module obtains reaches electric car to be charged；Then compare shifting
The dynamic time, and determine that the least mobile charging mechanism of traveling time leads to if vehicle can receive the mobile charging mechanism
It crosses mobile module and charging operation is completed into the position that mobile charging mechanism is sent to Rechargeable vehicle to be charged.Described in above-mentioned in place
Time can be mobile charging mechanism to the arrival time received after relevant information, be also possible to it is recited above in place
Time subtracts the time that automobile to be charged reaches.
It should be understood that the arrival time includes path time and working time；The planning module is each for planning
A mobile charging mechanism is moved to the path of Rechargeable vehicle to be charged, and obtains path time；The working time is by obtaining
The information of the electric car in work is taken to obtain.
In the second embodiment, the control system is used for stereo garage, removable the filling of the extraction module determination
Motor structure is in the same side；Each parking stall of the stereo garage is divided into n*m net towards mobile charging mechanism side
Lattice as shown in Fig. 2, being divided into the table of 3*3, and set zero point grid for one of grid, according to mobile charging machine
Structure carries out assignment by the height of each grid or the time of width and obtains grid map, and the path time passes through two-dimensional movement
Optimal path algorithm cooks up the zero point net that mobile charging mechanism reaches parking stall locating for electric car to be charged from former grid
Time used in lattice obtains.The grid includes allowing the free grid that uses of two-dimensional movement optimal path algorithm and not allowing two
The obstacle grid that mobile optimal path algorithm uses is tieed up, it is electronic that the obstacle grid refers to that the parking stall for working as stereo garage has been parked
Automobile and when electric car is charging, all grids on the parking stall that n is 1.The two-dimensional movement optimal path algorithm
Be carried out as follows: based on fence map, first confiring that initial point, then up, under, left and right, upper left, lower-left, the right side
Upper, eight directions in bottom right search strategy is expressed as f (n) for the heuristic function of node n for the node n for finding minimum cost
=g (n)+h (n)；Wherein f (n) is heuristic function corresponding to each node n for searching；G (n) is starting point S to present node
The actual cost of n；H (n) is estimate cost of the present node n to target endpoint T；
In conjunction with manhatton distance hM(n) and Euclidean distance hE(n) h (n) is improved, obtains and is able to suppress bending number and drop
The estimation cost h (n) of the two-dimensional movement optimal path algorithm optimal path of low search node number, expression formula are as follows: h (n)=max
(abs(xn-xt), abs (yn-yt))；
Wherein abs is to take its absolute value, and max is to take maximum value between the two, wherein present node xn, ynFor present node n's
Coordinate, xt, ytFor the coordinate of pinpoint T；
It should be understood that the g (n) improves as follows:
In formula, c (n) is to calculate current point n starting point n-1 Euclidean distance adjacent with its, and g (n) is to calculate current point n and rise
The Euclidean distance of point S；
The two-dimensional movement optimal path algorithm carries out in accordance with the following steps:
(1) it is loaded into grating map, and orthogonal two-dimensional mobile platform starting point S is set, task object point T；
(2) Open List, Close List, Field Pointer Isoparametric function are initialized；
(3) Open List is added in start position S where robot, repeats following process；
(4) check whether Open List is empty；If it is sky, step (9) are jumped to, otherwise carry out step (5)；
(5) check whether Open List includes target point T, if jumping to step (9) comprising target point T, otherwise carrying out
Step (6)；
(6) node in Open List is traversed, selects the smallest node of heuristic function f (n) value as current to be processed
Then this node is inserted into Close List by node, and update Open List deletion of node；
(7) adjacent node of present node is successively inquired；Specific manifestation are as follows: closed in grid point at eight, such as
The node actual cost of fruit inquiry is infinite or can not arrive at, then does not deal with；If the node of inquiry is neither in Open List
Also not in Close List, Open List is added in this node, and its father node is directed toward current point；If the section of inquiry
Point is own through in Open List, being then compared the cost f (n) of evaluation function with the original value in Open table, if it is less than
Equal to original value, then record is new is worth and the pointer of his father's point is directed toward current point；If the node of inquiry is own through in Close
In List, then skips it and continue to extend other nodes, jump to step (4)；Until after target point T is put into Close List,
It carries out step (8)；
(8) in Close List, according to node source along target point T backtracking until starting point, obtains the smallest cost
Path.
It should be understood that the mobile charging mechanism is mobile charging robot；As shown in figure 3, the movable type
Charging robot includes robot body, wheel type traveling mechanism, visual sensing unit, control unit；The robot body is also
Executing agency including plugging in rifle, operation of drawing guns；The visual sensing unit includes cmos sensor, image capture module, communication
Port and image processing software, image are converted into transducing signal, the Image Acquisition to charging socket are completed, then by image
Processing, obtain charge port position data, and real-time position information data are reached into control unit；Control unit and mobile module
Two-way communication is carried out, and controls wheel type traveling mechanism and the position of robot body Rechargeable vehicle to be charged is driven to carry out electric car
The plug of charging operates；Mobile module issues the control unit of charging instruction to packaged type robot, and can real-time monitoring its
Charging status information.After control unit receives charging instruction, trigger signal is sent to visual sensing unit, thus visual sensor
Into Image Acquisition and image recognition stage, and control unit, robot body and wheel type traveling mechanism enter reception information
Wait state, completion identify and position charging socket.Visual sensing unit starts Image Acquisition work, is sensed by CMOS
Device, image capture module and image processing software obtain position data, and pass through communication ends oral instructions for the result after positioning is calculated
It is defeated to arrive control unit, control unit will become after data conversion that visual sensing unit transmits instruction be sent to robot with it is wheeled
Walking mechanism.Control unit controls wheel type traveling mechanism first and drives packaged type robot to robot body mechanical arm activity
In range, and send instructions in the case where the movement for receiving control wheel type traveling mechanism is completed after signal to robot body, robot
Bulk mechanical arm, which executes instruction, reaches charging jack position, completes plug rifle operation.Robot body is when executing plug in rifle operation
Force information is uploaded in real time to control unit, to be confirmed whether to connect with charging jack.After the completion of the charging time of setting, machine
Human body's mechanical arm returns to init state and waits action command next time.
The mobile charging mechanism enter Rechargeable vehicle to be charged position after be carried out as follows charging: as figure
Shown in 4, S1, the mobile charging robot the visual sensing unit parking stall locating for electric car to be charged first zero
Dot grid acquires the image information of vehicle left side, then by the processing to image, carries out charge port identification and its positional number
According to calculating；
S2, the visual sensing unit recognize charge port in the picture, calculate charge port position data, carry out optimal road
Diameter planning, and the control unit of the mobile charging robot is transferred data to, described control unit control is described wheeled
Walking mechanism drives the mobile charging robot to reach in the scope of activities of the robot body mechanical arm；
S3, the wheel type traveling mechanism stop movement, and described control unit controls the robot body mechanical arm foundation
The charge port position data that visual sensing unit provides is completed to plug in rifle operation, and electric car starts to charge；It is described after charging
Control unit controls the robot body mechanical arm and completes operation of drawing guns, mechanical arm return to primitive age position；
S4, the visual sensing unit are unidentified in the picture to arrive charge port, then transmits "None" information to the movable type
The control unit of charging robot, described control unit then control the wheel type traveling mechanism and drive the mobile charging machine
People reaches middle position on rear side of parking stall along expansion plate, and visual sensing unit acquisition vehicle direct picture is simultaneously handled；
S5, the visual sensing unit recognize charge port in the picture, then are operated according to process S2, S3；
S6, the visual sensing unit be not unidentified in the picture to arrive charge port, then transmits "None" information to the movement
The control unit of formula charging robot, described control unit then control the wheel type traveling mechanism and drive the mobile charger
Device people continues to reach on the right side of the parking stall and symmetrical position of fixed position along expansion plate, and visual sensing unit acquires vehicle right side
Image is simultaneously handled；
S7, the visual sensing unit recognize charge port in the picture, then are operated according to process S2, S3；
S8, the visual sensing unit be not unidentified in the picture to arrive charge port, then transmits "None" information to the movement
The control unit of formula charging robot, described control unit then control the wheel type traveling mechanism and drive the mobile charger
Device people directly enters parking stall along right side, reaches parking stall front, center, and visual sensing unit acquisition vehicle direct picture is simultaneously located
Reason, is then operated according to process S2, S3.
It should be understood that further including optimization module, the optimization module is used to optimize the quantity of mobile charging mechanism；Institute
Control system is stated for stereo garage, quantity of the quantity less than the parking stall in stereo garage of the mobile charging mechanism, institute
The quantity for stating mobile charging mechanism obtains as follows:
MinZ (s)=Csμ+CwLs；
In formula: Z (s) --- indicate that automatic charging system provides the totle drilling cost (unit: member) of charging service；Cs--- work as μ
When one unit of every increase, the increased charging service expense of system institute (unit: member)；μ --- indicate average charge service rate, it is single
The mobile charging mechanism quantity (unit: platform) completed can be serviced in the time of position；Cw--- the average travel time valence of customer
It is worth (unit: member/h)；Ls--- system charges average queue length (unit: h)；The unit price of P --- mobile charging mechanism is (single
Position: member)；r0--- discount rate；M --- mobile charging mechanism runs the time limit (unit: year)；E --- represent control system
Proportionate relationship between operation expense and fixed assets；
Due to s be it is discrete, to acquire optimal s, technique of marginal analysis is used, if optimal inside stereo garage removable fill
It is s* that motor structure, which configures number, then must make required s* while meet:
Optimal s* can be acquired by above formula, after rounding, the as quantity of mobile charging mechanism.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
Claims (10)
1. a kind of charging control system of electric automobile, it is characterised in that: include:
Identification module, the identification module are used to obtain the information of electric car to be charged；
Extraction module, the extraction module is for being determined to according to the information of electric car to be charged as electric car to be charged
The mobile charging mechanism to charge；
Planning module, the mobile charging mechanism that the planning module is used to determine that extraction module to obtain reach electronic vapour to be charged
The arrival time of vehicle；
Comparison module, the comparison module determine the least mobile charging mechanism of traveling time for comparing traveling time；
Charging is completed in mobile module, the position that the mobile module is used to for mobile charging mechanism being sent to Rechargeable vehicle to be charged
Operation.
2. a kind of charging control system of electric automobile according to claim 1, it is characterised in that: the arrival time includes
Path time and working time；The planning module is for planning that each mobile charging mechanism is moved to Rechargeable vehicle to be charged
Path, and obtain path time；The working time is obtained by obtaining the information of the electric car in work.
3. a kind of charging control system of electric automobile according to claim 2, it is characterised in that: the control system is used for
Stereo garage, the mobile charging mechanism that the extraction module determines are in the same side；Each parking stall of the stereo garage
It is divided into n*m grid towards mobile charging mechanism side, and sets zero point grid for one of grid, according to removable
Dynamic charging mechanism carries out assignment by the height of each grid or the time of width and obtains grid map, and the path time passes through
Two-dimensional movement optimal path algorithm cooks up mobile charging mechanism and reaches parking stall locating for electric car to be charged from former grid
Zero point grid used in the time obtain.
4. a kind of charging control system of electric automobile according to claim 3, it is characterised in that: the grid includes allowing
The free grid that two-dimensional movement optimal path algorithm uses and the obstacle grid for not allowing two-dimensional movement optimal path algorithm to use,
The obstacle grid refers to that when electric car has been parked in the parking stall of stereo garage and electric car is charging, n is this of 1
All grids on parking stall.
5. a kind of charging control system of electric automobile according to claim 3, it is characterised in that: the two-dimensional movement is optimal
Routing algorithm is carried out as follows: be based on fence map, first confirm that initial point, then up, under, left and right, upper left,
Lower-left, upper right, eight directions in bottom right search strategy, for find minimum cost node n, for the heuristic function table of node n
It is shown as f (n)=g (n)+h (n)；Wherein f (n) is heuristic function corresponding to each node n for searching；G (n) is that starting point S is arrived
The actual cost of present node n；H (n) is estimate cost of the present node n to target endpoint T；
In conjunction with manhatton distance hM(n) and Euclidean distance hE(n) h (n) is improved, show that being able to suppress bending number and reduction searches
The estimation cost h (n) of the two-dimensional movement optimal path algorithm optimal path of socket points, expression formula are as follows: h (n)=max (abs
(xn-xt), abs (yn-yt))；
Wherein abs is to take its absolute value, and max is to take maximum value between the two, wherein present node xn, ynFor the seat of present node n
Mark, xt, ytFor the coordinate of pinpoint T.
6. a kind of charging control system of electric automobile according to claim 5, it is characterised in that: the g (n) is according to as follows
Method improves:
In formula, c (n) is to calculate current point n starting point n-1 Euclidean distance adjacent with its, and g (n) is to calculate current point n and starting point S
Euclidean distance；
The two-dimensional movement optimal path algorithm carries out in accordance with the following steps:
(1) it is loaded into grating map, and orthogonal two-dimensional mobile platform starting point S is set, task object point T；
(2) Open List, Close List, Field Pointer Isoparametric function are initialized；
(3) Open List is added in start position S where robot, repeats following process；
(4) check whether Open List is empty；If it is sky, step (9) are jumped to, otherwise carry out step (5)；
(5) check whether Open List includes target point T, if jumping to step (9) comprising target point T, otherwise carrying out step
(6)；
(6) node in Open List is traversed, selects the smallest node of heuristic function f (n) value as current section to be processed
Then this node is inserted into Close List by point, and update Open List deletion of node；
(7) adjacent node of present node is successively inquired；Specific manifestation are as follows: closed in grid point at eight, if looked into
The node actual cost of inquiry is infinite or can not arrive at, then does not deal with；If the node of inquiry neither in Open List nor
In Close List, Open List is added in this node, and its father node is directed toward current point；If inquiry node oneself
Through in Open List, then the cost f (n) of evaluation function being compared with the original value in Open table, if it is less than or equal to
Original value, then record is new is worth and the pointer of his father's point is directed toward current point；If oneself passes through in Close List the node of inquiry,
It then skips it and continues to extend other nodes, jump to step (4)；Until carrying out step after target point T is put into Close List
(8)；
(8) in Close List, according to node source along target point T backtracking until starting point, obtains the smallest cost path.
7. a kind of charging control system of electric automobile according to claim 1, it is characterised in that: the mobile charging machine
Structure is mobile charging robot；
The mobile charging robot includes robot body, wheel type traveling mechanism, visual sensing unit, control unit；Institute
Stating robot body further includes the executing agency for plugging in rifle, operation of drawing guns；The visual sensing unit includes cmos sensor, image
Acquisition module, PORT COM and image processing software, image are converted into transducing signal, complete the Image Acquisition to charging socket,
Then by the processing to image, charge port position data is obtained, and real-time position information data are reached into control unit；Control
Unit and mobile module carry out two-way communication, and control the position that wheel type traveling mechanism drives robot body Rechargeable vehicle to be charged
Set the plug operation for carrying out electric car charging；
The mobile charging mechanism is carried out as follows charging after entering the position of Rechargeable vehicle to be charged: S1, described
The zero point grid collecting vehicle on the visual sensing unit parking stall locating for electric car to be charged first of movable type charging robot
Then the image information of left side passes through the processing to image, carry out charge port identification and its position data calculates；
S2, the visual sensing unit recognize charge port in the picture, calculate charge port position data, carry out optimal path rule
It draws, and transfers data to the control unit of the mobile charging robot, described control unit controls the running on wheels
Mechanism drives the mobile charging robot to reach in the scope of activities of the robot body mechanical arm；
S3, the wheel type traveling mechanism stop movement, and described control unit controls the robot body mechanical arm according to vision
The charge port position data that sensing unit provides is completed to plug in rifle operation, and electric car starts to charge；After charging, the control
Unit controls the robot body mechanical arm and completes operation of drawing guns, mechanical arm return to primitive age position；
S4, the visual sensing unit are unidentified in the picture to arrive charge port, then transmits "None" information to the mobile charging
The control unit of robot, described control unit then control the wheel type traveling mechanism and drive the mobile charging Robot
Expansion plate reaches middle position on rear side of parking stall, and visual sensing unit acquisition vehicle direct picture is simultaneously handled；
S5, the visual sensing unit recognize charge port in the picture, then are operated according to process S2, S3；
S6, the visual sensing unit be not unidentified in the picture to arrive charge port, then transmits "None" information to the movable type and fill
The control unit of electric machine people, described control unit then control the wheel type traveling mechanism and drive the mobile charging robot
Continue to reach on the right side of the parking stall and symmetrical position of fixed position along expansion plate, visual sensing unit acquires vehicle right hand view picture
And it handles；
S7, the visual sensing unit recognize charge port in the picture, then are operated according to process S2, S3；
S8, the visual sensing unit be not unidentified in the picture to arrive charge port, then transmits "None" information to the movable type and fill
The control unit of electric machine people, described control unit then control the wheel type traveling mechanism and drive the mobile charging robot
Directly enter parking stall along right side, reach parking stall front, center, visual sensing unit acquisition vehicle direct picture is simultaneously handled, so
It is operated afterwards according to process S2, S3.
8. a kind of charging control system of electric automobile according to claim 1, it is characterised in that: it further include optimization module,
The optimization module is used to optimize the quantity of mobile charging mechanism；The control system is used for stereo garage, described removable
The quantity of charging mechanism is less than the quantity of the parking stall in stereo garage, and the quantity of the mobile charging mechanism is as follows
It obtains:
MinZ (s)=Csμ+CwLs；
In formula: Z (s) --- indicate that automatic charging system provides the totle drilling cost (unit: member) of charging service；Cs--- when the every increase of μ
When one unit, the increased charging service expense of system institute (unit: member)；μ --- indicate average charge service rate, unit time
It is interior to service the mobile charging mechanism quantity (unit: platform) completed；Cw--- the average travel time value of customer is (single
Position: member/h)；Ls--- system charges average queue length (unit: h)；P --- mobile charging mechanism unit price (unit:
Member)；r0--- discount rate；M --- mobile charging mechanism runs the time limit (unit: year)；E --- represent the operation of control system
Proportionate relationship between maintenance cost and fixed assets；
Due to s be it is discrete, to acquire optimal s, technique of marginal analysis is used, if optimal mobile charging machine inside stereo garage
It is s* that structure, which configures number, then must make required s* while meet:
Optimal s* can be acquired by above formula, after rounding, the as minimum quantity of mobile charging mechanism.
9. a kind of electric car charge control method, characterized by the following steps:
Obtain the information of electric car to be charged；
The mobile charging mechanism to charge for electric car to be charged is determined to according to the information of electric car to be charged；
The mobile charging mechanism for being determined to charge for electric car to be charged reaches electric car to be charged in place
Time；
Compare traveling time, and determines the least mobile charging mechanism of traveling time；
Charging operation is completed into the position that mobile charging mechanism is sent to Rechargeable vehicle to be charged.
10. a kind of electric car charge control method according to claim 9, it is characterised in that: the charging electric vapour
The information of vehicle includes the id information of automobile itself and the information about power of automobile.
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