本發明(ming)涉(she)及電車(che)充(chong)電領域，特別是(shi)涉(she)及一種自動充(chong)電的控制方法、裝置及系(xi)統(tong)。

背景技術：

1、在(zai)未來汽(qi)(qi)車(che)(che)無人駕(jia)(jia)駛(shi)(shi)技(ji)術(shu)逐漸成熟并應用的(de)(de)(de)(de)背景下(xia)，自(zi)(zi)動(dong)駕(jia)(jia)駛(shi)(shi)的(de)(de)(de)(de)電(dian)動(dong)汽(qi)(qi)車(che)(che)充(chong)電(dian)場景成為一(yi)項備(bei)受關(guan)注的(de)(de)(de)(de)創(chuang)新(xin)方(fang)向。隨著無人駕(jia)(jia)駛(shi)(shi)技(ji)術(shu)的(de)(de)(de)(de)發展(zhan)，汽(qi)(qi)車(che)(che)將具備(bei)自(zi)(zi)主感(gan)知(zhi)環境、自(zi)(zi)主規劃(hua)路徑(jing)和自(zi)(zi)主駕(jia)(jia)駛(shi)(shi)到指定(ding)位置的(de)(de)(de)(de)能力(li)。在(zai)這個前(qian)提下(xia)，人們對電(dian)動(dong)汽(qi)(qi)車(che)(che)充(chong)電(dian)體驗的(de)(de)(de)(de)便捷性和智能化水平提出了(le)更(geng)高的(de)(de)(de)(de)期望。目前(qian)，傳(chuan)統的(de)(de)(de)(de)電(dian)動(dong)汽(qi)(qi)車(che)(che)充(chong)電(dian)過(guo)程仍需要用戶手(shou)動(dong)進行操作，這包括停車(che)(che)、打開充(chong)電(dian)蓋、插入充(chong)電(dian)器等步驟，這在(zai)一(yi)定(ding)程度上限制了(le)用戶的(de)(de)(de)(de)便利性和充(chong)電(dian)效(xiao)率。

技術實現思路

1、本發明的目的是提(ti)(ti)供一(yi)種自(zi)動充電的控(kong)制方法(fa)、裝置及(ji)系統，實現充電過(guo)程自(zi)動化，無需用(yong)戶手動開合充電蓋(gai)，提(ti)(ti)高用(yong)戶使用(yong)體驗(yan)。

2、為解決(jue)上述技術問(wen)題，本(ben)發明提供了(le)一種自(zi)動充電(dian)的控制方(fang)法，包(bao)括：

3、車輛(liang)中的自動(dong)充電的控(kong)制裝置在車輛(liang)進入停(ting)車場并接收(shou)到(dao)充電指令時，控(kong)制車輛(liang)自動(dong)駕駛(shi)至可充電的停(ting)車位；

4、確定與充(chong)電樁(zhuang)上(shang)的充(chong)電槍的距離；

5、與(yu)所述充電樁(zhuang)進行身份信息(xi)校驗，所述身份信息(xi)包括充電樁(zhuang)標識；

6、在與所述充電(dian)(dian)槍(qiang)(qiang)的距(ju)離小于預設值且身份(fen)信息校驗(yan)通過時，控(kong)制充電(dian)(dian)蓋打開，以(yi)便所述充電(dian)(dian)槍(qiang)(qiang)插入充電(dian)(dian)蓋覆蓋的充電(dian)(dian)口對所述車輛中(zhong)的電(dian)(dian)池進(jin)行充電(dian)(dian)；

7、在充(chong)電完成(cheng)時，控(kong)制所述(shu)充(chong)電蓋關閉。

8、另一方(fang)面，所(suo)述車(che)輛上(shang)設置(zhi)多個uwb芯片，所(suo)述充電槍(qiang)上(shang)設置(zhi)uwb芯片；

9、確(que)定(ding)與(yu)充電槍的距離(li)，包括(kuo)：

10、接收所(suo)(suo)述車輛(liang)上的(de)多(duo)(duo)個(ge)uwb芯片返回的(de)信號(hao)(hao)數(shu)據(ju)，所(suo)(suo)述信號(hao)(hao)數(shu)據(ju)為車輛(liang)上的(de)多(duo)(duo)個(ge)uwb芯片與充電槍上的(de)uwb芯片信號(hao)(hao)交換得到的(de)；

11、根(gen)據多個所述(shu)信號數(shu)據確定充電(dian)槍(qiang)與車輛上的各個uwb芯片之間的距(ju)離(li)；

12、根據充電(dian)槍與車輛上的(de)各個uwb芯片之間的(de)距(ju)離采用三角(jiao)定位算法確定車輛的(de)充電(dian)蓋與充電(dian)槍之間的(de)距(ju)離。

13、另一方面，所(suo)(suo)述(shu)(shu)充(chong)電(dian)槍(qiang)上還(huan)設置有攝像頭，所(suo)(suo)述(shu)(shu)充(chong)電(dian)樁(zhuang)還(huan)包括充(chong)電(dian)樁(zhuang)的控制器，所(suo)(suo)述(shu)(shu)充(chong)電(dian)槍(qiang)插(cha)入(ru)充(chong)電(dian)蓋(gai)(gai)覆蓋(gai)(gai)的充(chong)電(dian)口對所(suo)(suo)述(shu)(shu)車(che)輛中的電(dian)池進行(xing)充(chong)電(dian)的過程包括：

14、所述(shu)(shu)充(chong)(chong)(chong)電樁的(de)控(kong)制器通過停(ting)車(che)場的(de)傳感器及攝像頭(tou)采集(ji)到(dao)所述(shu)(shu)車(che)輛駛入時，生成充(chong)(chong)(chong)電指令發送至所述(shu)(shu)充(chong)(chong)(chong)電槍(qiang)，以便(bian)所述(shu)(shu)充(chong)(chong)(chong)電槍(qiang)基于充(chong)(chong)(chong)電指令離(li)開充(chong)(chong)(chong)電樁；

15、所(suo)(suo)(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)樁的(de)(de)(de)(de)(de)控(kong)(kong)制器基于(yu)所(suo)(suo)(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)槍(qiang)上的(de)(de)(de)(de)(de)uwb芯(xin)片、所(suo)(suo)(suo)(suo)述(shu)車(che)輛上的(de)(de)(de)(de)(de)uwb芯(xin)片及所(suo)(suo)(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)槍(qiang)上的(de)(de)(de)(de)(de)攝(she)像(xiang)頭拍攝(she)到的(de)(de)(de)(de)(de)圖像(xiang)確定充(chong)電(dian)(dian)(dian)蓋的(de)(de)(de)(de)(de)位置，并根據(ju)所(suo)(suo)(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)蓋的(de)(de)(de)(de)(de)位置生(sheng)成控(kong)(kong)制指令發(fa)送至(zhi)所(suo)(suo)(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)槍(qiang)，以(yi)便所(suo)(suo)(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)槍(qiang)基于(yu)控(kong)(kong)制指令調整自(zi)身的(de)(de)(de)(de)(de)位置，以(yi)插入充(chong)電(dian)(dian)(dian)蓋覆蓋的(de)(de)(de)(de)(de)充(chong)電(dian)(dian)(dian)口對(dui)所(suo)(suo)(suo)(suo)述(shu)車(che)輛中的(de)(de)(de)(de)(de)電(dian)(dian)(dian)池進行充(chong)電(dian)(dian)(dian)。

16、另一方面(mian)，與所述(shu)充(chong)電(dian)樁進(jin)行身(shen)份信息校(xiao)驗，包(bao)括：

17、接(jie)收所述(shu)車輛(liang)上的(de)uwb芯(xin)片(pian)與所述(shu)充(chong)電(dian)槍上的(de)uwb芯(xin)片(pian)通信(xin)后返回的(de)充(chong)電(dian)樁標識；

18、判斷(duan)所述(shu)充電(dian)樁標識是(shi)否(fou)在預先存儲(chu)的授權設(she)備列表中；

19、若是，則確定身份信息校(xiao)驗通過(guo)；

20、若(ruo)否，則確(que)認(ren)身(shen)份信(xin)息(xi)校驗不通過(guo)。

21、另一方面，判(pan)斷所述(shu)充電樁(zhuang)標識是否在預先存儲的(de)授(shou)權設備列表中之后，還包(bao)括：

22、將(jiang)所述充電(dian)樁標識及(ji)時間戳(chuo)通過預設的加(jia)密方式進行加(jia)密，得到(dao)加(jia)密數據(ju)包；

23、將所述加密數據包發送至云服務器；

24、在所(suo)(suo)述(shu)云(yun)服務器(qi)通過(guo)預(yu)設的(de)(de)加(jia)密(mi)(mi)方(fang)式(shi)對應的(de)(de)解(jie)密(mi)(mi)方(fang)式(shi)對所(suo)(suo)述(shu)加(jia)密(mi)(mi)數據(ju)包進(jin)行(xing)解(jie)密(mi)(mi)，并確(que)(que)認所(suo)(suo)述(shu)充電樁(zhuang)標識在預(yu)先存儲的(de)(de)授權設備列表(biao)中(zhong)且所(suo)(suo)述(shu)時間戳在有效時間窗口(kou)內時，接收所(suo)(suo)述(shu)云(yun)服務器(qi)發(fa)送的(de)(de)身份信(xin)息(xi)校驗(yan)通過(guo)信(xin)息(xi)，并進(jin)入確(que)(que)定身份信(xin)息(xi)校驗(yan)通過(guo)的(de)(de)步驟。

25、另一(yi)方(fang)面，所(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)樁還包括電(dian)(dian)(dian)壓傳感(gan)器(qi)、電(dian)(dian)(dian)流傳感(gan)器(qi)及(ji)溫度傳感(gan)器(qi)；所(suo)(suo)述(shu)電(dian)(dian)(dian)壓傳感(gan)器(qi)用(yong)于(yu)檢測所(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)槍(qiang)(qiang)為所(suo)(suo)述(shu)電(dian)(dian)(dian)池充(chong)電(dian)(dian)(dian)時的(de)充(chong)電(dian)(dian)(dian)電(dian)(dian)(dian)壓；所(suo)(suo)述(shu)電(dian)(dian)(dian)流傳感(gan)器(qi)用(yong)于(yu)檢測所(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)槍(qiang)(qiang)為所(suo)(suo)述(shu)電(dian)(dian)(dian)池充(chong)電(dian)(dian)(dian)時的(de)充(chong)電(dian)(dian)(dian)電(dian)(dian)(dian)流；所(suo)(suo)述(shu)溫度傳感(gan)器(qi)用(yong)于(yu)檢測所(suo)(suo)述(shu)充(chong)電(dian)(dian)(dian)槍(qiang)(qiang)及(ji)所(suo)(suo)述(shu)電(dian)(dian)(dian)池的(de)溫度；

26、在充電(dian)完(wan)成(cheng)時，控(kong)制所(suo)述充電(dian)蓋關(guan)閉，包括：

27、在(zai)所(suo)述(shu)充電(dian)(dian)電(dian)(dian)壓、在(zai)預設(she)電(dian)(dian)壓范圍、所(suo)述(shu)充電(dian)(dian)電(dian)(dian)流、在(zai)預設(she)電(dian)(dian)流范圍、所(suo)述(shu)充電(dian)(dian)槍及(ji)(ji)所(suo)述(shu)電(dian)(dian)池(chi)的(de)(de)溫度、在(zai)預設(she)溫度范圍及(ji)(ji)所(suo)述(shu)電(dian)(dian)池(chi)的(de)(de)充電(dian)(dian)狀態正常且所(suo)述(shu)電(dian)(dian)池(chi)的(de)(de)電(dian)(dian)量達到目標電(dian)(dian)量時確認充電(dian)(dian)完成，控制(zhi)所(suo)述(shu)充電(dian)(dian)蓋(gai)關(guan)閉。

28、另一方(fang)面，所述(shu)車輛(liang)還包括(kuo)轉(zhuan)軸及(ji)電機(ji)，所述(shu)轉(zhuan)軸分別(bie)與所述(shu)充電蓋及(ji)所述(shu)電機(ji)連接；

29、控制(zhi)充電(dian)蓋(gai)打(da)開，包括：

30、控制所(suo)述(shu)電機(ji)旋轉，以便(bian)所(suo)述(shu)電機(ji)驅動所(suo)述(shu)轉軸旋轉，帶(dai)動所(suo)述(shu)充電蓋朝車(che)體外部打開。

31、為解決上述(shu)技術問題，本發明還(huan)提供了一種自(zi)動充(chong)電的(de)控制裝置(zhi)，包括：

32、存儲器，用(yong)于存儲計算機程(cheng)序；

33、處理器，用于執(zhi)行所(suo)述(shu)計算機程序時(shi)實現上述(shu)的自動(dong)充電的控(kong)制方法的步驟。

34、為(wei)解決上述技術問題，本發明(ming)還提供了一種自動充(chong)(chong)(chong)電(dian)(dian)的控制系統(tong)，包(bao)括上述的自動充(chong)(chong)(chong)電(dian)(dian)的控制裝置，還包(bao)括車輛上的充(chong)(chong)(chong)電(dian)(dian)蓋及充(chong)(chong)(chong)電(dian)(dian)樁(zhuang)上的充(chong)(chong)(chong)電(dian)(dian)槍(qiang)；

35、所(suo)(suo)(suo)述(shu)充(chong)(chong)電蓋用于基于所(suo)(suo)(suo)述(shu)自動充(chong)(chong)電的(de)控(kong)制裝置的(de)控(kong)制打開(kai)和關(guan)閉，所(suo)(suo)(suo)述(shu)充(chong)(chong)電槍用于插(cha)入(ru)充(chong)(chong)電蓋覆蓋的(de)充(chong)(chong)電口對所(suo)(suo)(suo)述(shu)車(che)輛中的(de)電池進行(xing)充(chong)(chong)電。

36、另一方面(mian)，還包括充電樁的控制器；

37、所(suo)述(shu)(shu)充(chong)電(dian)(dian)樁的(de)(de)(de)控制器用于(yu)在通過停車(che)(che)場的(de)(de)(de)傳感(gan)器及(ji)攝(she)像頭采集到(dao)所(suo)述(shu)(shu)車(che)(che)輛(liang)駛入時，生成(cheng)充(chong)電(dian)(dian)指令(ling)，基(ji)于(yu)所(suo)述(shu)(shu)充(chong)電(dian)(dian)槍上(shang)(shang)的(de)(de)(de)uwb芯片(pian)、所(suo)述(shu)(shu)車(che)(che)輛(liang)上(shang)(shang)的(de)(de)(de)uwb芯片(pian)及(ji)所(suo)述(shu)(shu)充(chong)電(dian)(dian)槍上(shang)(shang)的(de)(de)(de)攝(she)像頭拍(pai)攝(she)到(dao)的(de)(de)(de)圖(tu)像確定充(chong)電(dian)(dian)蓋的(de)(de)(de)位置，并根據所(suo)述(shu)(shu)充(chong)電(dian)(dian)蓋的(de)(de)(de)位置生成(cheng)控制指令(ling)；

38、所(suo)述(shu)充(chong)(chong)電(dian)槍具體用(yong)于基于所(suo)述(shu)充(chong)(chong)電(dian)指令(ling)離開充(chong)(chong)電(dian)樁(zhuang)，基于所(suo)述(shu)控制指令(ling)調(diao)整自身的位置，以插入充(chong)(chong)電(dian)蓋(gai)覆蓋(gai)的充(chong)(chong)電(dian)口對所(suo)述(shu)車(che)輛中的電(dian)池進行(xing)充(chong)(chong)電(dian)。

39、本申請提供了一種自(zi)動充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)的(de)(de)控制(zhi)方法、裝(zhuang)置(zhi)及(ji)系(xi)統，涉(she)及(ji)電(dian)(dian)(dian)車(che)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)領域，包(bao)(bao)括在(zai)(zai)車(che)輛(liang)(liang)進入停車(che)場并接(jie)收到充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)指令(ling)時(shi)，控制(zhi)車(che)輛(liang)(liang)自(zi)動駕駛(shi)至可(ke)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)的(de)(de)停車(che)位；確定與充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)樁上的(de)(de)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)槍(qiang)的(de)(de)距離；與充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)樁進行(xing)身(shen)(shen)份(fen)信息(xi)(xi)校(xiao)驗(yan)，身(shen)(shen)份(fen)信息(xi)(xi)包(bao)(bao)括充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)樁標識；在(zai)(zai)與充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)槍(qiang)的(de)(de)距離小(xiao)于預設值且身(shen)(shen)份(fen)信息(xi)(xi)校(xiao)驗(yan)通過時(shi)，控制(zhi)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)蓋打(da)開(kai)，以便充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)槍(qiang)插入充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)蓋覆蓋的(de)(de)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)口對(dui)車(che)輛(liang)(liang)中的(de)(de)電(dian)(dian)(dian)池進行(xing)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)；在(zai)(zai)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)完(wan)成時(shi)，控制(zhi)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)蓋關閉。車(che)輛(liang)(liang)自(zi)動駕駛(shi)至充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)位置(zhi)，經過校(xiao)驗(yan)后自(zi)動打(da)開(kai)充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)蓋，實(shi)現充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)過程自(zi)動化(hua)，無需用戶(hu)手動開(kai)合充(chong)(chong)(chong)(chong)(chong)電(dian)(dian)(dian)蓋，提高用戶(hu)使用體驗(yan)。

技術特征：

1.一種自動充(chong)電(dian)的控制(zhi)方(fang)法，其特征在于，包括：

2.如權(quan)利要求1所述的(de)自動充(chong)電(dian)的(de)控(kong)制方法(fa)，其(qi)特征在于，所述車(che)輛上設(she)置多個(ge)uwb芯片(pian)，所述充(chong)電(dian)槍上設(she)置uwb芯片(pian)；

3.如權利(li)要求2所(suo)述(shu)的(de)自動充(chong)(chong)電(dian)(dian)(dian)(dian)的(de)控(kong)(kong)制(zhi)方法，其特征在于，所(suo)述(shu)充(chong)(chong)電(dian)(dian)(dian)(dian)槍上(shang)還(huan)設置有攝像(xiang)頭(tou)，所(suo)述(shu)充(chong)(chong)電(dian)(dian)(dian)(dian)樁還(huan)包括充(chong)(chong)電(dian)(dian)(dian)(dian)樁的(de)控(kong)(kong)制(zhi)器(qi)，所(suo)述(shu)充(chong)(chong)電(dian)(dian)(dian)(dian)槍插入充(chong)(chong)電(dian)(dian)(dian)(dian)蓋(gai)覆蓋(gai)的(de)充(chong)(chong)電(dian)(dian)(dian)(dian)口對所(suo)述(shu)車輛中的(de)電(dian)(dian)(dian)(dian)池進行充(chong)(chong)電(dian)(dian)(dian)(dian)的(de)過(guo)程包括：

4.如權利要求(qiu)1所(suo)述(shu)的自動充電的控制方法，其特征在于，與所(suo)述(shu)充電樁進行身份信息校驗(yan)，包括：

5.如權利(li)要(yao)求4所述(shu)的(de)自動充電(dian)(dian)的(de)控制方法，其特征在于，判斷所述(shu)充電(dian)(dian)樁標識(shi)是否在預(yu)先存儲的(de)授權設(she)備列表中(zhong)之(zhi)后，還包括：

6.如權利(li)要求(qiu)1所述(shu)的(de)自(zi)動(dong)充(chong)(chong)(chong)電(dian)(dian)的(de)控(kong)制方法，其特征在于，所述(shu)充(chong)(chong)(chong)電(dian)(dian)樁(zhuang)還包(bao)括電(dian)(dian)壓傳感(gan)器、電(dian)(dian)流傳感(gan)器及溫度(du)傳感(gan)器；所述(shu)電(dian)(dian)壓傳感(gan)器用(yong)于檢測所述(shu)充(chong)(chong)(chong)電(dian)(dian)槍為所述(shu)電(dian)(dian)池(chi)充(chong)(chong)(chong)電(dian)(dian)時的(de)充(chong)(chong)(chong)電(dian)(dian)電(dian)(dian)壓；所述(shu)電(dian)(dian)流傳感(gan)器用(yong)于檢測所述(shu)充(chong)(chong)(chong)電(dian)(dian)槍為所述(shu)電(dian)(dian)池(chi)充(chong)(chong)(chong)電(dian)(dian)時的(de)充(chong)(chong)(chong)電(dian)(dian)電(dian)(dian)流；所述(shu)溫度(du)傳感(gan)器用(yong)于檢測所述(shu)充(chong)(chong)(chong)電(dian)(dian)槍及所述(shu)電(dian)(dian)池(chi)的(de)溫度(du)；

7.如(ru)權(quan)利要求(qiu)1至6任一(yi)項所述的自動充電的控制方法，其特征在于，所述車輛還包括(kuo)轉軸(zhou)(zhou)及(ji)電機，所述轉軸(zhou)(zhou)分別與所述充電蓋及(ji)所述電機連接(jie)；

8.一種(zhong)自動充電(dian)的控制(zhi)裝置，其特征(zheng)在于，包(bao)括：

9.一(yi)種自動(dong)充電的(de)控制系(xi)統，其特征在于，包括如(ru)權(quan)利要(yao)求8所述的(de)自動(dong)充電的(de)控制裝置，還(huan)包括車輛上的(de)充電蓋及充電樁上的(de)充電槍；

10.如權利要求9所述(shu)的自動充電(dian)的控(kong)制(zhi)系統(tong)，其特征(zheng)在于，還(huan)包(bao)括充電(dian)樁(zhuang)的控(kong)制(zhi)器；

技術總結
本發明公開了一種自動充電的控制方法、裝置及系統，涉及電車充電領域，包括在車輛進入停車場并接收到充電指令時，控制車輛自動駕駛至可充電的停車位；確定與充電樁上的充電槍的距離；與充電樁進行身份信息校驗，身份信息包括充電樁標識；在與充電槍的距離小于預設值且身份信息校驗通過時，控制充電蓋打開，以便充電槍插入充電蓋覆蓋的充電口對車輛中的電池進行充電；在充電完成時，控制充電蓋關閉。車輛自動駕駛至充電位置，經過校驗后自動打開充電蓋，實現充電過程自動化，無需用戶手動開合充電蓋，提高用戶使用體驗。

技術研發人員：陳夢瑤,周虎
受保護的技術使用者：科世達（上海）機電有限公司
技術研發日：
技術公布日：2024/9/19