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CN-121973650-A - Cloud platform co-scheduling vehicle-pile-robot safe charging method and system

CN121973650ACN 121973650 ACN121973650 ACN 121973650ACN-121973650-A

Abstract

The invention discloses a vehicle-pile-robot safe charging method and system for cloud platform cooperative scheduling. The method comprises the steps of S1, receiving a charging request of a vehicle to be charged and real-time state data thereof by a cloud platform, distributing an idle charging pile, S2, controlling the vehicle to be charged to a preset charging area in front of the charging pile, S3, carrying out multiple verification on a charging position, a state of a charging robot and the state of the charging pile by the cloud platform, S4, controlling the charging robot to move to a charging port of the vehicle to be charged after the multiple verification is passed, S5, controlling the charging robot to execute grabbing, aligning and inserting operations of a charging plug, and establishing charging connection, and S6, continuously monitoring and processing abnormal states during charging. The invention ensures that the charging docking process is started only after the vehicle is stopped stably and the position is accurate, avoids the safety risk caused by positioning errors, disordered action time sequences or abnormal equipment states through the whole-process state monitoring, and realizes the high automation, the intellectualization, the safety and the reliability of the charging process.

Inventors

  • Yong Rongzhi

Assignees

  • 科大智能（合肥）科技有限公司

Dates

Publication Date
20260505
Application Date
20251222

Claims (10)

  1. 1. The cloud platform co-scheduling vehicle-pile-robot safe charging method is characterized by comprising the following steps of: s1, a cloud platform receives a charging request of a vehicle to be charged and real-time state data of the charging request, and allocates an idle charging pile for the vehicle to be charged according to the position of the vehicle to be charged and the state of a charging facility; S2, the cloud platform sends a scheduling instruction to the vehicle to be charged, and the vehicle to be charged is controlled to automatically move to a preset charging area in front of a charging pile; s3, after the vehicle to be charged stops, the cloud platform executes multi-state verification, wherein the multi-state verification comprises charging position verification, charging robot state verification and charging pile state verification; s4, after all the multiple states are verified, the cloud platform sends a docking instruction to a charging robot to control the charging robot to move to a charging port of the vehicle to be charged; s5, the cloud platform controls the charging robot to execute charging operation, wherein the charging operation comprises the steps of grabbing a charging plug on the charging pile, aligning and inserting the charging plug into a charging port of the vehicle to be charged so as to establish charging connection; And S6, in the charging process, the cloud platform continuously monitors the states of the vehicle to be charged, the charging robot and the charging pile, and when an abnormal state is detected, safety processing operation is executed.
  2. 2. The method according to claim 1, wherein in step S1, the real-time status data includes at least a real-time position of the vehicle to be charged, a remaining power, and an image of an ambient environment collected by an onboard camera thereof.
  3. 3. The method according to claim 1, wherein the multiple state check in step S3 specifically comprises: S31, checking the charging position, namely judging whether the vehicle to be charged is stopped in a preset charging area, and judging whether the relative position and angle between a charging port of the vehicle to be charged and a plug interface of a charging pile are in a preset error allowable range; S32, checking the state of the charging robot, namely judging whether the charging robot is in a movable standby state after self-checking; And S33, checking the state of the charging pile, namely judging whether the charging pile is in an idle and available ready state, and establishing stable communication connection between the charging pile and the charging robot.
  4. 4. The method according to claim 1, wherein the step S5 specifically includes: S51, the cloud platform gives a grabbing instruction to the charging robot, and the charging robot is controlled to grab a charging plug from the charging pile; S52, the cloud platform controls the charging robot to adjust the gesture of the mechanical arm based on the accurate position information of the charging port of the vehicle to be charged, so that the charging plug is aligned with the charging port; And S53, after confirming that the alignment precision meets the requirement, the cloud platform issues an insertion instruction to the charging robot, and controls the charging robot to stably insert the charging plug into the charging port.
  5. 5. The method according to claim 1, wherein in the step S6, the abnormal state includes an unexpected shift in the position of the vehicle to be charged, an abnormality in an electrical parameter at the connection of the charging plug, and a report of a fault code by the charging robot or the charging stake.
  6. 6. A cloud platform co-scheduled car-stake-robot safety charging system for performing the method of any of claims 1-5, comprising: the cloud platform is used as a system dispatching center and is used for processing data, generating dispatching instructions, checking and monitoring the execution state; The vehicle end is arranged on the vehicle to be charged, is used for collecting vehicle states and environment images and is communicated with the cloud platform; The charging robot is used for autonomously moving and operating a charging plug under the control of the cloud platform; the charging pile is used for providing a charging plug and electric energy conversion and is communicated with the charging robot and the cloud platform; The cloud platform is respectively in communication connection with the vehicle end, the charging robot and the charging pile.
  7. 7. The system of claim 6, wherein the vehicle end comprises a high-precision positioning module, a vehicle-mounted camera, a vehicle state sensor and a first communication module, wherein the vehicle-mounted camera is used for acquiring field pictures around the vehicle to be charged and uploading the field pictures to the cloud platform for storage.
  8. 8. The system of claim 6, wherein the charging robot and the charging stake establish a communication connection through a short-range wireless communication technology.
  9. 9. A computer readable storage medium, characterized in that a computer program is stored on the medium, which computer program, when run, performs the method according to any one of claims 1 to 5.
  10. 10. A computer system comprising a processor, a storage medium having a computer program stored thereon, the processor reading from the storage medium and running the computer program to perform the method of any one of claims 1 to 5.

Description

Cloud platform co-scheduling vehicle-pile-robot safe charging method and system Technical Field The invention relates to the technical field of automatic charging of electric automobiles, in particular to a vehicle-pile-robot safe charging method based on cloud platform cooperative scheduling. Background Along with the popularization of electric automobiles, a novel automatic charging mode of adopting a charging robot to work together with a charging pile appears in order to improve the utilization efficiency of charging facilities. This mode aims at automating and intelligentizing the charging process. However, in practical applications, this cooperative mode faces significant parking and charging safety issues. Firstly, when a charging robot guides or assists a vehicle to be parked in a charging position, the vehicle and surrounding obstacles are easily scratched due to errors of positioning accuracy and insufficient environmental perception of the vehicle or the vehicle, so that property loss and even personal injury are caused. Secondly, the more critical potential safety hazard is disorder of action time sequence, namely if the vehicle is not stopped to a specified charging position accurately, the charging robot tries to insert a charging plug in advance, so that the problem of mechanical collision, poor electrical connection, arcing, ignition and the like caused by failure of butt joint of the plug and a charging port due to position deviation is easily caused, charging safety is seriously threatened, and a charging interface or charging equipment of the vehicle is possibly damaged. The prior art scheme focuses on automation of single equipment (such as autonomous movement of a robot or automatic parking of a vehicle), lacks a global central dispatching unit with strict sequence control capability to orchestrate the cooperative operation flow among the vehicle, the robot and the charging pile, and is difficult to systematically solve the problems of time sequence safety and state cooperation. Disclosure of Invention In order to solve the existing problems, the invention provides a vehicle-pile-robot safe charging method with a cloud platform cooperatively scheduled, which comprises the following steps: The cloud platform co-scheduling vehicle-pile-robot safe charging method comprises the following steps: s1, a cloud platform receives a charging request of a vehicle to be charged and real-time state data of the charging request, and allocates an idle charging pile for the vehicle to be charged according to the position of the vehicle to be charged and the state of a charging facility; S2, the cloud platform sends a scheduling instruction to the vehicle to be charged, and the vehicle to be charged is controlled to automatically move to a preset charging area in front of a charging pile; s3, after the vehicle to be charged stops, the cloud platform executes multi-state verification, wherein the multi-state verification comprises charging position verification, charging robot state verification and charging pile state verification; s4, after all the multiple states are verified, the cloud platform sends a docking instruction to a charging robot to control the charging robot to move to a charging port of the vehicle to be charged; s5, the cloud platform controls the charging robot to execute charging operation, wherein the charging operation comprises the steps of grabbing a charging plug on the charging pile, aligning and inserting the charging plug into a charging port of the vehicle to be charged so as to establish charging connection; And S6, in the charging process, the cloud platform continuously monitors the states of the vehicle to be charged, the charging robot and the charging pile, and when an abnormal state is detected, safety processing operation is executed. Preferably, in step S1, the real-time status data includes at least a real-time position of the vehicle to be charged, a remaining power, and an ambient image acquired by an on-vehicle camera thereof. Preferably, the multi-state check in the step S3 specifically includes: S31, checking the charging position, namely judging whether the vehicle to be charged is stopped in a preset charging area, and judging whether the relative position and angle between a charging port of the vehicle to be charged and a plug interface of a charging pile are in a preset error allowable range; S32, checking the state of the charging robot, namely judging whether the charging robot is in a movable standby state after self-checking; And S33, checking the state of the charging pile, namely judging whether the charging pile is in an idle and available ready state, and establishing stable communication connection between the charging pile and the charging robot. Preferably, the step S5 specifically includes: S51, the cloud platform gives a grabbing instruction to the charging robot, and the charging robot is controlled to grab a charging plug from the charging p